master/fsm_coe.c
author Florian Pose <fp@igh-essen.com>
Tue, 10 Jan 2012 10:11:20 +0100
changeset 2249 6dbd7594dd1d
parent 2195 d9146c0ff00f
child 2589 2b9c78543663
permissions -rw-r--r--
Copy missing slave_info data in kernel space.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    11
 *  published by the Free Software Foundation.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    16
 *  Public License for more details.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *
1326
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *
1363
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1339
diff changeset
    22
 *  ---
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1339
diff changeset
    23
 *
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1339
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1339
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers.
Florian Pose <fp@igh-essen.com>
parents: 1339
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
   \file
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
   EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include "globals.h"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
#include "master.h"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
#include "mailbox.h"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#include "fsm_coe.h"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
    44
/** Maximum time in ms to wait for responses when reading out the dictionary.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
    45
 */
1794
94e0e1756dec Reduced CoE timeouts to 1000 ms.
Florian Pose <fp@igh-essen.com>
parents: 1793
diff changeset
    46
#define EC_FSM_COE_DICT_TIMEOUT 1000
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
    47
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    48
/** CoE download request header size.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    49
 */
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    50
#define EC_COE_DOWN_REQ_HEADER_SIZE 10
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    51
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    52
/** CoE download segment request header size.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    53
 */
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    54
#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    55
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    56
/** Minimum size of download segment.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    57
 */
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    58
#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    59
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    60
/** Enable debug output for CoE retries.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    61
 */
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
    62
#define DEBUG_RETRIES 0
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    63
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    64
/** Enable warning output if transfers take too long.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
    65
 */
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
    66
#define DEBUG_LONG 0
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
    67
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
    68
/*****************************************************************************/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
    69
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
void ec_fsm_coe_down_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
void ec_fsm_coe_down_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
void ec_fsm_coe_down_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
void ec_fsm_coe_down_response(ec_fsm_coe_t *);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
    85
void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
    86
void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
void ec_fsm_coe_up_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
void ec_fsm_coe_up_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    90
void ec_fsm_coe_up_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
void ec_fsm_coe_up_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    92
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    96
void ec_fsm_coe_end(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    97
void ec_fsm_coe_error(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    99
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   100
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   101
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   102
   SDO abort messages.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   103
   The "abort SDO transfer request" supplies an abort code,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
   which can be translated to clear text. This table does
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
   the mapping of the codes and messages.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   108
const ec_code_msg_t sdo_abort_messages[] = {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   109
    {0x05030000, "Toggle bit not changed"},
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   110
    {0x05040000, "SDO protocol timeout"},
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   111
    {0x05040001, "Client/Server command specifier not valid or unknown"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   112
    {0x05040005, "Out of memory"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   113
    {0x06010000, "Unsupported access to an object"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   114
    {0x06010001, "Attempt to read a write-only object"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   115
    {0x06010002, "Attempt to write a read-only object"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   116
    {0x06020000, "This object does not exist in the object directory"},
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   117
    {0x06040041, "The object cannot be mapped into the PDO"},
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   118
    {0x06040042, "The number and length of the objects to be mapped would"
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   119
     " exceed the PDO length"},
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   120
    {0x06040043, "General parameter incompatibility reason"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   121
    {0x06040047, "Gerneral internal incompatibility in device"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   122
    {0x06060000, "Access failure due to a hardware error"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   123
    {0x06070010, "Data type does not match, length of service parameter does"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   124
     " not match"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   125
    {0x06070012, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   126
     " high"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   127
    {0x06070013, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   128
     " low"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   129
    {0x06090011, "Subindex does not exist"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   130
    {0x06090030, "Value range of parameter exceeded"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   131
    {0x06090031, "Value of parameter written too high"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   132
    {0x06090032, "Value of parameter written too low"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   133
    {0x06090036, "Maximum value is less than minimum value"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   134
    {0x08000000, "General error"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   135
    {0x08000020, "Data cannot be transferred or stored to the application"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   136
    {0x08000021, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   137
     " because of local control"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   138
    {0x08000022, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   139
     " because of the present device state"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   140
    {0x08000023, "Object dictionary dynamic generation fails or no object"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   141
     " dictionary is present"},
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   142
    {}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   143
};
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   144
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   145
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   146
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   147
/** Outputs an SDO abort message.
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   148
 */
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   149
void ec_canopen_abort_msg(const ec_slave_t *slave, uint32_t abort_code)
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   150
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   151
    const ec_code_msg_t *abort_msg;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   153
    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
        if (abort_msg->code == abort_code) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   155
            EC_SLAVE_ERR(slave, "SDO abort message 0x%08X: \"%s\".\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
                   abort_msg->code, abort_msg->message);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   157
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   160
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   161
    EC_SLAVE_ERR(slave, "Unknown SDO abort code 0x%08X.\n", abort_code);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   162
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   163
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   164
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   165
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   166
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   167
   Constructor.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   168
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   171
                     ec_mailbox_t *mbox /**< mailbox */
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   172
                     )
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   173
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
    fsm->state = NULL;
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   175
    fsm->mbox = mbox;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   178
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   179
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   180
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
   Destructor.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   182
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   183
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   184
void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   185
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   187
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   188
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   189
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   191
   Starts reading a slaves' SDO dictionary.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   194
void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
                           ec_slave_t *slave /**< EtherCAT slave */
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   196
                           )
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   197
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   198
    fsm->slave = slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   199
    fsm->state = ec_fsm_coe_dict_start;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   200
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   201
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
/**
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   205
   Starts to transfer an SDO to/from a slave.
