author | Florian Pose <fp@igh-essen.com> |
Thu, 09 Jul 2009 14:08:16 +0000 | |
changeset 1493 | 9e6d8f78acd0 |
parent 1468 | 0a804ddbaf93 |
child 1494 | 6c632c8f45cc |
permissions | -rw-r--r-- |
436 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT CoE state machines. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "master.h" |
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#include "mailbox.h" |
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#include "fsm_coe.h" |
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/*****************************************************************************/ |
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/** Maximum time in ms to wait for responses when reading out the dictionary. |
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*/ |
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#define EC_FSM_COE_DICT_TIMEOUT 3000 |
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/*****************************************************************************/ |
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_down_start(ec_fsm_coe_t *); |
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void ec_fsm_coe_down_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_down_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_down_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_start(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *); |
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *); |
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void ec_fsm_coe_end(ec_fsm_coe_t *); |
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void ec_fsm_coe_error(ec_fsm_coe_t *); |
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/*****************************************************************************/ |
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/** |
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SDO abort messages. |
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The "abort SDO transfer request" supplies an abort code, |
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which can be translated to clear text. This table does |
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the mapping of the codes and messages. |
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*/ |
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const ec_code_msg_t sdo_abort_messages[] = { |
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{0x05030000, "Toggle bit not changed"}, |
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{0x05040000, "SDO protocol timeout"}, |
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{0x05040001, "Client/Server command specifier not valid or unknown"}, |
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{0x05040005, "Out of memory"}, |
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{0x06010000, "Unsupported access to an object"}, |
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{0x06010001, "Attempt to read a write-only object"}, |
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{0x06010002, "Attempt to write a read-only object"}, |
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{0x06020000, "This object does not exist in the object directory"}, |
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{0x06040041, "The object cannot be mapped into the PDO"}, |
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{0x06040042, "The number and length of the objects to be mapped would" |
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" exceed the PDO length"}, |
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{0x06040043, "General parameter incompatibility reason"}, |
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{0x06040047, "Gerneral internal incompatibility in device"}, |
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{0x06060000, "Access failure due to a hardware error"}, |
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{0x06070010, "Data type does not match, length of service parameter does" |
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" not match"}, |
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{0x06070012, "Data type does not match, length of service parameter too" |
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" high"}, |
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{0x06070013, "Data type does not match, length of service parameter too" |
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" low"}, |
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{0x06090011, "Subindex does not exist"}, |
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{0x06090030, "Value range of parameter exceeded"}, |
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{0x06090031, "Value of parameter written too high"}, |
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{0x06090032, "Value of parameter written too low"}, |
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{0x06090036, "Maximum value is less than minimum value"}, |
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{0x08000000, "General error"}, |
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{0x08000020, "Data cannot be transferred or stored to the application"}, |
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{0x08000021, "Data cannot be transferred or stored to the application" |
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" because of local control"}, |
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{0x08000022, "Data cannot be transferred or stored to the application" |
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" because of the present device state"}, |
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{0x08000023, "Object dictionary dynamic generation fails or no object" |
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" dictionary is present"}, |
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{} |
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}; |
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/*****************************************************************************/ |
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/** |
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Outputs an SDO abort message. |
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*/ |
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void ec_canopen_abort_msg(uint32_t abort_code) |
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{ |
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const ec_code_msg_t *abort_msg; |
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for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) { |
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if (abort_msg->code == abort_code) { |
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EC_ERR("SDO abort message 0x%08X: \"%s\".\n", |
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abort_msg->code, abort_msg->message); |
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return; |
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} |
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} |
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EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code); |
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} |
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/*****************************************************************************/ |
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/** |
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Constructor. |
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*/ |
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */ |
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ec_datagram_t *datagram /**< datagram */ |
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) |
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{ |
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fsm->state = NULL; |
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fsm->datagram = datagram; |
