master/fsm_coe.c
author Florian Pose <fp@igh-essen.com>
Tue, 01 Dec 2009 22:03:50 +0100
changeset 1570 7a2a58107dd8
parent 1563 ddedb71b3a85
child 1791 27030c6b2de3
permissions -rw-r--r--
Use own PFX for printk.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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/** Maximum time in ms to wait for responses when reading out the dictionary.
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 */
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#define EC_FSM_COE_DICT_TIMEOUT 3000
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#define EC_COE_DOWN_REQ_HEADER_SIZE      10
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#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE  3
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#define EC_COE_DOWN_SEG_MIN_DATA_SIZE    7
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/*****************************************************************************/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_start(ec_fsm_coe_t *);
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void ec_fsm_coe_down_request(ec_fsm_coe_t *);
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void ec_fsm_coe_down_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_start(ec_fsm_coe_t *);
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void ec_fsm_coe_up_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_end(ec_fsm_coe_t *);
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void ec_fsm_coe_error(ec_fsm_coe_t *);
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/*****************************************************************************/
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/**
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   SDO abort messages.
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   The "abort SDO transfer request" supplies an abort code,
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   which can be translated to clear text. This table does
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   the mapping of the codes and messages.
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*/
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const ec_code_msg_t sdo_abort_messages[] = {
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    {0x05030000, "Toggle bit not changed"},
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    {0x05040000, "SDO protocol timeout"},
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    {0x05040001, "Client/Server command specifier not valid or unknown"},
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    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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    {0x06020000, "This object does not exist in the object directory"},
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    {0x06040041, "The object cannot be mapped into the PDO"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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     " exceed the PDO length"},
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    {0x06040043, "General parameter incompatibility reason"},
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    {0x06040047, "Gerneral internal incompatibility in device"},
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    {0x06060000, "Access failure due to a hardware error"},
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    {0x06070010, "Data type does not match, length of service parameter does"
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     " not match"},
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    {0x06070012, "Data type does not match, length of service parameter too"
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     " high"},
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    {0x06070013, "Data type does not match, length of service parameter too"
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     " low"},
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    {0x06090011, "Subindex does not exist"},
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    {0x06090030, "Value range of parameter exceeded"},
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    {0x06090031, "Value of parameter written too high"},
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    {0x06090032, "Value of parameter written too low"},
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    {0x06090036, "Maximum value is less than minimum value"},
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    {0x08000000, "General error"},
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    {0x08000020, "Data cannot be transferred or stored to the application"},
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    {0x08000021, "Data cannot be transferred or stored to the application"
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     " because of local control"},
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    {0x08000022, "Data cannot be transferred or stored to the application"
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     " because of the present device state"},
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    {0x08000023, "Object dictionary dynamic generation fails or no object"
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     " dictionary is present"},
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    {}
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};
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/*****************************************************************************/
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/**
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   Outputs an SDO abort message.
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*/
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void ec_canopen_abort_msg(uint32_t abort_code)
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{
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    const ec_code_msg_t *abort_msg;
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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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        if (abort_msg->code == abort_code) {
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            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
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                   abort_msg->code, abort_msg->message);
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            return;
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        }
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    }
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    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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}
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts reading a slaves' SDO dictionary.
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*/
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
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                           ec_slave_t *slave /**< EtherCAT slave */
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                           )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_dict_start;
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}
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/*****************************************************************************/
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/**
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   Starts to transfer an SDO to/from a slave.
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*/
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void ec_fsm_coe_transfer(
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        ec_fsm_coe_t *fsm, /**< State machine. */
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        ec_slave_t *slave, /**< EtherCAT slave. */
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        ec_sdo_request_t *request /**< SDO request. */
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        )
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{
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    fsm->slave = slave;
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    fsm->request = request;
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    if (request->dir == EC_DIR_OUTPUT)
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        fsm->state = ec_fsm_coe_down_start;
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    else
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        fsm->state = ec_fsm_coe_up_start;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_end;
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}
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/*****************************************************************************/
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/** Check if the received data are a CoE emergency request.
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 *
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 * If the check is positive, the emergency request is output.
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 *
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 * \return The data were an emergency request.
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 */
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int ec_fsm_coe_check_emergency(
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        ec_fsm_coe_t *fsm, /**< Finite state machine */
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        const uint8_t *data, /**< CoE mailbox data. */
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        size_t size /**< CoE mailbox data size. */
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        )
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{
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    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
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        return 0;
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    if (size < 10) {
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        EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
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                fsm->slave->ring_position);
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        ec_print_data(data, size);
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        return 1;
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    }
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    EC_INFO("CoE Emergency Request received from slave %u:\n",
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            fsm->slave->ring_position);
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    EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
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            EC_READ_U16(data + 2), EC_READ_U8(data + 4));
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    ec_print_data(data + 5, 5);
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    return 1;
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}
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436
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/******************************************************************************
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 *  CoE dictionary state machine
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 *****************************************************************************/
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/**
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   CoE state: DICT START.