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   206
*/
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   207
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   208
void ec_fsm_coe_transfer(
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   209
        ec_fsm_coe_t *fsm, /**< State machine. */
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   210
        ec_slave_t *slave, /**< EtherCAT slave. */
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   211
        ec_sdo_request_t *request /**< SDO request. */
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   212
        )
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   213
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   214
    fsm->slave = slave;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   215
    fsm->request = request;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   216
    if (request->dir == EC_DIR_OUTPUT)
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   217
        fsm->state = ec_fsm_coe_down_start;
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   218
    else
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents: 854
diff changeset
   219
        fsm->state = ec_fsm_coe_up_start;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   220
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   221
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   225
   Executes the current state of the state machine.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   226
   \return false, if state machine has terminated
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   227
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   228
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   229
int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
    fsm->state(fsm);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   238
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   239
   Returns, if the state machine terminated with success.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   240
   \return non-zero if successful.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   241
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   244
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   245
    return fsm->state == ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   246
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   247
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   248
/*****************************************************************************/
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   249
1092
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   250
/** Check if the received data are a CoE emergency request.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   251
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   252
 * If the check is positive, the emergency request is output.
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   253
 *
69393cf60399 Improved source code doc.
Florian Pose <fp@igh-essen.com>
parents: 1053
diff changeset
   254
 * \return The data were an emergency request.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   255
 */
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   256
int ec_fsm_coe_check_emergency(
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   257
        ec_fsm_coe_t *fsm, /**< Finite state machine */
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   258
        const uint8_t *data, /**< CoE mailbox data. */
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   259
        size_t size /**< CoE mailbox data size. */
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   260
        )
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   261
{
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   262
    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   263
        return 0;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   264
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   265
    if (size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   266
        EC_SLAVE_WARN(fsm->slave, "Received incomplete CoE Emergency"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   267
                " request:\n");
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   268
        ec_print_data(data, size);
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   269
        return 1;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   270
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   271
    
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   272
    EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   273
            "Error code 0x%04X, Error register 0x%02X, data:\n",
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   274
            EC_READ_U16(data + 2), EC_READ_U8(data + 4));
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   275
    ec_print_data(data + 5, 5);
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   276
    return 1;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   277
}
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   278
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   279
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
 *  CoE dictionary state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   281
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
   CoE state: DICT START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   289
    ec_mailbox_t *mbox = fsm->mbox;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   293
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   294
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   295
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   296
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   297
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   298
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   299
    if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   300
        EC_SLAVE_ERR(slave, "Slave does not support"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   301
                " SDO information service!\n");
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   302
        fsm->state = ec_fsm_coe_error;
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   303
        return;
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   304
    }
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   305
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   306
    data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   307
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   312
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   316
    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   318
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
    fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
   CoE state: DICT REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   326
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   331
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   332
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   335
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   336
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   337
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   338
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   339
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   340
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   341
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   342
        EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   343
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   344
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   345
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   346
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   347
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   348
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   349
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   350
        EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   351
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   355
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   357
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   358
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   370
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   371
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   374
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   375
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   376
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   377
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   378
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   379
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   380
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   381
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   382
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   383
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   384
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   385
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   386
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   387
        fsm->state = ec_fsm_coe_error;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   388
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   389
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   390
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   394
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   395
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   396
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   397
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   399
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   400
                    " SDO dictionary list response.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   404
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   405
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   410
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   411
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
    fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   419
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   424
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   425
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    unsigned int sdo_count, i;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   430
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    ec_sdo_t *sdo;
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   432
    bool first_segment;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   433
    size_t index_list_offset;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   434
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   435
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   436
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   437
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   438
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   439
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   440
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   441
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   442
        EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   443
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   444
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   445
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   446
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   447
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   448
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   449
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   450
        EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   451
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   455
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   456
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   462
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   463
                mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        fsm->state = ec_fsm_coe_error;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   465
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   468
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   469
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   470
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   471
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   472
        fsm->state = ec_fsm_coe_dict_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   473
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   474
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   475
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   476
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   477
        EC_SLAVE_ERR(slave, "Received corrupted SDO dictionary response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   478
                " (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   479
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   480
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   481
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   482
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   483
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   485
        EC_SLAVE_ERR(slave, "SDO information error response!\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   486
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   487
            EC_SLAVE_ERR(slave, "Incomplete SDO information"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   488
                    " error response:\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   489
            ec_print_data(data, rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   490
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   491
            ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   492
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
        fsm->state = ec_fsm_coe_error;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   494
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   497
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   499
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   500
            EC_SLAVE_DBG(slave, 1, "Invalid SDO list response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   501
                    " Retrying...\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   502
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   503
        }
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   504
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   505
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   506
        fsm->state = ec_fsm_coe_dict_check;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   507
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   510
    first_segment = list_empty(&slave->sdo_dictionary) ? true : false;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   511
    index_list_offset = first_segment ? 8 : 6;
2041
f5b31f46c38f Fixed segmented sdo dictionary upload (only first segment contains list type)
Rafael Blank <ch1010866@ch10pc436>
parents: 1948
diff changeset
   512
2194
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   513
    if (rec_size < index_list_offset || rec_size % 2) {
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   514
        EC_SLAVE_ERR(slave, "Invalid data size %zu !\n", rec_size);
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   515
        ec_print_data(data, rec_size);
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   516
        fsm->state = ec_fsm_coe_error;
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   517
        return;
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   518
    }
1b583b3110cb Allow CoE OD List Segments to have 6 bytes instead of 8.
Florian Pose <fp@igh-essen.com>
parents: 2094
diff changeset
   519
2041
f5b31f46c38f Fixed segmented sdo dictionary upload (only first segment contains list type)
Rafael Blank <ch1010866@ch10pc436>
parents: 1948
diff changeset
   520
    sdo_count = (rec_size - index_list_offset) / 2;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
    for (i = 0; i < sdo_count; i++) {
2041
f5b31f46c38f Fixed segmented sdo dictionary upload (only first segment contains list type)
Rafael Blank <ch1010866@ch10pc436>
parents: 1948
diff changeset
   523
        sdo_index = EC_READ_U16(data + index_list_offset + i * 2);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
        if (!sdo_index) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   525
            EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
            continue;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   529
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   530
            EC_SLAVE_ERR(slave, "Failed to allocate memory for SDO!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 991
diff changeset
   535
        ec_sdo_init(sdo, slave, sdo_index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   539
    fragments_left = EC_READ_U16(data + 4);
1923
Florian Pose <fp@igh-essen.com>
parents: 1921
diff changeset
   540
    if (fragments_left) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   541
        EC_SLAVE_DBG(slave, 1, "SDO list fragments left: %u\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   542
                fragments_left);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   543
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   544
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   545
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) {
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   546
        // more messages waiting. check again.