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} |
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/*****************************************************************************/ |
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/** |
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Destructor. |
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*/ |
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */) |
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{ |
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} |
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/*****************************************************************************/ |
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/** |
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Starts reading a slaves' SDO dictionary. |
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*/ |
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */ |
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ec_slave_t *slave /**< EtherCAT slave */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_coe_dict_start; |
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} |
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/*****************************************************************************/ |
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/** |
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Starts to transfer an SDO to/from a slave. |
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*/ |
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void ec_fsm_coe_transfer( |
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ec_fsm_coe_t *fsm, /**< State machine. */ |
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ec_slave_t *slave, /**< EtherCAT slave. */ |
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ec_sdo_request_t *request /**< SDO request. */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->request = request; |
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if (request->dir == EC_DIR_OUTPUT) |
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fsm->state = ec_fsm_coe_down_start; |
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else |
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fsm->state = ec_fsm_coe_up_start; |
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} |
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/*****************************************************************************/ |
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/** |
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Executes the current state of the state machine. |
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\return false, if state machine has terminated |
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*/ |
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */) |
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{ |
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fsm->state(fsm); |
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return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error; |
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} |
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/*****************************************************************************/ |
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/** |
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Returns, if the state machine terminated with success. |
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\return non-zero if successful. |
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*/ |
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */) |
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{ |
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return fsm->state == ec_fsm_coe_end; |
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} |
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/*****************************************************************************/ |
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/** Check if the received data are a CoE emergency request. |
231 |
* |
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* If the check is positive, the emergency request is output. |
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* |
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* \return The data were an emergency request. |
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*/ |
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int ec_fsm_coe_check_emergency( |
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ec_fsm_coe_t *fsm, /**< Finite state machine */ |
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const uint8_t *data, /**< CoE mailbox data. */ |
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size_t size /**< CoE mailbox data size. */ |
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) |
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{ |
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if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01) |
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243 |
return 0; |
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|
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if (size < 10) { |
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246 |
EC_WARN("Received incomplete CoE Emergency request from slave %u:\n", |
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247 |
fsm->slave->ring_position); |
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248 |
ec_print_data(data, size); |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
249 |
return 1; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
250 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
251 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
252 |
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
|
253 |
fsm->slave->ring_position); |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
254 |
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
|
255 |
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
|
256 |
ec_print_data(data + 5, 5); |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
257 |
return 1; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
258 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
259 |
|
436 | 260 |
/****************************************************************************** |
261 |
* CoE dictionary state machine |
|
262 |
*****************************************************************************/ |
|
263 |
||
264 |
/** |
|
265 |
CoE state: DICT START. |
|
266 |
*/ |
|
267 |
||
268 |
void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
269 |
{ |
|
270 |
ec_datagram_t *datagram = fsm->datagram; |
|
271 |
ec_slave_t *slave = fsm->slave; |
|
272 |
uint8_t *data; |
|
273 |
||
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
274 |
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
|
275 |
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
|
276 |
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
|
277 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
278 |
} |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
279 |
|
1219
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
280 |
if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
281 |
EC_ERR("Slave %u does not support SDO information service!\n", |
1219
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
282 |
slave->ring_position); |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
283 |
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
|
284 |
return; |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
285 |
} |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
286 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
287 |
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
|
288 |
if (IS_ERR(data)) { |
436 | 289 |
fsm->state = ec_fsm_coe_error; |
290 |
return; |
|
291 |
} |
|
292 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
