etherlabmaster: master/fsm_coe.c@9ddbfb2f284d (annotated)

436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "mailbox.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "fsm_coe.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	48	/** Maximum time in ms to wait for responses when reading out the dictionary.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	49	*/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	50	#define EC_FSM_COE_DICT_TIMEOUT 3000
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	51
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	52	/*****************************************************************************/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	53
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	void ec_fsm_coe_down_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_coe_down_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_coe_down_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	void ec_fsm_coe_down_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	void ec_fsm_coe_up_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	void ec_fsm_coe_up_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_coe_up_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void ec_fsm_coe_up_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_coe_end(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	void ec_fsm_coe_error(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	84	Sdo abort messages.
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	85	The "abort Sdo transfer request" supplies an abort code,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	which can be translated to clear text. This table does
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	the mapping of the codes and messages.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	const ec_code_msg_t sdo_abort_messages[] = {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	{0x05030000, "Toggle bit not changed"},
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	92	{0x05040000, "Sdo protocol timeout"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	{0x05040001, "Client/Server command specifier not valid or unknown"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	{0x05040005, "Out of memory"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{0x06010000, "Unsupported access to an object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	{0x06010001, "Attempt to read a write-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	{0x06010002, "Attempt to write a read-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	{0x06020000, "This object does not exist in the object directory"},
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	99	{0x06040041, "The object cannot be mapped into the Pdo"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	{0x06040042, "The number and length of the objects to be mapped would"
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	101	" exceed the Pdo length"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{0x06040043, "General parameter incompatibility reason"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	{0x06040047, "Gerneral internal incompatibility in device"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	{0x06060000, "Access failure due to a hardware error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	{0x06070010, "Data type does not match, length of service parameter does"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	" not match"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	{0x06070012, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	" high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{0x06070013, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	" low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	{0x06090011, "Subindex does not exist"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	{0x06090030, "Value range of parameter exceeded"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	{0x06090031, "Value of parameter written too high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	{0x06090032, "Value of parameter written too low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	{0x06090036, "Maximum value is less than minimum value"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	{0x08000000, "General error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{0x08000020, "Data cannot be transferred or stored to the application"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	{0x08000021, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	" because of local control"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	{0x08000022, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	" because of the present device state"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	{0x08000023, "Object dictionary dynamic generation fails or no object"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	" dictionary is present"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	{}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	};
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	126
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	128
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	130	Outputs an Sdo abort message.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	void ec_canopen_abort_msg(uint32_t abort_code)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	const ec_code_msg_t *abort_msg;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	if (abort_msg->code == abort_code) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	139	EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	abort_msg->code, abort_msg->message);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	145	EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	147
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	149
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	Constructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	void ec_fsm_coe_init(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	ec_datagram_t datagram /< datagram /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	fsm->state = NULL;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	fsm->datagram = datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	Destructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	void ec_fsm_coe_clear(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	171
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	175	Starts reading a slaves' Sdo dictionary.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	void ec_fsm_coe_dictionary(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	ec_slave_t slave /< EtherCAT slave /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	fsm->slave = slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	fsm->state = ec_fsm_coe_dict_start;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	/**
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	189	Starts to transfer an Sdo to/from a slave.
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	190	*/
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	191
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	192	void ec_fsm_coe_transfer(
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	193	ec_fsm_coe_t fsm, /< State machine. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	194	ec_slave_t slave, /< EtherCAT slave. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	195	ec_sdo_request_t request /< Sdo request. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	196	)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	fsm->slave = slave;
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	199	fsm->request = request;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	200	if (request->dir == EC_DIR_OUTPUT)
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	201	fsm->state = ec_fsm_coe_down_start;
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	202	else
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	203	fsm->state = ec_fsm_coe_up_start;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	Executes the current state of the state machine.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	\return false, if state machine has terminated
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	int ec_fsm_coe_exec(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	fsm->state(fsm);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	216
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	Returns, if the state machine terminated with success.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	\return non-zero if successful.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	int ec_fsm_coe_success(ec_fsm_coe_t fsm /< Finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	return fsm->state == ec_fsm_coe_end;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	231
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	232	/*****************************************************************************/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	233
1092 69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	234	/** Check if the received data are a CoE emergency request.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	235	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	236	* If the check is positive, the emergency request is output.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	237	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	238	* \return The data were an emergency request.