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   547
        fsm->jiffies_start = datagram->jiffies_sent;
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   548
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   549
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
    if (list_empty(&slave->sdo_dictionary)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   555
        // no SDOs in dictionary. finished.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
        fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   560
    // fetch SDO descriptions
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
    fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   563
    data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   564
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   569
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
    EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   573
    EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   575
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
    fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   583
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   588
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   589
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   592
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   593
            && fsm->retries--)
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   594
        return; // FIXME: check for response first?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   595
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   596
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   597
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   598
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   599
                " description request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   600
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   601
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   602
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   603
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   604
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   605
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   606
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   607
                " request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   608
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   612
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   614
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   615
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   620
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   621
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
   CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   623
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   627
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   628
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   631
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   632
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   633
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   634
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   635
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   636
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   637
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   638
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   639
        ec_datagram_print_state(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   643
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   644
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   645
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   646
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   647
        ec_datagram_print_wc_error(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   648
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   649
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   650
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   651
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   652
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   653
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   654
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   656
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   657
                    " SDO 0x%04x object description response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   658
                    fsm->sdo->index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   662
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   663
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   668
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   669
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
    fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   677
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   683
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   684
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   690
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   691
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   692
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   693
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   694
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   695
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   696
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   697
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   698
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   699
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   700
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   701
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   702
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   703
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   704
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   705
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   706
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   707
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   711
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   712
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   718
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   719
                mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   721
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   722
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   723
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   724
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   725
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   726
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   727
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   728
        fsm->state = ec_fsm_coe_dict_desc_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   729
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   732
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   733
        EC_SLAVE_ERR(slave, "Received corrupted SDO description response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   734
                " (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   735
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   736
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   737
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   738
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   739
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   741
        EC_SLAVE_ERR(slave, "SDO information error response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   742
                " fetching SDO 0x%04X!\n", sdo->index);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   743
        ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   745
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   748
    if (rec_size < 8) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   749
        EC_SLAVE_ERR(slave, "Received corrupted SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   750
                " description response (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   751
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   752
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   753
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   754
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   755
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   757
        EC_READ_U16(data + 6) != sdo->index) { // SDO index
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   758
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   759
            EC_SLAVE_DBG(slave, 1, "Invalid object description response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   760
                    " fetching SDO 0x%04X!\n", sdo->index);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   761
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   762
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   763
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   764
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   765
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   766
        fsm->state = ec_fsm_coe_dict_desc_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   767
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
    if (rec_size < 12) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   771
        EC_SLAVE_ERR(slave, "Invalid data size!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   774
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   776
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
   777
    sdo->max_subindex = EC_READ_U8(data + 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
    sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
    if (name_size) {
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   782
        if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   783
            EC_SLAVE_ERR(slave, "Failed to allocate SDO name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
        sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   790
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
    if (EC_READ_U8(data + 2) & 0x80) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   793
        EC_SLAVE_ERR(slave, "Fragment follows (not implemented)!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   795
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   797
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   798
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   799
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
    fsm->subindex = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   802
    data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   803
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   804
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   806
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   807
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   808
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   809
    EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   810
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
    EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   812
    EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   813
    EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   814
    EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only)
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   815
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   816
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
    fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   822
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   823
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   824
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   825
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   826
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   827
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   830
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   831
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   834
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   835
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   836
        return; // FIXME: check for response first?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   837
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   838
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   839
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   840
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   841
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   842
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   843
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   844
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   845
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   846
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   847
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   848
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   849
        EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   850
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   854
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   856
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   857
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
    fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   859
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   863
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   864
   CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   866
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   867
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   869
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   870
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   871
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   874
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   875
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   876
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   877
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   878
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   879
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   880
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   881
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   882
        ec_datagram_print_state(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   883
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   886
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   887
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   888
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   889
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   890
        ec_datagram_print_wc_error(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   891
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   892
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   893
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   894
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   895
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   896
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   897
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   899
            EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   900
                    " SDO entry 0x%04x:%x description response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   901
                    fsm->sdo->index, fsm->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   902
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   903
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   905
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   906
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   907
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   908
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   909
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   910
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   911
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   912
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   913
    fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   914
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   915
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   916
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   919
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   920
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   921
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   922
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   923
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   924
                                    /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   925
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   926
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   927
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   928
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   929
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   931
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
    ec_sdo_entry_t *entry;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   933
    u16 word;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   935
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   936
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   937
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   938
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   939
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   940
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   941
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   942
        EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   943
                " description response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
   944
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   945
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   946
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   947
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
   948
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   949
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   950
        EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   951
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   952
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   954
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   955
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   956
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   957
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   961
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   963
        EC_SLAVE_ERR(slave, "Received mailbox protocol"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   964
                " 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   966
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   967
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   968
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   969
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   970
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
   971
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   972
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   973
        fsm->state = ec_fsm_coe_dict_entry_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   974
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   976
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   977
    if (rec_size < 3) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   978
        EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   979
                " description response (size %zu).\n", rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   980
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   981
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   982
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   983
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   984
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
2195
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   986
        EC_SLAVE_WARN(slave, "SDO information error response while"
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   987
               " fetching SDO entry 0x%04X:%02X!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   988
               sdo->index, fsm->subindex);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
   989
        ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
2195
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   990
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   991
        /* There may be gaps in the subindices, so try to continue with next
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   992
         * subindex. */
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   993
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   994
    } else {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   995
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   996
        if (rec_size < 9) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   997
            EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   998
                    " description response (size %zu).\n", rec_size);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
   999
            fsm->state = ec_fsm_coe_error;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1000
            return;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1001
        }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1002
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1003
        if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1004
                (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. resp.