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*/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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   278
    uint8_t *data;
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   279
834
0791aac03180 Separated SII data from slave.
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diff changeset
   280
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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parents: 814
diff changeset
   281
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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diff changeset
   282
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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parents: 814
diff changeset
   283
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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parents: 814
diff changeset
   284
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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parents: 814
diff changeset
   285
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   286
    if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   287
        EC_ERR("Slave %u does not support SDO information service!\n",
1219
aa030fb1e980 Only query Sdo information service, if slave supports it.
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parents: 1169
diff changeset
   288
                slave->ring_position);
aa030fb1e980 Only query Sdo information service, if slave supports it.
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diff changeset
   289
        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
   290
        return;
aa030fb1e980 Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents: 1169
diff changeset
   291
    }
aa030fb1e980 Only query Sdo information service, if slave supports it.
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parents: 1169
diff changeset
   292
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   293
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
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parents: 1310
diff changeset
   294
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   295
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   296
        return;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   297
    }
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parents:
diff changeset
   298
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
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diff changeset
   299
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   300
    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   301
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   302
    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
   303
    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   304
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   305
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
}
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   308
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   309
/*****************************************************************************/
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parents:
diff changeset
   310
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
/**
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   312
   CoE state: DICT REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   313
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   314
*/
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   315
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   316
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   317
{
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   318
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   320
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   321
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   322
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   323
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   324
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   325
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   326
        EC_ERR("Failed to receive CoE dictionary request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   327
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   328
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   329
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   330
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   331
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   332
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   333
        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
   334
        EC_ERR("Reception of CoE dictionary request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   335
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   336
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   340
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   343
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
}
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   346
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
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
   354
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   358
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   359
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   360
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   361
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   362
        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
   363
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   364
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   365
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   366
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   367
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   368
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   369
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   370
        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
   371
        EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   373
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   378
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   379
            (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
   380
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   382
            EC_ERR("Timeout while waiting for SDO dictionary list response "
1111
6aaf6a0c375c Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   383
                    "on slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   388
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   394
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   402
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
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
   406
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
    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
   412
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   415
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   416
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   417
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   418
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   419
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   420
        EC_ERR("Failed to receive CoE dictionary response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   421
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   422
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   423
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   424
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   425
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   426
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   427
        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
   428
        EC_ERR("Reception of CoE dictionary response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   429
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   430
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   434
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   435
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   441
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
        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
   443
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   446
    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
   447
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   448
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   449
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   450
        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
   451
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   452
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   453
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
   454
    if (rec_size < 3) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   455
        EC_ERR("Received corrupted SDO dictionary response (size %zu).\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
   456
                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
   457
        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
   458
        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
   459
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   460
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   461
    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
   462
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   463
        EC_ERR("SDO information error response at slave %u!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
               slave->ring_position);
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
   465
        if (rec_size < 10) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   466
            EC_ERR("Incomplete 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
   467
            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
   468
        } 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
   469
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   470
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
        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
   472
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   475
    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
   476
        (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
   477
        if (fsm->slave->master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   478
            EC_DBG("Invalid SDO list response at slave %u! Retrying...\n",
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   479
                    slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   480
            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
   481
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   482
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   483
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   484
        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
   485
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
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
   488
    if (rec_size < 8 || rec_size % 2) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   489
        EC_ERR("Invalid data size %zu!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
        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
   492
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
        if (!sdo_index) {
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   500
            if (slave->master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   501
                EC_WARN("SDO dictionary of slave %u contains index 0x0000.\n",
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   502
                        slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
            continue;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   506
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   507
            EC_ERR("Failed to allocate memory for SDO!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 991
diff changeset
   512
        ec_sdo_init(sdo, slave, sdo_index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   516
    fragments_left = EC_READ_U16(data + 4);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   517
    if (slave->master->debug_level && fragments_left) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   518
        EC_DBG("SDO list fragments left: %u\n", fragments_left);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   519
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   520
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   521
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // 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
   522
        fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   524
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
    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
   530
        // no SDOs in dictionary. finished.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
        fsm->state = ec_fsm_coe_end; // success
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
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   535
    // fetch SDO descriptions
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
    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
   537
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   538
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   539
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   544
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
    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
   546
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
    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
   548
    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
   549
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   550
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
    fsm->state = ec_fsm_coe_dict_desc_request;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   558
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
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
   562
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   566
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   567
        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
   568
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   569
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   570
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   571
        EC_ERR("Failed to receive CoE SDO description request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   572
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   573
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   574
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   575
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   576
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   577
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   578
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   579
        EC_ERR("Reception of CoE SDO description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   580
                " request failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   581
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   585
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   588
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   595
   CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
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
   599
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   602
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   603
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   604
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   605
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   606
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   607
        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
   608
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   609
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   610
                slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   614
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   615
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   616
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   617
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   618
        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
   619
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   620
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   621
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   623
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   624
            (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
   625
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   627
            EC_ERR("Timeout while waiting for SDO object description "
1111
6aaf6a0c375c Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   628
                    "response on slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   633
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   639
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