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	239	*/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	240	int ec_fsm_coe_check_emergency(
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	241	ec_fsm_coe_t fsm, /< Finite state machine /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	242	const uint8_t data, /< CoE mailbox data. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	243	size_t size /*< CoE mailbox data size. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	244	)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	245	{
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	246	if (size < 2 \|\| ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	247	return 0;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	248
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	249	if (size < 10) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	250	EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	251	fsm->slave->ring_position);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	252	ec_print_data(data, size);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	253	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	254	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	255
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	256	EC_INFO("CoE Emergency Request received from slave %u:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	257	fsm->slave->ring_position);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	258	EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	259	EC_READ_U16(data + 2), EC_READ_U8(data + 4));
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	260	ec_print_data(data + 5, 5);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	261	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	262	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	263
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	* CoE dictionary state machine
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	CoE state: DICT START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	271
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	void ec_fsm_coe_dict_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	277
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	278	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	279	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	280	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	281	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	282	}
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	283
1219 aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	284	if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	285	EC_ERR("Slave %u does not support Sdo information service!\n",
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	286	slave->ring_position);
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	287	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	288	return;
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	289	}
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	290
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	291	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	292	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	296
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	297	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	301	EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	303	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	306
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	CoE state: DICT REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	311	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	void ec_fsm_coe_dict_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	319	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	320	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	321
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	322	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	323	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	324	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	325	" 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	326	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	327	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	328	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	329
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	330	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	331	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	332	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	333	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	334	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	338	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	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	341	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> 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	CoE state: DICT CHECK.
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	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	352	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	356	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	357	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	358
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	359	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	360	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	361	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	362	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	363	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	364	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	365	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	366
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	367	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	368	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	369	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	370	slave->ring_position);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	371	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	374
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	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	376	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	377	(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	378	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	fsm->state = ec_fsm_coe_error;
1111 6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	380	EC_ERR("Timeout while waiting for Sdo dictionary list response "
6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	381	"on slave %u.\n", slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	383	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	384
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	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	386	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	389
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	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	392	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395
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	CoE state: DICT RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	400	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	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	404	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	size_t rec_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	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	410	uint16_t sdo_index, fragments_left;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	412
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	413	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	414	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	415
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	416	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	417	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	418	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	419	" 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	420	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	421	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	422	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	423
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	424	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	425	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	426	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	427	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	428	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	431
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	432	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	433	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	437
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	438	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	439	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	440	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	441	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	442	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	443
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	444	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	445	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	446	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	447	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	448	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	449	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	450	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	451
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	452	if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	453	EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",
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	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	455	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	456	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	457	}
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	459	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	460	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	461	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	462	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	463	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	464	EC_ERR("Incomplete Sdo information error response:\n");
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	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	466	} 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	467	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	468	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	469	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	470	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	471	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	472
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	473	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	474	(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	475	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	476	EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	477	slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	478	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	479	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	480	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	481	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	482	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	483	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	485
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	486	if (rec_size < 8 \|\| rec_size % 2) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	487	EC_ERR("Invalid data size %u!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	488	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	489	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	490	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	491	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	492
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	sdo_count = (rec_size - 8) / 2;
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	for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	if (!sdo_index) {
461 b9eda9235173 Print certain warnings only at debug_level. Florian Pose <fp@igh-essen.com> parents: 459 diff changeset	498	if (slave->master->debug_level)
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	499	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	500	slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	continue;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	503
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	504	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	505	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	506	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	509
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 991 diff changeset	510	ec_sdo_init(sdo, slave, sdo_index);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	513
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	514	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	515	if (slave->master->debug_level && fragments_left) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	516	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	517	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	518
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	519	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	520	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	521	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	522	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	524	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	526
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	if (list_empty(&slave->sdo_dictionary)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	528	// no Sdos in dictionary. finished.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	529	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	531	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	532
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	533	// fetch Sdo descriptions
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	534	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	535
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	536	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	537	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	539	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	540	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	541
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	542	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	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	544	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	546	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	547
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	548	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	549	fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	551
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	CoE state: DICT DESC REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	556	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	557	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	558
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	559	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	560	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	561	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	563
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	564	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	565	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	566
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	567	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	568	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	569	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	570	" 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	571	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	572	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	573	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	574
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	575	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	576	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	577	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	578	" 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	579	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	580	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	581	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	582
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	583	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	584
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	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	586	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	587	fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	589
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	CoE state: DICT DESC CHECK.