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1005
                EC_READ_U16(data + 6) != sdo->index || // SDO index
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1006
                EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1007
            if (fsm->slave->master->debug_level) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1008
                EC_SLAVE_DBG(slave, 1, "Invalid entry description response"
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1009
                        " while fetching SDO entry 0x%04X:%02X!\n",
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1010
                        sdo->index, fsm->subindex);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1011
                ec_print_data(data, rec_size);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1012
            }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1013
            // check for CoE response again
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1014
            ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1015
            fsm->retries = EC_FSM_RETRIES;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1016
            fsm->state = ec_fsm_coe_dict_entry_check;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1017
            return;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1018
        }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1019
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1020
        if (rec_size < 16) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1021
            EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1022
            ec_print_data(data, rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1024
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
        }
2195
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1026
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1027
        data_size = rec_size - 16;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1028
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1029
        if (!(entry = (ec_sdo_entry_t *)
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1030
                    kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1031
            EC_SLAVE_ERR(slave, "Failed to allocate entry!\n");
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1032
            fsm->state = ec_fsm_coe_error;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1033
            return;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1034
        }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1035
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1036
        ec_sdo_entry_init(entry, sdo, fsm->subindex);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1037
        entry->data_type = EC_READ_U16(data + 10);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1038
        entry->bit_length = EC_READ_U16(data + 12);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1039
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1040
        // read access rights
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1041
        word = EC_READ_U16(data + 14);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1042
        entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1043
        entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1)  & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1044
        entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2)  & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1045
        entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1046
        entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4)  & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1047
        entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5)  & 0x0001;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1048
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1049
        if (data_size) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1050
            uint8_t *desc;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1051
            if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1052
                EC_SLAVE_ERR(slave, "Failed to allocate SDO entry name!\n");
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1053
                fsm->state = ec_fsm_coe_error;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1054
                return;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1055
            }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1056
            memcpy(desc, data + 16, data_size);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1057
            desc[data_size] = 0;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1058
            entry->description = desc;
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1059
        }
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1060
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1061
        list_add_tail(&entry->list, &sdo->entries);
d9146c0ff00f Allow gaps between SDO subindices when fetching dictionary.
Florian Pose <fp@igh-essen.com>
parents: 2194
diff changeset
  1062
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1064
    if (fsm->subindex < sdo->max_subindex) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
        fsm->subindex++;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1066
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1067
        data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1068
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1071
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1072
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1073
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1074
        EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1075
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1076
        EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1077
        EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1078
        EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
        EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1081
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
        fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1085
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1086
    // another SDO description to fetch?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1087
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1088
        fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1089
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1090
        data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1091
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1092
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1093
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1094
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1095
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1096
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1097
        EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1098
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1099
        EC_WRITE_U16(data + 4, 0x0000);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1100
        EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1102
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1103
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1107
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1108
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1109
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1110
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1111
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1112
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1113
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1114
/** CoE state: DOWN START.
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1115
 */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1116
void ec_fsm_coe_down_start(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1117
        ec_fsm_coe_t *fsm /**< finite state machine */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1118
        )
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1119
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1120
    ec_mailbox_t *mbox = fsm->mbox;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1121
    ec_slave_t *slave = fsm->slave;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1122
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1123
    uint8_t *data;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1124
    uint8_t data_set_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1125
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1126
    if (fsm->slave->master->debug_level) {
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1127
        char subidxstr[10];
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1128
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1129
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1130
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1131
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1132
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1133
        EC_SLAVE_DBG(slave, 1, "Downloading SDO 0x%04X%s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1134
                request->index, subidxstr);
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1135
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1136
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1137
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1138
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1139
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1140
        request->errno = EPROTONOSUPPORT;
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1141
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1142
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1143
    }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1144
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1145
    if (slave->configured_rx_mailbox_size < 
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1146
            EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1147
        EC_SLAVE_ERR(slave, "Mailbox too small!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1148
        request->errno = EOVERFLOW;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1149
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1150
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1151
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1152
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1153
    if (request->data_size <= 4) { // use expedited transfer type
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1154
        data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1155
                EC_COE_DOWN_REQ_HEADER_SIZE);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1156
        if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1157
            request->errno = PTR_ERR(data);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1158
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1159
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1160
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1161
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1162
        fsm->remaining = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1163
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1164
        data_set_size = 4 - request->data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1165
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1166
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1167
        EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1168
                    | data_set_size << 2
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1169
                    | ((request->complete_access ? 1 : 0) << 4) 
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1170
                    | 0x1 << 5)); // Download request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1171
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1172
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1173
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1174
        memcpy(data + 6, request->data, request->data_size);
1457
ec3ad6641d65 Slightly improved CoE download expedited request.