    fsm->state = ec_fsm_coe_dict_desc_response;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   647
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
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
   651
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   659
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   660
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   661
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   662
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   663
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   664
        EC_ERR("Failed to receive CoE SDO description response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   665
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   666
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   667
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   668
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   669
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   670
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   671
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   672
        EC_ERR("Reception of CoE SDO description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   673
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   674
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   678
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   679
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   685
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
        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
   687
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   688
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   689
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   690
    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
   691
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   692
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   693
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   694
        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
   695
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
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
   698
    if (rec_size < 3) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   699
        EC_ERR("Received corrupted SDO description response (size %zu).\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
   700
                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
   701
        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
   702
        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
   703
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   704
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   705
    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
   706
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   707
        EC_ERR("SDO information error response at slave %u while"
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   708
               " fetching SDO 0x%04X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
        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
   712
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
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
   715
    if (rec_size < 8) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   716
        EC_ERR("Received corrupted SDO description response (size %zu).\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
   717
                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
   718
        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
   719
        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
   720
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   721
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   722
    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
   723
        (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
   724
        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
   725
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   726
            EC_DBG("Invalid object description response at slave %u while"
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   727
                    " fetching SDO 0x%04X!\n", slave->ring_position,
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   728
                    sdo->index);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   729
            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
   730
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   731
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   732
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   733
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   734
        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
   735
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
    if (rec_size < 12) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
        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
   742
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
   745
    sdo->max_subindex = EC_READ_U8(data + 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
    sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
    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
   750
        if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   751
            EC_ERR("Failed to allocate SDO name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
        sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
    if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
        EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
        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
   763
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   764
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
    fsm->subindex = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   770
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   771
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   776
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
    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
   778
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
    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
   780
    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
   781
    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
   782
    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
   783
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   784
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
    fsm->state = ec_fsm_coe_dict_entry_request;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
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
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   792
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
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
   796
                                   /**< finite state machine */)
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
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   799
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   801
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   802
        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
   803
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   804
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   805
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   806
        EC_ERR("Failed to receive CoE SDO entry request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   807
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   808
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   809
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   810
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   811
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   812
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   813
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   814
        EC_ERR("Reception of CoE SDO entry request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   815
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   816
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
        return;
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
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   820
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   822
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   823
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   824
    fsm->state = ec_fsm_coe_dict_entry_check;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   829
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
   CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
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
   834
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   835
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   836
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   837
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   838
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   839
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   840
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   841
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   842
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   843
        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
   844
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   845
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   846
               slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   850
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   851
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   852
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   853
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   854
        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
   855
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   856
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   857
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   859
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   860
            (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
   861
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   863
            EC_ERR("Timeout while waiting for SDO entry description response "
1111
6aaf6a0c375c Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
   864
                    "on slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
            return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   869
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   874
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   875
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   876
    fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   877
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   878
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   882
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   883
   \todo Timeout behavior
436
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
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
   887
                                    /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   889
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   890
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   891
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   892
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   893
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   894
    ec_sdo_entry_t *entry;
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   895
    u16 word;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   897
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   898
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   899
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   900
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   901
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   902
        EC_ERR("Failed to receive CoE SDO description response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   903
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   904
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   905
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   906
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   907
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   908
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   909
        fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   910
        EC_ERR("Reception of CoE SDO description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   911
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   912
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   913
        return;
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
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   916
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
   917
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   919
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   920
    }
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
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   923
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   924
        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
   925
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   926
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   927
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   928
    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
   929
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   930
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   931
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   932
        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
   933
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
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
   936
    if (rec_size < 3) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   937
        EC_ERR("Received corrupted SDO entry description response "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   938
                "(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
   939
        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
   940
        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
   941
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   942
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   943
    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
   944
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   945
        EC_ERR("SDO information error response at slave %u while"
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   946
               " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   947
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   948
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
        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
   950
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
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
   953
    if (rec_size < 9) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   954
        EC_ERR("Received corrupted SDO entry description response "
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   955
                "(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
   956
        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
   957
        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
   958
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   959
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   960
    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
   961
        (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry 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
   962
        EC_READ_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
   963
        EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   964
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   965
            EC_DBG("Invalid entry description response at slave %u while"
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   966
                    " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   967
                    sdo->index, fsm->subindex);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   968
            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
   969
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   970
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   971
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   972
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   973
        fsm->state = ec_fsm_coe_dict_entry_check;
895
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
    if (rec_size < 16) {
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
   978
        EC_ERR("Invalid data size %zu!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
        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
   981
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   982
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
    data_size = rec_size - 16;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   986
    if (!(entry = (ec_sdo_entry_t *)
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   987
          kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   988
        EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   989