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	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	597	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	599	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	600
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	601	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	602	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	603
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	604	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	605	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	606	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	607	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	608	slave->ring_position, datagram->state);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	610	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	611
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	612	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	613	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	614	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	615	" 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	616	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	617	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	618	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	619
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	620	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	621	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	622	(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	623	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	624	fsm->state = ec_fsm_coe_error;
1111 6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	625	EC_ERR("Timeout while waiting for Sdo object description "
6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	626	"response on slave %u.\n", slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	627	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	628	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	629
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	630	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	631	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	634
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	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	637	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	638	fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	640
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	CoE state: DICT DESC RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	645	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	647
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	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	649	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	653	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	655	size_t rec_size, name_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	656
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	657	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	658	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	659
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	660	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	661	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	662	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	663	" 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	664	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	665	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	666	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	667
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	668	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	669	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	670	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	671	" 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	672	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	673	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	674	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	675
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	676	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	677	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	679	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	681
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	682	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	683	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	684	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	685	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	686	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	687
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	688	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	689	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	690	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	691	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	692	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	693	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	694	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	695
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	696	if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	697	EC_ERR("Received corrupted Sdo description response (size %u).\n",
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	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	699	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	700	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	701	}
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	703	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	704	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	705	EC_ERR("Sdo information error response at slave %u while"
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	706	" fetching Sdo 0x%04X!\n", slave->ring_position,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	707	sdo->index);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	708	ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	709	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	710	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	711	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	712
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	713	if (rec_size < 8) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	714	EC_ERR("Received corrupted Sdo description response (size %u).\n",
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	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	716	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	717	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	718	}
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	720	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	721	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	722	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	723	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	724	EC_DBG("Invalid object description response at slave %u while"
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	725	" fetching Sdo 0x%04X!\n", slave->ring_position,
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	726	sdo->index);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	727	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	728	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	729	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	730	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	731	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	732	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	733	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	734	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	735
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	if (rec_size < 12) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	737	EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	738	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	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	740	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	741	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	742
962 ea83a7aab57a Renamed subindices to max_subindex. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	743	sdo->max_subindex = EC_READ_U8(data + 10);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	745
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	name_size = rec_size - 12;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	747	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	748	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	749	EC_ERR("Failed to allocate Sdo name!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	753
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	754	memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	755	sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	757
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	759	EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	760	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	761	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	763
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	// start fetching entries
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	fsm->subindex = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	767
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	768	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	769	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	770	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	771	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	773
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	774	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	775	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	776	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	778	EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	779	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	780	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	781
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	782	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	783	fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	784	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	785
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	CoE state: DICT ENTRY REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	790	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	792
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	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	794	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	795	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	797	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	798
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	799	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	800	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	801
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	802	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	803	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	804	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	805	" 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	806	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	807	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	808	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	809
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	810	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	811	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	812	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	813	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	814	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	815	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	816	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	817
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	818	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	819
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	820	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	821	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	822	fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	823	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	824
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	CoE state: DICT ENTRY CHECK.