Florian Pose <fp@igh-essen.com>
parents: 1382
diff changeset
  1175
        memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1176
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1177
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1178
            EC_SLAVE_DBG(slave, 1, "Expedited download request:\n");
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1179
            ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1180
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1181
    }
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1182
    else { // request->data_size > 4, use normal transfer type
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1183
        size_t data_size,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1184
               max_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1185
                   slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1186
               required_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1187
                   EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1188
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1189
        if (max_data_size < required_data_size) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1190
            // segmenting needed
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1191
            data_size = max_data_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1192
        } else {
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1193
            data_size = required_data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1194
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1195
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1196
        data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1197
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1198
        if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1199
            request->errno = PTR_ERR(data);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1200
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1201
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1202
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1203
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1204
        fsm->offset = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1205
        fsm->remaining = request->data_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1206
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1207
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1208
        EC_WRITE_U8(data + 2,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1209
                0x1 // size indicator, normal
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1210
                | ((request->complete_access ? 1 : 0) << 4) 
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1211
                | 0x1 << 5); // Download request
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1212
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1213
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1214
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1215
        EC_WRITE_U32(data + 6, request->data_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1216
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1217
        if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1218
            size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1219
            memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1220
                    request->data, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1221
            fsm->offset += segment_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1222
            fsm->remaining -= segment_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1223
        }
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1224
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1225
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1226
            EC_SLAVE_DBG(slave, 1, "Normal download request:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1227
            ec_print_data(data, data_size);
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1228
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1229
    }
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1230
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1231
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1232
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1240
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1242
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1243
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1244
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1245
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1246
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
    ec_slave_t *slave = fsm->slave;
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1248
    unsigned long diff_ms;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1249
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1250
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1251
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1252
        return; // FIXME: check for response first?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1253
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1254
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1255
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1256
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1257
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1258
        EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1259
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1260
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1261
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1262
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1263
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1264
    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1265
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1266
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1267
        if (ec_mbox_is_datagram_wc(mbox, 0)) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1268
            if (diff_ms < fsm->request->response_timeout) {
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1269
#if DEBUG_RETRIES
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1270
                EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1271
                        " download request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1272
                        diff_ms);
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1273
#endif
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1274
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1275
                return;
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1276
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1277
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1278
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1279
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1280
        EC_SLAVE_ERR(slave, "Reception of CoE download request"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1281
                " for SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1282
                fsm->request->index, fsm->request->subindex, diff_ms);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1283
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1284
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1285
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1287
#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1288
    if (diff_ms > 200) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1289
        EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1290
                fsm->request->index, fsm->request->subindex, diff_ms);
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1291
    }
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1292
#endif
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1293
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1294
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1296
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1297
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
    fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1299
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1300
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1301
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1302
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1303
/** CoE state: DOWN CHECK.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1304
 */
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1305
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1306
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1307
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1308
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1309
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1310
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1311
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1312
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1313
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1314
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1315
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1316
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1317
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1318
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1319
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1320
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1321
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1322
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1323
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1324
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1325
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1326
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1327
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1328
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1329
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1330
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1331
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1332
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1333
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1334
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1335
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1336
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1337
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1338
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1339
            fsm->state = ec_fsm_coe_error;
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1340
            EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1341
                    " for SDO 0x%04x:%x download response.\n", diff_ms,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1342
                    fsm->request->index, fsm->request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1343
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1344
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1345
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1346
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1347
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1348
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1349
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1350
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1351
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1352
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1353
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1354
    fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1355
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1356
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1357
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1358
1907
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1359
/** Prepare a download segment request.
dd276ae226b4 Added missing code documentation.
Florian Pose <fp@igh-essen.com>
parents: 1831
diff changeset
  1360
 */
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1361
void ec_fsm_coe_down_prepare_segment_request(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1362
        ec_fsm_coe_t *fsm /**< finite state machine */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1363
        )
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1364
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1365
    ec_mailbox_t *mbox = fsm->mbox;
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1366
    ec_slave_t *slave = fsm->slave;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1367
    ec_sdo_request_t *request = fsm->request;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1368
    size_t max_segment_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1369
        slave->configured_rx_mailbox_size
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1370
        - EC_MBOX_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1371
        - EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1372
    size_t segment_size, data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1373
    uint8_t last_segment, seg_data_size, *data;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1374
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1375
    if (fsm->remaining > max_segment_size) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1376
        segment_size = max_segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1377
        last_segment = 0;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1378
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1379
        segment_size = fsm->remaining;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1380
        last_segment = 1;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1381
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1382
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1383
    if (segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1384
        seg_data_size = 0x00;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1385
        data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1386
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1387
        seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1388
        data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1389
            + EC_COE_DOWN_SEG_MIN_DATA_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1390
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1391
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1392
    data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1393
            data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1394
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1395
        request->errno = PTR_ERR(data);
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1396
        fsm->state = ec_fsm_coe_error;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1397
        return;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1398
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1399
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1400
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1401
    EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1402
            | (seg_data_size << 1) 
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1403
            | (fsm->toggle << 4)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1404
            | (0x00 << 5)); // Download segment request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1405
    memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1406
            request->data + fsm->offset, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1407
    if (segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1408
        memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size, 0x00,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1409
                EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1410
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1411
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1412
    fsm->offset += segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1413
    fsm->remaining -= segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1414
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1415
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1416
        EC_SLAVE_DBG(slave, 1, "Download segment request:\n");
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1417
        ec_print_data(data, data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1418
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1419
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1420
    fsm->state = ec_fsm_coe_down_seg_check;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1421
}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1422
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1423
/*****************************************************************************/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1424
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1425
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1426
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1427
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1428
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1429
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1430
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1431
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1432
    ec_mailbox_t *mbox = fsm->mbox;
2047
f4266c6fce7c fixed kernel oops bug in ec_fsm_coe_down_response (Blame the C Compiler)
Martin Troxler <ch1010277@ch10pc446>
parents: 2045
diff changeset
  1433
    ec_datagram_t *datagram = fsm->mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1434
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1435
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1436
    size_t rec_size;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1437
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1438
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1439
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1440
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1441
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1442
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1443
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1444
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1445
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1446
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1447
        EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1448
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1449
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1450
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1451
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1452
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1453
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1454
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1455
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1456
        EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1457
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1458
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1459
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1460
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1461
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1462
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1463
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1464
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1465
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1466
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1467
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1468
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1469
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1470
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1471
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1472
                mbox_prot);
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1473
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1474
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1475
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1476
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1477
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1478
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1479
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1480
        fsm->state = ec_fsm_coe_down_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1481
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1482
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1483
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1484
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1485
        EC_SLAVE_DBG(slave, 1, "Download response:\n");
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1486
        ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1487
    }
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1488
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1489
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1490
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1491
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1492
        EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1493
                rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1494
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1495
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1496
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1497
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1498
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1499
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1500
        char subidxstr[10];
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1501
        request->errno = EIO;