        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
   990
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   991
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   992
991
2548ca639b1f Removed kobject from sdo entry.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   993
    ec_sdo_entry_init(entry, sdo, fsm->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
    entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
    entry->bit_length = EC_READ_U16(data + 12);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   996
1382
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   997
    // read access rights
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   998
    word = EC_READ_U16(data + 14);
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   999
    entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1000
    entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1)  & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1001
    entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2)  & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1002
    entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1003
    entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4)  & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1004
    entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5)  & 0x0001;
cb2188d111f3 Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
  1005
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1006
    if (data_size) {
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
  1007
        uint8_t *desc;
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
  1008
        if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1009
            EC_ERR("Failed to allocate SDO entry name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
        }
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
  1013
        memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
  1014
        desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
  1015
        entry->description = desc;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1018
    list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
  1020
    if (fsm->subindex < sdo->max_subindex) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
        fsm->subindex++;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1023
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1024
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1027
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1028
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1029
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1030
        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
  1031
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1032
        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
  1033
        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
  1034
        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
  1035
        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
  1036
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1037
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1038
        fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1040
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1041
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1042
    // another SDO description to fetch?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1043
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1044
        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
  1045
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1046
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1047
        if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1048
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1049
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1050
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1052
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1053
        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
  1054
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1055
        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
  1056
        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
  1057
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1058
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1062
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1064
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1066
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1068
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1070
/** 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
  1071
 */
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1072
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
  1073
        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
  1074
        )
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1075
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1076
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1077
    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
  1078
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
    uint8_t *data;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1080
    uint8_t data_set_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1082
    if (fsm->slave->master->debug_level) {
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1083
        char subidxstr[10];
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1084
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1085
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1086
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1087
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1088
        }
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1089
        EC_DBG("Downloading SDO 0x%04X%s to slave %u.\n",
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1090
                request->index, subidxstr, slave->ring_position);
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1091
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1092
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1093
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1094
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1095
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1096
        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
  1097
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1098
    }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1099
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1100
    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
  1101
            EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1102
        EC_ERR("Mailbox too small!\n");
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1103
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1104
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1105
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1106
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1107
    if (request->data_size <= 4) { // use expedited transfer type
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1108
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1109
                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
  1110
        if (IS_ERR(data)) {
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1111
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1112
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1113
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1114
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1115
        fsm->remaining = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1116
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1117
        data_set_size = 4 - request->data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1118
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1119
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1120
        EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1121
                    | data_set_size << 2
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1122
                    | ((request->complete_access ? 1 : 0) << 4) 
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1123
                    | 0x1 << 5)); // Download request
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1124
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1125
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1126
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1127
        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
  1128
        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
  1129
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1130
        if (slave->master->debug_level) {
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1131
            EC_DBG("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
  1132
            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
  1133
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1134
    }
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1135
    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
  1136
        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
  1137
               max_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1138
                   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
  1139
               required_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1140
                   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
  1141
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1142
        if (max_data_size < required_data_size) {
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1143
            // segmenting needed
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1144
            data_size = max_data_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1145
        } else {
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1146
            data_size = required_data_size;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1147
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1148
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1149
        data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1150
                data_size);
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1151
        if (IS_ERR(data)) {
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1152
            fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1153
            return;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1154
        }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1155
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1156
        fsm->offset = 0;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1157
        fsm->remaining = request->data_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1158
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1159
        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
  1160
        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
  1161
                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
  1162
                | ((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
  1163
                | 0x1 << 5); // Download request
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1164
        EC_WRITE_U16(data + 3, request->index);
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1165
        EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1166
                request->complete_access ? 0x00 : request->subindex);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1167
        EC_WRITE_U32(data + 6, request->data_size);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1168
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1169
        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
  1170
            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
  1171
            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
  1172
                    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
  1173
            fsm->offset += segment_size;
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1174
            fsm->remaining -= segment_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1175
        }
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) {
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents: 1112
diff changeset
  1178
            EC_DBG("Normal download request:\n");
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1179
            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
  1180
        }
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1498
diff changeset
  1181
    }
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1182
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1183
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1184
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1187
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1189
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1192
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
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
  1196
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1200
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1201
        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
  1202
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1203
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1204
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1205
        EC_ERR("Failed to receive CoE download request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1206
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1207
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1208
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1209
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1210
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1211
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1212
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1213
            unsigned long diff_ms =
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1214
                (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1215
            if (diff_ms < fsm->request->response_timeout) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1216
                if (fsm->slave->master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1217
                    EC_DBG("Slave %u did not respond to SDO download request. "
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1218
                            "Retrying after %u ms...\n",
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1219
                            slave->ring_position, (u32) diff_ms);
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1220
                }
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1221
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1222
                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
  1223
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1224
        }
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1225
        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
  1226
        EC_ERR("Reception of CoE download request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1227
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1228
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1232
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1235
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
    fsm->state = ec_fsm_coe_down_check;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
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
   CoE state: DOWN CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1243
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1244
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1245
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
  1246
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1249
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1250
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1251
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1252
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1253
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1254
        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
  1255
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1256
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1257
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1258
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1259
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1260
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1261
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1262
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1263
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1264
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1265
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1270
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1271
            (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
  1272
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1274
            EC_ERR("Timeout while waiting for SDO download response on "
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1275
                    "slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1276