293 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
436 | 294 |
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
295 |
EC_WRITE_U8 (data + 3, 0x00); |
|
296 |
EC_WRITE_U16(data + 4, 0x0000); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
297 |
EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs! |
436 | 298 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
299 |
fsm->retries = EC_FSM_RETRIES; |
436 | 300 |
fsm->state = ec_fsm_coe_dict_request; |
301 |
} |
|
302 |
||
303 |
/*****************************************************************************/ |
|
304 |
||
305 |
/** |
|
306 |
CoE state: DICT REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
307 |
\todo Timeout behavior |
436 | 308 |
*/ |
309 |
||
310 |
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
311 |
{ |
|
312 |
ec_datagram_t *datagram = fsm->datagram; |
|
313 |
ec_slave_t *slave = fsm->slave; |
|
314 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
315 |
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
|
316 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
317 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
318 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
319 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
320 |
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
|
321 |
" 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
|
322 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
323 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
324 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
325 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
326 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
327 |
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
|
328 |
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
|
329 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
330 |
ec_datagram_print_wc_error(datagram); |
436 | 331 |
return; |
332 |
} |
|
333 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
334 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 335 |
|
336 |
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
|
337 |
fsm->retries = EC_FSM_RETRIES; |
436 | 338 |
fsm->state = ec_fsm_coe_dict_check; |
339 |
} |
|
340 |
||
341 |
/*****************************************************************************/ |
|
342 |
||
343 |
/** |
|
344 |
CoE state: DICT CHECK. |
|
345 |
*/ |
|
346 |
||
347 |
void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
348 |
{ |
|
349 |
ec_datagram_t *datagram = fsm->datagram; |
|
350 |
ec_slave_t *slave = fsm->slave; |
|
351 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
352 |
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
|
353 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
354 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
355 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
356 |
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
|
357 |
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
|
358 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
359 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
360 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
361 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
362 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
363 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
364 |
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
|
365 |
EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ", |
436 | 366 |
slave->ring_position); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
367 |
ec_datagram_print_wc_error(datagram); |
436 | 368 |
return; |
369 |
} |
|
370 |
||
371 |
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
|
372 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
373 |
(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
|
374 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 375 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
376 |
EC_ERR("Timeout while waiting for SDO dictionary list response " |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
377 |
"on slave %u.\n", slave->ring_position); |
436 | 378 |
return; |
379 |
} |
|
380 |
||
381 |
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
|
382 |
fsm->retries = EC_FSM_RETRIES; |
436 | 383 |
return; |
384 |
} |
|
385 |
||
386 |
// Fetch response |
|
387 |
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
|
388 |
fsm->retries = EC_FSM_RETRIES; |
436 | 389 |
fsm->state = ec_fsm_coe_dict_response; |
390 |
} |
|
391 |
||
392 |
/*****************************************************************************/ |
|
393 |
||
394 |
/** |
|
395 |
CoE state: DICT RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
396 |
\todo Timeout behavior |
436 | 397 |
*/ |
398 |
||
399 |
void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
400 |
{ |
|
401 |
ec_datagram_t *datagram = fsm->datagram; |
|
402 |
ec_slave_t *slave = fsm->slave; |
|
403 |
uint8_t *data, mbox_prot; |
|
404 |
size_t rec_size; |
|
405 |
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
|
406 |
uint16_t sdo_index, fragments_left; |
436 | 407 |
ec_sdo_t *sdo; |
408 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
409 |
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
|
410 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
411 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
412 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
413 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
414 |
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
|
415 |
" 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
|
416 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
417 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
418 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
419 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
420 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
421 |
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
|
422 |
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
|
423 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
424 |
ec_datagram_print_wc_error(datagram); |
436 | 425 |
return; |
426 |
} |
|
427 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
428 |
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
|
429 |
if (IS_ERR(data)) { |
436 | 430 |
fsm->state = ec_fsm_coe_error; |
431 |
return; |
|
432 |
} |
|
433 |
||
434 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 435 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 436 |
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
|
437 |
return; |
436 | 438 |
} |
439 |
||
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
440 |
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
|
441 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
442 |
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
|
443 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
444 |
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
|
445 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
446 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
447 |
|
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
|
448 |
if (rec_size < 3) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
449 |
EC_ERR("Received corrupted SDO dictionary response (size %u).\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
|
450 |
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
|
451 |
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
|
452 |
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
|
453 |
} |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
455 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
436 | 456 |
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
457 |
EC_ERR("SDO information error response at slave %u!\n", |
436 | 458 |
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
|
459 |
if (rec_size < 10) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
460 |
EC_ERR("Incomplete SDO information error response:\n"); |
1037
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
461 |