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1502
        fsm->state = ec_fsm_coe_error;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1503
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1504
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1505
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1506
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1507
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1508
        EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1509
                request->index, subidxstr, request->data_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1510
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1511
            EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1512
            ec_print_data(data, rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1513
        } else {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1514
            fsm->request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1515
            ec_canopen_abort_msg(slave, fsm->request->abort_code);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1516
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1517
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1518
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1519
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1520
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1521
        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1522
        EC_READ_U16(data + 3) != request->index || // index
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1523
        EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1524
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1525
            EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1526
                    " Retrying...\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1527
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1528
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1529
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1530
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1531
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1532
        fsm->state = ec_fsm_coe_down_check;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1533
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1534
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1535
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1536
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1537
        fsm->toggle = 0;
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1538
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1539
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1540
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1541
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1542
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1543
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1544
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1545
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1546
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1547
   CoE state: DOWN SEG CHECK.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1548
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1549
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1550
void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1551
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1552
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1553
    ec_datagram_t *datagram = mbox->datagram;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1554
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1555
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1556
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1557
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1558
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1559
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1560
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1561
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1562
        fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1563
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1564
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1565
        ec_datagram_print_state(datagram);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1566
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1567
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1568
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1569
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1570
        fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1571
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1572
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1573
                " datagram failed: ");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1574
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1575
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1576
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1577
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1578
    if (!ec_slave_mbox_check(mbox)) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1579
        unsigned long diff_ms =
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1580
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1581
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1582
            fsm->request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1583
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1584
            EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1585
                    " segment response.\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1586
            return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1587
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1588
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1589
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1590
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1591
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1592
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1593
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1594
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1595
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1596
    fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1597
    fsm->state = ec_fsm_coe_down_seg_response;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1598
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1599
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1600
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1601
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1602
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1603
   CoE state: DOWN SEG RESPONSE.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1604
   \todo Timeout behavior
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1605
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1606
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1607
void ec_fsm_coe_down_seg_response(
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1608
        ec_fsm_coe_t *fsm /**< finite state machine */
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1609
        )
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1610
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1611
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1612
    ec_datagram_t *datagram = mbox->datagram;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1613
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1614
    uint8_t *data, mbox_prot;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1615
    size_t rec_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1616
    ec_sdo_request_t *request = fsm->request;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1617
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1618
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1619
            && fsm->retries--) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1620
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1621
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1622
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1623
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1624
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1625
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1626
        EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1627
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1628
        ec_datagram_print_state(datagram);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1629
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1630
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1631
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1632
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1633
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1634
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1635
        EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1636
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1637
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1638
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1639
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1640
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1641
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1642
        request->errno = PTR_ERR(data);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1643
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1644
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1645
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1646
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1647
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1648
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1649
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1650
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1651
                mbox_prot);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1652
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1653
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1654
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1655
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1656
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1657
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1658
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1659
        fsm->state = ec_fsm_coe_down_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1660
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1661
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1662
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1663
    if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1664
        EC_SLAVE_DBG(slave, 1, "Download response:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1665
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1666
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1667
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1668
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1669
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1670
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1671
        EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1672
                rec_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1673
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1674
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1675
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1676
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1677
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1678
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1679
        char subidxstr[10];
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1680
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1681
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1682
        if (request->complete_access) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1683
            subidxstr[0] = 0x00;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1684
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1685
            sprintf(subidxstr, ":%02X", request->subindex);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1686
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1687
        EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1688
                request->index, subidxstr, request->data_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1689
        if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1690
            EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1691
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1692
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1693
            fsm->request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1694
            ec_canopen_abort_msg(slave, fsm->request->abort_code);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1695
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1696
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1697
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1698
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1699
    if (EC_READ_U16(data) >> 12 != 0x3 ||
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1700
            ((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1701
        if (slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1702
            EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1703
                    " Retrying...\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1704
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1705
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1706
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1707
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1708
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1709
        fsm->state = ec_fsm_coe_down_seg_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1710
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1711
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1712
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1713
    if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1714
        EC_SLAVE_ERR(slave, "Invalid toggle received during"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1715
                " segmented download:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1716
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1717
        request->errno = EIO;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1718
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1719
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1720
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1721
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1722
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1723
        fsm->toggle = !fsm->toggle;
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1724
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1725
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1726
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1727
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1728
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1729
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1730
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1731
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1732
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1733
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1734
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1735
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1736
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1738
    ec_mailbox_t *mbox = fsm->mbox;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1739
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1740
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1742
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1743
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1744
    EC_SLAVE_DBG(slave, 1, "Uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1745
            request->index, request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1746
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1747
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1748
        EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1749
        request->errno = EPROTONOSUPPORT;
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1750
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1751
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1752
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1753
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1754
    data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1755
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1756
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1757
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1758
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1759
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1760
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1761
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1762
    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1763
    EC_WRITE_U16(data + 3, request->index);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1764
    EC_WRITE_U8 (data + 5, request->subindex);
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1765
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1766
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1767
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1768
        EC_SLAVE_DBG(slave, 1, "Upload request:\n");
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1769
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1770
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1771
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1772
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1773
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1774
    fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1775
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1776
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1777
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1778
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1779
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1780
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1781
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1782
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1783
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1784
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1785
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1786
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1787
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1788
    ec_slave_t *slave = fsm->slave;
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1789
    unsigned long diff_ms;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1790
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1791
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1792
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1793
        return; // FIXME: check for response first?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1794
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1795
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1796
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1797
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1798
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1799
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1800
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1801
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1802
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1803
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1804
    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1805
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1806
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1807
        if (ec_mbox_is_datagram_wc(mbox, 0)) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1808
            if (diff_ms < fsm->request->response_timeout) {
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1809
#if DEBUG_RETRIES
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1810
                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1811
                        " SDO upload request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1812
                        diff_ms);
1791
27030c6b2de3 Do not output CoE retries.
Florian Pose <fp@igh-essen.com>
parents: 1563
diff changeset
  1813
#endif
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1814
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1815
                return;
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1816
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1817
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1818
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1819
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1820
        EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1821
                " SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1822
                fsm->request->index, fsm->request->subindex, diff_ms);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1823
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1824
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1825
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1826
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1827
#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1828
    if (diff_ms > 200) {
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1829
        EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %lu ms.\n",
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1830
                fsm->request->index, fsm->request->subindex, diff_ms);
1792
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1831
    }
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1832
#endif
3eb466e9bad5 Improved CoE error messages.