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1277
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1280
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1283
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1284
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1285
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1286
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
    fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1288
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1289
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1290
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1291
1563
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1292
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
  1293
        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
  1294
        )
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1295
{
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1296
    ec_datagram_t *datagram = fsm->datagram;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1297
    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
  1298
    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
  1299
    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
  1300
        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
  1301
        - 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
  1302
        - 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
  1303
    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
  1304
    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
  1305
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1306
    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
  1307
        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
  1308
        last_segment = 0;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1309
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1310
        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
  1311
        last_segment = 1;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1312
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1313
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1314
    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
  1315
        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
  1316
        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
  1317
    } else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1318
        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
  1319
        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
  1320
            + 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
  1321
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1322
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1323
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1324
            data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1325
    if (IS_ERR(data)) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1326
        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
  1327
        return;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1328
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1329
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1330
    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
  1331
    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
  1332
            | (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
  1333
            | (fsm->toggle << 4)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1334
            | (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
  1335
    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
  1336
            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
  1337
    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
  1338
        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
  1339
                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
  1340
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1341
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1342
    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
  1343
    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
  1344
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1345
    if (slave->master->debug_level) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1346
        EC_DBG("Download segment request:\n");
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1347
        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
  1348
    }
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1349
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1350
    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
  1351
}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1352
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1353
/*****************************************************************************/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented
Florian Pose <fp@igh-essen.com>
parents: 1562
diff changeset
  1354
436
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
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1357
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1358
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1359
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1360
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
  1361
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1362
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1363
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1364
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1365
    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
  1366
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1367
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1368
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1369
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1370
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1371
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1372
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1373
        EC_ERR("Failed to receive CoE download response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1374
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1375
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1376
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1377
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1378
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1379
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1380
        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
  1381
        EC_ERR("Reception of CoE download response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1382
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1383
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1384
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1385
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1386
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1387
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1388
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1389
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1391
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1392
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1393
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1394
        fsm->state = ec_fsm_coe_error;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1395
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1396
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1397
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1399
    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
  1400
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1401
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1402
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1403
        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
  1404
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1405
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1406
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1407
    if (slave->master->debug_level) {
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1408
        EC_DBG("Download response:\n");
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1409
        ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1410
    }
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1411
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1412
    if (rec_size < 6) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1413
        fsm->state = ec_fsm_coe_error;
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  1414
        EC_ERR("Received data are too small (%zu bytes):\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1415
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1416
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1417
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1418
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1419
    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
  1420
        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
  1421
        char subidxstr[10];
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1422
        fsm->state = ec_fsm_coe_error;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1423
        if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1424
            subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1425
        } else {
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1426
            sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1427
        }
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  1428
        EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1429
                request->index, subidxstr, request->data_size,
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1430
                slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1431
        if (rec_size < 10) {
1526
66edd310830c Implemented CompleteAccess for SDO downloads.
Florian Pose <fp@igh-essen.com>
parents: 1507
diff changeset
  1432
            EC_ERR("Incomplete abort command:\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1433
            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
  1434
        } 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
  1435
            fsm->request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1436
            ec_canopen_abort_msg(fsm->request->abort_code);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1437
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1438
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1439
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1440
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1441
    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
  1442
        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
  1443
        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
  1444
        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
  1445
        if (slave->master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1446
            EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1447
                    slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1448
            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
  1449
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1450
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1451
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1452
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1453
        fsm->state = ec_fsm_coe_down_check;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1454
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1455
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1456
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1457
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1458
        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
  1459
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1460
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1461
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1462
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1463
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1464
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1465
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1466
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1467
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1468
   CoE state: DOWN SEG CHECK.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1469
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1470
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1471
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
  1472
{
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1473
    ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1474
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1475
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1476
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1477
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1478
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1479
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1480
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1481
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1482
                " (datagram state %u).\n",
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1483
               slave->ring_position, datagram->state);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1484
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1485
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1486
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1487
    if (datagram->working_counter != 1) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1488
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1489
        EC_ERR("Reception of CoE mailbox segment check"
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1490
                " datagram failed on slave %u: ", slave->ring_position);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1491
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1492
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1493
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1494
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1495
    if (!ec_slave_mbox_check(datagram)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1496
        unsigned long diff_ms =
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1497
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1498
        if (diff_ms >= fsm->request->response_timeout) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1499
            fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1500
            EC_ERR("Timeout while waiting for SDO download segment response "
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1501
                    "on slave %u.\n", slave->ring_position);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1502
            return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1503
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1504
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1505
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1506
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1507
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1508
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1509
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1510
    // Fetch response
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1511
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1512
    fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1513
    fsm->state = ec_fsm_coe_down_seg_response;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1514
}
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1515
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1516
/*****************************************************************************/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1517
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1518
/**
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1519
   CoE state: DOWN SEG RESPONSE.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1520
   \todo Timeout behavior
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1521
*/
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1522
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1523
void ec_fsm_coe_down_seg_response(
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1524
        ec_fsm_coe_t *fsm /**< finite state machine */
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1525
        )
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1526
{
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1527
    ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1528
    ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1529
    uint8_t *data, mbox_prot;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1530
    size_t rec_size;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1531
    ec_sdo_request_t *request = fsm->request;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1532
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1533
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1534
        return; // FIXME: request again?