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	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	832	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	833	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	834	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	835	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	836
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	837	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	838	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	839
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	840	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	841	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	842	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	843	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	844	slave->ring_position, datagram->state);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	845	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	846	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	847
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	848	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	849	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	850	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	851	" 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	852	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	853	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	854	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	855
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	856	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	857	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	858	(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	859	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	860	fsm->state = ec_fsm_coe_error;
1111 6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	861	EC_ERR("Timeout while waiting for Sdo entry description response "
6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	862	"on slave %u.\n", slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	863	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	864	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	865
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	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	867	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	868	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	869	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	870
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	871	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	872	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	873	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	875	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	876
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	CoE state: DICT ENTRY RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	881	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	883
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	884	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	885	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	886	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	887	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	889	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	890	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	891	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	892	ec_sdo_entry_t *entry;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	893
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	894	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	895	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	896
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	897	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	898	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	899	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	900	" 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	901	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	902	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	903	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	904
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	905	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	906	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	907	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	908	" 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	909	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	910	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	911	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	912
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	913	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	914	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	915	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	916	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	917	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	918
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	919	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	920	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	921	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	922	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	923	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	924
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	925	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	926	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	927	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	928	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	929	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	930	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	931	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	932
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	933	if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	934	EC_ERR("Received corrupted Sdo entry description response "
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	935	"(size %u).\n", 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	936	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	937	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	938	}
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	940	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	941	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	942	EC_ERR("Sdo information error response at slave %u while"
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	943	" 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	944	sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	945	ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	946	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	947	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	948	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	949
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	950	if (rec_size < 9) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	951	EC_ERR("Received corrupted Sdo entry description response "
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	952	"(size %u).\n", 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	953	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	954	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	955	}
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	957	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	958	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	959	EC_READ_U16(data + 6) != sdo->index \|\| // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	960	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	961	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	962	EC_DBG("Invalid entry description response at slave %u while"
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	963	" fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	964	sdo->index, fsm->subindex);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	965	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	966	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	967	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	968	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	969	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	970	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	971	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	972	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	973
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	974	if (rec_size < 16) {
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	975	EC_ERR("Invalid data size %u!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	976	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	977	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	978	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	979	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	980
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	981	data_size = rec_size - 16;
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	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	984	kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	985	EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	986	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	987	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	988	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	989
991 2548ca639b1f Removed kobject from sdo entry. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	990	ec_sdo_entry_init(entry, sdo, fsm->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	991	entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	992	entry->bit_length = EC_READ_U16(data + 12);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	993
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	994	if (data_size) {
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	995	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	996	if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	997	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	998	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	999	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1000	}
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1001	memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1002	desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1003	entry->description = desc;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1004	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1005
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1006	list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1007
962 ea83a7aab57a Renamed subindices to max_subindex. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1008	if (fsm->subindex < sdo->max_subindex) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1009	fsm->subindex++;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1010
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1011	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	1012	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1013	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1014	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1015	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1016
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1017	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1018	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	1019	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1020	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1021	EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1022	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	1023	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	1024
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1025	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1026	fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1027	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1028	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1030	// another Sdo description to fetch?
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031	if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	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	1033
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1034	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	1035	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1036	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1038	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1039
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1040	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1041	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	1042	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1044	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	1045
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1046	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1047	fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1048	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1049	}
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	fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1052	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1053
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1054	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1055	* CoE state machine
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1056	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1057
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	CoE state: DOWN START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1060	*/
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	void ec_fsm_coe_down_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1064	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1065	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	1066	ec_sdo_request_t *request = fsm->request;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1067	uint8_t *data;
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1068	uint8_t size;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1069
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1070	if (fsm->slave->master->debug_level) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	1071	EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
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	1072	request->index, request->subindex, slave->ring_position);
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1073	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1074	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1075
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1076	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	1077	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	1078	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	1079	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1080	}
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1081
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1082	if (request->data_size <= 4) { // use expedited transfer type
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1083	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	1084	if (IS_ERR(data)) {
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1085	fsm->state = ec_fsm_coe_error;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1086	return;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1087	}
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1088
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1089	size = 4 - request->data_size;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1090
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1091	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1092	EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1093	\| size << 2
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1094	\| 0x1 << 5)); // Download request
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1095	EC_WRITE_U16(data + 3, request->index);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1096	EC_WRITE_U8 (data + 5, request->subindex);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1097	memcpy(data + 6, request->data, request->data_size);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1098
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1099	if (slave->master->debug_level) {
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1100	EC_DBG("Expedited download request:\n");