Florian Pose <fp@igh-essen.com>
parents: 1791
diff changeset
  1833
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1834
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1835
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1836
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1837
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1838
    fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1839
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1840
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1841
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1842
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1843
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1844
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1845
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1846
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1847
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1848
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1849
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1850
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1853
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1854
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1855
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1856
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1857
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1858
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1859
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1860
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1861
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1862
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1863
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1864
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1865
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1866
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1867
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1868
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1869
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1870
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1871
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1872
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1873
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1874
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1875
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1876
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1877
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1043
2abea4233a6d Response timeout for checking Sdo upload.
Florian Pose <fp@igh-essen.com>
parents: 1038
diff changeset
  1878
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1879
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1880
            fsm->state = ec_fsm_coe_error;
1931
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1881
            EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
831f2d34664c Fixed format specifiers.
Florian Pose <fp@igh-essen.com>
parents: 1923
diff changeset
  1882
                    " SDO 0x%04x:%x upload response.\n", diff_ms,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1883
                    fsm->request->index, fsm->request->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1884
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1885
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1886
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1887
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1888
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1889
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1890
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1891
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1892
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1893
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1894
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1895
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1896
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1897
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1898
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1899
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1900
/** Prepare an SDO upload segment request.
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1901
 */
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1902
void ec_fsm_coe_up_prepare_segment_request(
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1903
        ec_fsm_coe_t *fsm /**< Finite state machine */
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1904
        )
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1905
{
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1906
    uint8_t *data =
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1907
        ec_slave_mbox_prepare_send(fsm->slave, fsm->mbox, 0x03, 10);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1908
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1909
        fsm->request->errno = PTR_ERR(data);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1910
        fsm->state = ec_fsm_coe_error;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1911
        return;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1912
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1913
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1914
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1915
    EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1916
                | 0x3 << 5)); // upload segment request
1550
81a16ba13ae6 Avoid zeroing mailbox datagram because of VoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 1544
diff changeset
  1917
    memset(data + 3, 0x00, 7);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1918
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1919
    if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1920
        EC_SLAVE_DBG(fsm->slave, 1, "Upload segment request:\n");
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1921
        ec_print_data(data, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1922
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1923
}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1924
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1925
/*****************************************************************************/
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1926
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1927
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1928
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1929
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1930
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1931
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1932
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1933
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1934
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1935
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1936
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1937
    ec_master_t *master = slave->master;
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1938
    uint16_t rec_index;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1939
    uint8_t *data, mbox_prot, rec_subindex;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1940
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1941
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1942
    unsigned int expedited, size_specified;
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1943
    int ret;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1944
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1945
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1946
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1947
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1948
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1949
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1950
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1951
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1952
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1953
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1954
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  1955
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1956
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1957
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1958
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  1959
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1960
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1961
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1962
        EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1963
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1964
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1965
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1966
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1967
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1968
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1969
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1970
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1971
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1972
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1973
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1974
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1975
        EC_SLAVE_DBG(slave, 1, "Upload response:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1976
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1977
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1978
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1979
    if (mbox_prot != 0x03) { // CoE
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1980
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1981
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1982
        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1983
                " as response.\n", mbox_prot);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1984
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1985
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1986
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1987
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1988
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  1989
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1990
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1991
        fsm->state = ec_fsm_coe_up_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1992
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1993
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1994
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1995
    if (rec_size < 6) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  1996
        request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1997
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1998
        EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  1999
                " (%zu bytes)!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2000
        ec_print_data(data, rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2001
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2002
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2003
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2004
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2005
            EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2006
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2007
               request->index, request->subindex);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2008
        if (rec_size >= 10) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2009
            request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2010
            ec_canopen_abort_msg(slave, request->abort_code);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2011
        } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2012
            EC_SLAVE_ERR(slave, "No abort message.\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2013
        }
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2014
        request->errno = EIO;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2015
        fsm->state = ec_fsm_coe_error;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2016
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2017
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2018
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2019
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2020
            EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2021
        EC_SLAVE_ERR(slave, "Received unknown response while"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2022
                " uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2023
                request->index, request->subindex);
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2024
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2025
        request->errno = EIO;
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2026
        fsm->state = ec_fsm_coe_error;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2027
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2028
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2029
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2030
    rec_index = EC_READ_U16(data + 3);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2031
    rec_subindex = EC_READ_U8(data + 5);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2032
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2033
    if (rec_index != request->index || rec_subindex != request->subindex) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2034
        EC_SLAVE_ERR(slave, "Received upload response for wrong SDO"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2035
                " (0x%04X:%02X, requested: 0x%04X:%02X).\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2036
                rec_index, rec_subindex, request->index, request->subindex);
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2037
        ec_print_data(data, rec_size);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2038
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2039
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2040
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2041
        fsm->retries = EC_FSM_RETRIES;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2042
        fsm->state = ec_fsm_coe_up_check;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2043
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2044
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2045
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2046
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2047
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2048
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2049
    if (expedited) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2050
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2051
        if (size_specified) {
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2052
            fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2053
        } else {
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2054
            fsm->complete_size = 4;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2055
        }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2056
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2057
        if (rec_size < 6 + fsm->complete_size) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2058
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2059
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2060
            EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2061
                    " response (only %zu bytes)!\n", rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2062
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2063
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2064
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2065
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2066
        ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2067
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2068
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2069
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2070
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2071
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2072
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2073
        if (rec_size < 10) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2074
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2075
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2076
            EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2077
                    " response (only %zu bytes)!\n", rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2078
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2079
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2080
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2081
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2082
        data_size = rec_size - 10;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2083
        fsm->complete_size = EC_READ_U32(data + 6);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2084
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2085
        if (!fsm->complete_size) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2086
            request->errno = EIO;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  2087
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2088
            EC_SLAVE_ERR(slave, "No complete size supplied!\n");
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2089
            ec_print_data(data, rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2090
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2091
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  2092
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2093
        ret = ec_sdo_request_alloc(request, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2094
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2095
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2096
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2097
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2098
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2099
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2100
        ret = ec_sdo_request_copy_data(request, data + 10, data_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2101
        if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2102
            request->errno = -ret;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2103
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2104
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2105
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2106
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2107
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2108
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2109
        if (data_size < fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2110
            EC_SLAVE_DBG(slave, 1, "SDO data incomplete (%zu / %u)."