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1535
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1536
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1537
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1538
        EC_ERR("Failed to receive CoE download response datagram from"
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1539
               " slave %u (datagram state %u).\n",
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1540
               slave->ring_position, datagram->state);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1541
        return;
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
    if (datagram->working_counter != 1) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1545
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1546
        EC_ERR("Reception of CoE download response failed on slave %u: ",
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1547
                slave->ring_position);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1548
        ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1549
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1550
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1551
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1552
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1553
    if (IS_ERR(data)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1554
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1555
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1556
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1557
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1558
    if (mbox_prot != 0x03) { // CoE
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1559
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1560
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1561
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1562
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1563
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1564
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1565
        // check for CoE response again
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1566
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1567
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1568
        fsm->state = ec_fsm_coe_down_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1569
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1570
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1571
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1572
    if (slave->master->debug_level) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1573
        EC_DBG("Download response:\n");
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1574
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1575
    }
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
    if (rec_size < 6) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1578
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1579
        EC_ERR("Received data are too small (%zu bytes):\n", rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1580
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1581
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1582
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1583
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1584
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1585
        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
  1586
        char subidxstr[10];
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1587
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1588
        if (request->complete_access) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1589
            subidxstr[0] = 0x00;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1590
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1591
            sprintf(subidxstr, ":%02X", request->subindex);
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
        EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1594
                request->index, subidxstr, request->data_size,
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1595
                slave->ring_position);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1596
        if (rec_size < 10) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1597
            EC_ERR("Incomplete abort command:\n");
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1598
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1599
        } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1600
            fsm->request->abort_code = EC_READ_U32(data + 6);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1601
            ec_canopen_abort_msg(fsm->request->abort_code);
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
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1604
    }
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
    if (EC_READ_U16(data) >> 12 != 0x3 ||
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1607
            ((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1608
        if (slave->master->debug_level) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1609
            EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1610
                    slave->ring_position);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1611
            ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1612
        }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1613
        // check for CoE response again
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1614
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1615
        fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1616
        fsm->state = ec_fsm_coe_down_seg_check;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1617
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1618
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1619
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1620
    if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1621
        EC_ERR("Invalid toggle received during segmented download:\n");
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1622
        ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1623
        fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1624
        return;
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1625
    }
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1626
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1627
    if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1628
        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
  1629
        ec_fsm_coe_down_prepare_segment_request(fsm);
1562
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1630
    } else {
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1631
        fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download.
Florian Pose <fp@igh-essen.com>
parents: 1550
diff changeset
  1632
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1633
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1634
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1635
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1636
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1637
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1638
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1639
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1640
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1641
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
  1642
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1643
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1644
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1645
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1646
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1647
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1648
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
  1649
    if (master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1650
        EC_DBG("Uploading SDO 0x%04X:%02X from slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1651
               request->index, request->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1652
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1653
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1654
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1655
        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
  1656
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1657
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1658
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1659
    data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1660
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1661
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1662
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1663
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1664
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1665
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1666
    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
  1667
    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
  1668
    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
  1669
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1670
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1671
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1672
        EC_DBG("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
  1673
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1674
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1675
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1676
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1677
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1678
    fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1679
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1680
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1681
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1682
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1683
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1684
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1685
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1686
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1687
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1688
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
  1689
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1693
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1694
        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
  1695
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1696
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1697
        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
  1698
        EC_ERR("Failed to receive CoE upload request for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1699
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1700
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1701
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1702
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1703
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1704
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1705
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1706
            unsigned long diff_ms =
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1707
                (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1708
            if (diff_ms < fsm->request->response_timeout) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1709
                if (fsm->slave->master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1710
                    EC_DBG("Slave %u did not respond to SDO upload request. "
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1711
                            "Retrying after %u ms...\n",
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1712
                            slave->ring_position, (u32) diff_ms);
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1713
                }
1112
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1714
                // no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents: 1111
diff changeset
  1715
                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
  1716
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1717
        }
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1718
        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
  1719
        EC_ERR("Reception of CoE upload request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1720
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1721
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1722
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1723
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1724
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1725
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1726
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1727
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1728
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1729
    fsm->state = ec_fsm_coe_up_check;
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
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
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1736
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1738
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
  1739
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1740
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1742
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1743
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1744
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1745
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1746
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1747
        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
  1748
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1749
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1750
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1751
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1752
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1753
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1754
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1755
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1756
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1757
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1758
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1759
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1760
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1761
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1762
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1763
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1764
            (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
  1765
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1766
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1767
            EC_ERR("Timeout while waiting for SDO upload response on "
1111
6aaf6a0c375c Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents: 1092
diff changeset
  1768
                    "slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1769