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1101	ec_print_data(data, 10 + request->data_size);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1102	}
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1103	}
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1104	else { // request->data_size > 4, use normal transfer type
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1105	if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1106	EC_ERR("Sdo fragmenting not supported yet!\n");
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1107	fsm->state = ec_fsm_coe_error;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1108	return;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1109	}
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1110
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1111	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1112	request->data_size + 10);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1113	if (IS_ERR(data)) {
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1114	fsm->state = ec_fsm_coe_error;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1115	return;
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1116	}
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1117
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1118	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1119	EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1120	\| 0x1 << 5)); // Download request
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1121	EC_WRITE_U16(data + 3, request->index);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1122	EC_WRITE_U8 (data + 5, request->subindex);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1123	EC_WRITE_U32(data + 6, request->data_size);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1124	memcpy(data + 10, request->data, request->data_size);
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1125
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1126	if (slave->master->debug_level) {
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1127	EC_DBG("Normal download request:\n");
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1128	ec_print_data(data, 10 + request->data_size);
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	}
975 dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1131
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1132	fsm->request->jiffies_sent = jiffies;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1133	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1134	fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1135	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1136
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1137	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1138
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1139	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1140	CoE state: DOWN REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1141	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1142	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1143
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1144	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	1145	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1146	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1147	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1148
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1149	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	1150	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	1151
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1152	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1153	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1154	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	1155	" 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	1156	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1157	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1158	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1159
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1160	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	1161	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	1162	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	1163	(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	1164	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	1165	if (fsm->slave->master->debug_level) {
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1166	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	1167	"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	1168	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	1169	}
1112 d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1170	// no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1171	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	1172	}
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1173	}
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1174	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	1175	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	1176	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1177	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1179	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1180
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1181	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	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	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_check;
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 CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1192	*/
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	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	1195	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1196	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1197	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1198
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1199	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	1200	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1201
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1202	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1203	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	1204	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	1205	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	1206	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1207	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1208	}
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	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1211	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	1212	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	1213	" 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	1214	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1215	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1216	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1217
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	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	1219	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1220	(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	1221	if (diff_ms >= fsm->request->response_timeout) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1222	fsm->state = ec_fsm_coe_error;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1223	EC_ERR("Timeout while waiting for Sdo download response on "
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1224	"slave %u.\n", slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1225	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1227
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1228	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	1229	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1230	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1231	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1232
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1233	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1234	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	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_response;
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 RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1243	\todo Timeout behavior
436 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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1246	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	1247	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1248	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1249	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1250	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1251	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	1252	ec_sdo_request_t *request = fsm->request;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1253
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1254	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	1255	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1256
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1257	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1258	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1259	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	1260	" 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	1261	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1262	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1263	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1264
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1265	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1266	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	1267	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	1268	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1269	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1273	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	1274	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1275	fsm->state = ec_fsm_coe_error;
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	if (mbox_prot != 0x03) { // CoE
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1280	fsm->state = ec_fsm_coe_error;
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1281	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	1282	return;
436 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
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1285	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	1286	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1287	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	1288	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1289	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	1290	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1291	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1292
975 dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1293	if (slave->master->debug_level) {
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1294	EC_DBG("Download response:\n");
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1295	ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1296	}
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1297
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1298	if (rec_size < 6) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	fsm->state = ec_fsm_coe_error;
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	1300	EC_ERR("Received data are too small (%u bytes):\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1301	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1302	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1305	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1306	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1307	fsm->state = ec_fsm_coe_error;
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	1308	EC_ERR("Sdo download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
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	1309	request->index, request->subindex, request->data_size,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1310	slave->ring_position);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	if (rec_size < 10) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	EC_ERR("Incomplete Abort command:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1313	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	1314	} 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	1315	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	1316	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	1317	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1318	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1319	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1320
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1321	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	1322	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	1323	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	1324	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	1325	if (slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1326	EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1327	slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1328	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	1329	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1330	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1331	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	1332	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1333	fsm->state = ec_fsm_coe_down_check;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1334	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1335	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1336
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1337	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1338	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1339
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1340	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1341
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1342	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	CoE state: UP START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1344	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1345
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1346	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	1347	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1348	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1349	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1350	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1351	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1352	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1353
459 f0da52cf6b5b Print certain logs only at debug_level. Florian Pose <fp@igh-essen.com> parents: 446 diff changeset	1354	if (master->debug_level)
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	1355	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	1356	request->index, request->subindex, slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1357
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1358	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	1359	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	1360	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	1361	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1362	}
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1363
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1364	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	1365	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1366	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1368	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1369
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1370	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1371	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	1372	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	1373	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	1374	memset(data + 6, 0x00, 4);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1377	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	1378	ec_print_data(data, 10);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1380
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1381	fsm->request->jiffies_sent = jiffies;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1382	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1383	fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1384	}