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2111
                    " Segmenting...\n", data_size, fsm->complete_size);
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2112
            ec_fsm_coe_up_prepare_segment_request(fsm);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2113
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2114
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2115
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2116
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2117
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2118
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2119
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2120
        EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2121
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2122
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2123
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2124
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2125
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2126
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2127
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2128
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2129
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2130
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2131
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2132
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2133
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2134
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2135
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2136
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2137
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2138
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2139
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2140
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2141
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2142
        return; // FIXME: check for response first?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2143
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2144
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2145
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2146
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2147
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2148
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2149
                " request datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2150
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2151
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2152
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2153
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2154
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2155
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2156
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2157
        EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2158
                " request failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2159
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2160
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2161
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2162
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2163
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2164
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2165
    ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2166
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2167
    fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2168
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2169
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2170
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2171
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2172
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2173
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2174
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2175
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2176
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2177
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2178
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2179
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2180
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2181
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2182
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2183
            && fsm->retries--) {
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2184
        return;
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2185
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2186
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2187
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2188
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2189
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2190
        EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2191
                " datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2192
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2193
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2194
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2195
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2196
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2197
        fsm->request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2198
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2199
        EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2200
                " failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2201
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2202
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2203
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2204
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2205
    if (!ec_slave_mbox_check(mbox)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2206
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2207
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2208
        if (diff_ms >= fsm->request->response_timeout) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2209
            fsm->request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2210
            fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2211
            EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2212
                    " segment response.\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2213
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2214
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2215
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2216
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2217
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2218
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2219
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2220
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2221
    // Fetch response
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2222
    ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2223
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2224
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2225
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2226
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2227
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2228
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2229
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2230
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2231
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2232
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2233
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2234
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2235
{
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2236
    ec_mailbox_t *mbox = fsm->mbox;
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2237
    ec_datagram_t *datagram = mbox->datagram;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2238
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2239
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2240
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2241
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2242
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2243
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2244
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2245
    if (ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_TIMED_OUT)
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2246
            && fsm->retries--) {
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2247
        return; // FIXME: request again?
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2248
    }
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2249
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2250
    if (!ec_mbox_is_datagram_state(mbox, EC_DATAGRAM_RECEIVED)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2251
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2252
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2253
        EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2254
                " response datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1794
diff changeset
  2255
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2256
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2257
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2258
2094
83e9160319ec Minor: Fixed line wraps and spacing.
Florian Pose <fp@igh-essen.com>
parents: 2047
diff changeset
  2259
    if (!ec_mbox_is_datagram_wc(mbox, 1)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2260
        request->errno = EIO;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2261
        fsm->state = ec_fsm_coe_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2262
        EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2263
                " response failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2264
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2265
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2266
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2267
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2268
    data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  2269
    if (IS_ERR(data)) {
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2270
        request->errno = PTR_ERR(data);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2271
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2272
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2273
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2274
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2275
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2276
        EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2277
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2278
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2279
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2280
    if (mbox_prot != 0x03) { // CoE
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2281
        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2282
                mbox_prot);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2283
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2284
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2285
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2286
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2287
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2288
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2289
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2290
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2291
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2292
        fsm->state = ec_fsm_coe_up_seg_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2293
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2294
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2295
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2296
    if (rec_size < 10) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2297
        EC_SLAVE_ERR(slave, "Received currupted SDO upload"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2298
                " segment response!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2299
        ec_print_data(data, rec_size);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2300
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2301
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2302
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2303
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2304
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2305
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  2306
            EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2307
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2308
               request->index, request->subindex);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2309
        request->abort_code = EC_READ_U32(data + 6);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2310
        ec_canopen_abort_msg(slave, request->abort_code);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2311
        request->errno = EIO;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2312
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2313
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2314
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2315
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2316
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2317
        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2318
        if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2319
            EC_SLAVE_DBG(slave, 1, "Invalid SDO upload segment response!\n");
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2320
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2321
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2322
        // check for CoE response again
2045
ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents: 2041
diff changeset
  2323
        ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2324
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2325
        fsm->state = ec_fsm_coe_up_seg_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2326
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2327
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2328
1533
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2329
    data_size = rec_size - 3; /* Header of segment upload is smaller than
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2330
                                 normal upload */
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2331
    if (rec_size == 10) {
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2332
        uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2333
        data_size -= seg_size;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2334
    }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2335
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2336
    if (request->data_size + data_size > fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2337
        EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2338
                " exceeding complete size!\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2339
                request->index, request->subindex);
1948
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface.
Florian Pose <fp@igh-essen.com>
parents: 1931
diff changeset
  2340
        request->errno = EOVERFLOW;
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2341
        fsm->state = ec_fsm_coe_error;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2342
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2343
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2344
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2345
    memcpy(request->data + request->data_size, data + 3, data_size);
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  2346
    request->data_size += data_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2347
1533
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2348
    last_segment = EC_READ_U8(data + 2) & 0x01;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2349
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2350
        fsm->toggle = !fsm->toggle;
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2351
        ec_fsm_coe_up_prepare_segment_request(fsm);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2352
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2353
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2354
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2355
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2356
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2357
    if (request->data_size != fsm->complete_size) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2358
        EC_SLAVE_WARN(slave, "SDO upload 0x%04X:%02X: Assembled data"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2359
                " size (%zu) does not match complete size (%u)!\n",
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2360
                request->index, request->subindex,
1339
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2361
                request->data_size, fsm->complete_size);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2362
    }
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents: 1338
diff changeset
  2363
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2364
    if (master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1907
diff changeset
  2365
        EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2366
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2367
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2368
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2369
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2370
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2371
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2372
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2373
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2374
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2375
   State: ERROR.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2376
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2377
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2378
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2379
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2380
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2381
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2382
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2383
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2384
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2385
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2386
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2387
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2388
void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2389
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2390
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2391
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2392
/*****************************************************************************/