            return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1772
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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
        return;
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
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1778
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1779
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1780
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1781
}
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
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1785
/** 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
  1786
 */
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1787
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
  1788
        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
  1789
        )
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1790
{
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1791
    uint8_t *data =
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1792
        ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1793
    if (IS_ERR(data)) {
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1794
        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
  1795
        return;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1796
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1797
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1798
    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
  1799
    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
  1800
                | 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
  1801
    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
  1802
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1803
    if (fsm->slave->master->debug_level) {
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1804
        EC_DBG("Upload segment request:\n");
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1805
        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
  1806
    }
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1807
}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1808
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1809
/*****************************************************************************/
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1810
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1811
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1812
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1813
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1814
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1815
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1816
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
  1817
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1818
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1819
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1820
    ec_master_t *master = slave->master;
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1821
    uint16_t rec_index;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1822
    uint8_t *data, mbox_prot, rec_subindex;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1823
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1824
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1825
    unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1826
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1827
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1828
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1829
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1830
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1831
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1832
        EC_ERR("Failed to receive CoE upload response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1833
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1834
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1835
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1836
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1837
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1838
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1839
        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
  1840
        EC_ERR("Reception of CoE upload response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1841
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1842
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1843
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1844
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1845
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1846
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  1847
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1848
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1849
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1850
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1853
        EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1854
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1855
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1856
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1857
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1858
        fsm->state = ec_fsm_coe_error;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1859
        EC_WARN("Received mailbox protocol 0x%02X 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
  1860
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1861
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1862
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1863
    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
  1864
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1865
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1866
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1867
        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
  1868
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1869
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1870
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1871
    if (rec_size < 6) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1872
        fsm->state = ec_fsm_coe_error;
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  1873
        EC_ERR("Received currupted SDO upload response (%zu bytes)!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1874
        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
  1875
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1876
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1877
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1878
    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
  1879
            EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1880
        EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1881
               request->index, request->subindex, slave->ring_position);
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
  1882
        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
  1883
            request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1884
            ec_canopen_abort_msg(request->abort_code);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1885
        } else {
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1886
            EC_ERR("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
  1887
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1888
        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
  1889
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1890
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1891
1468
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1892
    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
  1893
            EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1894
        EC_ERR("Received unknown response while uploading SDO 0x%04X:%02X"
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1895
                " from slave %u.\n", request->index, request->subindex,
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1896
                slave->ring_position);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1897
        ec_print_data(data, rec_size);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1898
        fsm->state = ec_fsm_coe_error;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1899
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1900
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1901
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1902
    rec_index = EC_READ_U16(data + 3);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1903
    rec_subindex = EC_READ_U8(data + 5);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1904
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1905
    if (rec_index != request->index || rec_subindex != request->subindex) {
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1906
        EC_ERR("Received upload response for wrong SDO (0x%04X:%02X,"
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1907
                " requested: 0x%04X:%02X) from slave %u.\n",
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1908
                rec_index, rec_subindex, request->index, request->subindex,
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1909
                slave->ring_position);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1910
        ec_print_data(data, rec_size);
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1911
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1912
        // check for CoE response again
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1913
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1914
        fsm->retries = EC_FSM_RETRIES;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1915
        fsm->state = ec_fsm_coe_up_check;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1916
        return;
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1917
    }
0a804ddbaf93 Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents: 1457
diff changeset
  1918
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1919
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1920
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1921
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1922
    if (expedited) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1923
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1924
        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
  1925
            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
  1926
        } 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
  1927
            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
  1928
        }
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
  1929
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
  1930
        if (rec_size < 6 + fsm->complete_size) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1931
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1932
            EC_ERR("Received currupted 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
  1933
                    " 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
  1934
            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
  1935
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1936
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1937
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
  1938
        if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_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
  1939
            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
  1940
            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
  1941
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1942
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1943
        if (rec_size < 10) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1944
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  1945
            EC_ERR("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
  1946
                    " 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
  1947
            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
  1948
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1949
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1950
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1951
        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
  1952
        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
  1953
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
  1954
        if (!fsm->complete_size) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1955
            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
  1956
            EC_ERR("No complete size supplied!\n");
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1957
            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
  1958
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1959
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1960
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
  1961
        if (ec_sdo_request_alloc(request, fsm->complete_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
  1962
            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
  1963
            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
  1964
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1965
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1966
        if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1967
            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
  1968
            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
  1969
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1970
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1971
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1972
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
  1973
        if (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
  1974
            if (master->debug_level)
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  1975
                EC_DBG("SDO data incomplete (%zu / %u). Segmenting...\n",
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
  1976
                        data_size, fsm->complete_size);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1977
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  1978
            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
  1979
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1980
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1981
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1982
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1983
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1984
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1985
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1986
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1987
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1988
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1989
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1990
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1991
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1992
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1993