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	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1387
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1389	CoE state: UP REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1390	\todo Timeout behavior
436 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	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	1394	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1395	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1396	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1397
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1398	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	1399	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	1400
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1401	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1402	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	1403	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	1404	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	1405	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1406	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1407	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1408
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1409	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	1410	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	1411	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	1412	(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	1413	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	1414	if (fsm->slave->master->debug_level) {
1310 bd4631c70392 merge -c1582 branches/stable-1.4: Typo. Florian Pose <fp@igh-essen.com> parents: 1219 diff changeset	1415	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	1416	"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	1417	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	1418	}
1112 d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1419	// no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1420	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	1421	}
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1422	}
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1423	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	1424	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	1425	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1426	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1427	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1428	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1429
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1430	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1432	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	1433	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434	fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438
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	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1441	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1442
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1443	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	1444	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1445	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1446	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1447
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1448	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	1449	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1450
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1451	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1452	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	1453	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	1454	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	1455	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1456	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1457	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1458
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1459	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1460	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	1461	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	1462	" 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	1463	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1464	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1465	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	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	1468	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1469	(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	1470	if (diff_ms >= fsm->request->response_timeout) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1471	fsm->state = ec_fsm_coe_error;
1111 6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	1472	EC_ERR("Timeout while waiting for Sdo upload response on "
6aaf6a0c375c Improved timeout error messages. Florian Pose <fp@igh-essen.com> parents: 1092 diff changeset	1473	"slave %u.\n", slave->ring_position);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	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	1478	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1479	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1483	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	1484	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1487
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	CoE state: UP RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1492	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1493	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1494
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1495	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	1496	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1497	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1498	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1499	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1500	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1501	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1502	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1503	uint32_t complete_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1504	unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1505
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1506	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	1507	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1508
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1509	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1510	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1511	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	1512	" 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	1513	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1514	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1515	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1516
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1517	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1518	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	1519	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	1520	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1521	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1524
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1525	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	1526	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1527	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1528	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1529	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1530
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1531	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1532	EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1533	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1534	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1535
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1536	if (mbox_prot != 0x03) { // CoE
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1537	fsm->state = ec_fsm_coe_error;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1538	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	1539	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1540	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1541
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1542	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	1543	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1544	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	1545	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1546	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	1547	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1548	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1549
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1550	if (rec_size < 3) {
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1551	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1552	EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1553	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	1554	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1555	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1556
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1557	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1558	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	1559	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	1560	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	1561	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	1562	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	1563	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	1564	} else {
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1565	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	1566	}
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1567	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	1568	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1569	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1570
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1571	// normal or expedited?
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1572	expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1573
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1574	if (expedited) {
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1575	if (rec_size < 7) {
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1576	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1577	EC_ERR("Received currupted Sdo expedited upload"
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1578	" response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1579	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	1580	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1581	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1582
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1583	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // Sdo response
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1584	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // upload response
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	1585	EC_READ_U16(data + 3) != request->index \|\| // index
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	1586	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	1587	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	1588	EC_DBG("Invalid Sdo upload expedited response at slave %u!\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1589	slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1590	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	1591	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1592	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1593	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	1594	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1595	fsm->state = ec_fsm_coe_up_check;
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1596	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1597	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1598
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1599	size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1600	if (size_specified) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1601	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	1602	} else {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1603	complete_size = 4;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1604	}
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1605
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1606	if (rec_size < 6 + complete_size) {
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1607	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1608	EC_ERR("Received currupted Sdo expedited upload"
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1609	" response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1610	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	1611	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1612	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1613
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	1614	if (ec_sdo_request_copy_data(request, data + 6, complete_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	1615	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	1616	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	1617	}
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1618	} else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1619	if (rec_size < 10) {
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1620	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1621	EC_ERR("Received currupted Sdo normal upload"
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1622	" response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1623	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	1624	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1625	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1626
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1627	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // Sdo response
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1628	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // upload response
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	1629	EC_READ_U16(data + 3) != request->index \|\| // index
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	1630	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	1631	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	1632	EC_DBG("Invalid Sdo normal upload response at slave %u!\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1633	slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1634	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	1635	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1636	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1637	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	1638	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1639	fsm->state = ec_fsm_coe_up_check;
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1640	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1641	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1642
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1643	data_size = rec_size - 10;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1644	complete_size = EC_READ_U32(data + 6);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1645
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1646	if (!complete_size) {
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1647	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	1648	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	1649	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	1650	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1651	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1652
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	1653	if (ec_sdo_request_alloc(request, complete_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	1654	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	1655	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	1656	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	1657
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	1658	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	1659	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	1660	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	1661	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	1662