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1994
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1995
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1996
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1997
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1998
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1999
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2000
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
  2001
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2002
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2003
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2004
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2005
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2006
        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
  2007
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2008
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2009
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2010
        EC_ERR("Failed to receive CoE upload segment request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  2011
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  2012
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2013
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2014
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2015
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2016
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2017
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2018
        EC_ERR("Reception of CoE upload segment"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2019
                " request failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2020
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2021
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2022
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2023
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2024
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2025
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2026
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2027
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2028
    fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2029
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2030
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2031
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2032
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2033
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2034
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2035
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2036
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2037
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
  2038
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2039
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2040
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2041
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2042
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2043
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2044
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2045
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2046
        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
  2047
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  2048
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  2049
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2050
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2051
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2052
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2053
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2054
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2055
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2056
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2057
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2058
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2059
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2060
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2061
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2062
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  2063
            (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
  2064
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2065
            fsm->state = ec_fsm_coe_error;
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2066
            EC_ERR("Timeout while waiting for SDO upload segment response "
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2067
                    "on slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2068
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2069
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2070
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2071
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2072
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2073
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2074
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2075
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2076
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2077
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2078
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2079
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2080
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2081
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2082
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2083
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2084
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2085
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2086
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2087
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2088
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2089
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
  2090
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2091
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2092
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2093
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2094
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2095
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2096
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2097
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2098
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2099
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  2100
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2101
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2102
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2103
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2104
        EC_ERR("Failed to receive CoE upload segment response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  2105
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  2106
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2107
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2108
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2109
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2110
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  2111
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2112
        EC_ERR("Reception of CoE upload segment"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2113
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  2114
        ec_datagram_print_wc_error(datagram);
436
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
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  2118
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1310
diff changeset
  2119
    if (IS_ERR(data)) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2120
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2121
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2122
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2123
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2124
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2125
        EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2126
        ec_print_data(data, rec_size);
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
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  2130
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2131
        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
  2132
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2133
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2134
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2135
    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
  2136
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2137
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2138
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  2139
        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
  2140
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2141
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2142
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2143
    if (rec_size < 10) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2144
        EC_ERR("Received currupted SDO upload segment response!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2145
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2146
        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
  2147
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2148
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2149
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2150
    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
  2151
            EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2152
        EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  2153
               request->index, request->subindex, slave->ring_position);
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
  2154
        request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  2155
        ec_canopen_abort_msg(request->abort_code);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2156
        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
  2157
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2158
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2159
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2160
    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
  2161
        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
  2162
        if (fsm->slave->master->debug_level) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
  2163
            EC_DBG("Invalid SDO upload segment response at slave %u!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2164
               slave->ring_position);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2165
            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
  2166
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2167
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2168
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2169
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  2170
        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
  2171
        return;
436
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
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
  2174
    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
  2175
                                 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
  2176
    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
  2177
        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
  2178
        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
  2179
    }
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
  2180
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
  2181
    if (request->data_size + 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
  2182
        EC_ERR("SDO upload 0x%04X:%02X failed on slave %u: Fragment"
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
  2183
                " exceeding complete size!\n",
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
  2184
               request->index, request->subindex, slave->ring_position);
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
  2185
        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
  2186
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2187
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2188
1498
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter).
Florian Pose <fp@igh-essen.com>
parents: 1495
diff changeset
  2189
    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
  2190
    request->data_size += data_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2191
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
  2192
    last_segment = EC_READ_U8(data + 2) & 0x01;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2193
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2194
        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
  2195
        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
  2196
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2197
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2198
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2199
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2200
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
  2201
    if (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
  2202
        EC_WARN("SDO upload 0x%04X:%02X on slave %u: Assembled data"
1543
373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
parents: 1526
diff changeset
  2203
                " size (%zu) does not match complete size (%u)!\n",
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
  2204
                request->index, request->subindex, slave->ring_position,
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
  2205
                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
  2206
    }
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
  2207
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2208
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2209
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2210
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2211
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  2212
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2213
    fsm->state = ec_fsm_coe_end; // success
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2216
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2217
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2218
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2219
   State: ERROR.
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2222
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
  2223
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2224
}
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
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2230
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2231
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2232
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
  2233
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2234
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2235
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  2236
/*****************************************************************************/