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1663	fsm->toggle = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1664
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1665	if (data_size < complete_size) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 975 diff changeset	1666	EC_WARN("Sdo data incomplete (%u / %u).\n",
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1667	data_size, complete_size);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1668
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1669	data = ec_slave_mbox_prepare_send(slave, datagram,
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1670	0x03, 3);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1671	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1672	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673	return;
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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1676	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1678	\| 0x3 << 5)); // upload segment 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	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1681	EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1682	ec_print_data(data, 3);
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
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1685	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1686	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1688	}
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
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1691	if (master->debug_level) {
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1692	EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1693	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1694	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1695
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1696	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1698
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1699	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1700
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1701	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1702	CoE state: UP REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1703	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1704	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1705
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1706	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	1707	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1708	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1709	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1710
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1711	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	1712	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	1713
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1714	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1715	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1716	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	1717	" 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	1718	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1719	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1720	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1721
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1722	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1723	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	1724	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	1725	" 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	1726	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1728	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1729
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1730	fsm->jiffies_start = datagram->jiffies_sent;
436 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	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	1733	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734	fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1735	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1736
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
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	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1741	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1742
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1743	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	1744	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1745	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1746	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1747
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1748	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	1749	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1750
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1751	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1752	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	1753	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	1754	" (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	1755	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1756	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1757	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1758
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1759	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1760	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	1761	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	1762	" 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	1763	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1764	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1765	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1766
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1767	if (!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	1768	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1769	(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	1770	if (diff_ms >= fsm->request->response_timeout) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1771	fsm->state = ec_fsm_coe_error;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1772	EC_ERR("Timeout while waiting for Sdo upload segment response "
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1773	"on slave %u.\n", slave->ring_position);
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	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	1778	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1780	}
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	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1783	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	1784	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1785	fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1786	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	CoE state: UP RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1792	\todo Timeout behavior
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	1793	\todo Check for \a data_size exceeding \a complete_size.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1795
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1796	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	1797	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1798	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1799	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1800	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1801	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1802	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1803	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1804	uint32_t seg_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1805	unsigned int last_segment;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1806
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1807	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	1808	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1809
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1810	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1811	fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1812	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	1813	" 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	1814	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1815	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1816	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1817
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1818	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1819	fsm->state = ec_fsm_coe_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1820	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	1821	" 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	1822	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1823	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1824	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1826	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	1827	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1828	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1829	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1830	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1831
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1832	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1833	EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1834	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1836
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1838	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	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	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1841	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1842
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1843	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	1844	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1845	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	1846	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1847	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	1848	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1849	}
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	if (rec_size < 10) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1852	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	1853	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1854	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	1855	return;
436 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
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1858	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1859	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 895 diff changeset	1860	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	1861	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	1862	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	1863	ec_canopen_abort_msg(request->abort_code);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1864	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	1865	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1866	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1867
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1868	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	1869	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	1870	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	1871	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	1872	slave->ring_position);
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1873	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	1874	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1875	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1876	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	1877	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1878	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	1879	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1880	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1881
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1882	last_segment = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1883	seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1884	data_size = rec_size - 10;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1885
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1886	if (data_size != seg_size) {
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 975 diff changeset	1887	EC_WARN("Sdo segment data invalid (%u / %u)"
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1888	" - Fragmenting not implemented.\n",
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1889	data_size, seg_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1890	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1891
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	1892	memcpy(request->data + request->data_size, 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	1893	request->data_size += data_size;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1894
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1895	if (!last_segment) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1896	fsm->toggle = !fsm->toggle;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1897
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1898	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1899	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1900	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1901	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1902	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1903
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1904	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1905	EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1906	\| 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1907
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1908	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1909	EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1910	ec_print_data(data, 3);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1911	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1912
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1913	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1914	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1915	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1916	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1917
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1918	if (master->debug_level) {
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1919	EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1920	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1921	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1922
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1923	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1924	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1925
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1926	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1927
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1928	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1929	State: ERROR.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1930	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1931
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1932	void ec_fsm_coe_error(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1933	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1934	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1935
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1936	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1937
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1938	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1939	State: END.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1940	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1941
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1942	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	1943	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1944	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1945
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1946	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 26 Nov 2008 10:36:07 +0000
changeset 1320	9ddbfb2f284d
parent 1313	ed15eef57d5c
child 1326	ef907b0b5125
permissions	-rw-r--r--