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
|
462 |
} 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
|
463 |
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
|
464 |
} |
436 | 465 |
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
|
466 |
return; |
436 | 467 |
} |
468 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
469 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
436 | 470 |
(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
|
471 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
472 |
EC_DBG("Invalid SDO list response at slave %u! Retrying...\n", |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
473 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
474 |
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
|
475 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
476 |
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
|
477 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
478 |
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
|
479 |
return; |
436 | 480 |
} |
481 |
||
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
|
482 |
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
|
483 |
EC_ERR("Invalid data size %u!\n", rec_size); |
436 | 484 |
ec_print_data(data, rec_size); |
485 |
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
|
486 |
return; |
436 | 487 |
} |
488 |
||
489 |
sdo_count = (rec_size - 8) / 2; |
|
490 |
||
491 |
for (i = 0; i < sdo_count; i++) { |
|
492 |
sdo_index = EC_READ_U16(data + 8 + i * 2); |
|
493 |
if (!sdo_index) { |
|
461
b9eda9235173
Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
459
diff
changeset
|
494 |
if (slave->master->debug_level) |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
495 |
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
|
496 |
slave->ring_position); |
436 | 497 |
continue; |
498 |
} |
|
499 |
||
998
05a24788f3b2
Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents:
992
diff
changeset
|
500 |
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
501 |
EC_ERR("Failed to allocate memory for SDO!\n"); |
436 | 502 |
fsm->state = ec_fsm_coe_error; |
503 |
return; |
|
504 |
} |
|
505 |
||
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
991
diff
changeset
|
506 |
ec_sdo_init(sdo, slave, sdo_index); |
436 | 507 |
list_add_tail(&sdo->list, &slave->sdo_dictionary); |
508 |
} |
|
509 |
||
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
510 |
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
|
511 |
if (slave->master->debug_level && fragments_left) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
512 |
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
|
513 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
514 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
515 |
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
|
516 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 517 |
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
|
518 |
fsm->retries = EC_FSM_RETRIES; |
436 | 519 |
fsm->state = ec_fsm_coe_dict_check; |
520 |
return; |
|
521 |
} |
|
522 |
||
523 |
if (list_empty(&slave->sdo_dictionary)) { |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
524 |
// no SDOs in dictionary. finished. |
436 | 525 |
fsm->state = ec_fsm_coe_end; // success |
526 |
return; |
|
527 |
} |
|
528 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
529 |
// fetch SDO descriptions |
436 | 530 |
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list); |
531 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
532 |
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
|
533 |
if (IS_ERR(data)) { |
436 | 534 |
fsm->state = ec_fsm_coe_error; |
535 |
return; |
|
536 |
} |
|
537 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
538 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
436 | 539 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
540 |
EC_WRITE_U8 (data + 3, 0x00); |
|
541 |
EC_WRITE_U16(data + 4, 0x0000); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
542 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index |
436 | 543 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
544 |
fsm->retries = EC_FSM_RETRIES; |
436 | 545 |
fsm->state = ec_fsm_coe_dict_desc_request; |
546 |
} |
|
547 |
||
548 |
/*****************************************************************************/ |
|
549 |
||
550 |
/** |
|
551 |
CoE state: DICT DESC REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
552 |
\todo Timeout behavior |
436 | 553 |
*/ |
554 |
||
555 |
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
556 |
{ |
|
557 |
ec_datagram_t *datagram = fsm->datagram; |
|
558 |
ec_slave_t *slave = fsm->slave; |
|
559 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
560 |
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
|
561 |
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
|
562 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
563 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
564 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
565 |
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
|
566 |
" 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
|
567 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
568 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
569 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
570 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
571 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
572 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
573 |
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
|
574 |
" 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
|
575 |
ec_datagram_print_wc_error(datagram); |
436 | 576 |
return; |
577 |
} |
|
578 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
579 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 580 |
|
581 |
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
|
582 |
fsm->retries = EC_FSM_RETRIES; |
436 | 583 |
fsm->state = ec_fsm_coe_dict_desc_check; |
584 |
} |
|
585 |
||
586 |
/*****************************************************************************/ |
|
587 |
||
588 |
/** |
|
589 |
CoE state: DICT DESC CHECK. |
|
590 |
*/ |
|
591 |
||
592 |
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
593 |
{ |
|
594 |
ec_datagram_t *datagram = fsm->datagram; |
|
595 |
ec_slave_t *slave = fsm->slave; |
|
596 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
597 |
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
|
598 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
599 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
600 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
601 |
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
|
602 |
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
|
603 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
604 |
slave->ring_position, datagram->state); |
436 | 605 |
return; |
606 |
} |
|
607 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
608 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
609 |
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
|
610 |
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
|
611 |
" 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
|
612 |
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
|
613 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
614 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
615 |
|
436 | 616 |
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
|
617 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
618 |
(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
|
619 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 620 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
621 |
EC_ERR("Timeout while waiting for SDO object description " |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
622 |
"response on slave %u.\n", slave->ring_position); |
436 | 623 |
return; |
624 |
} |
|
625 |
||
626 |
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
|
627 |
fsm->retries = EC_FSM_RETRIES; |
436 | 628 |
return; |
629 |
} |
|
630 |
||
631 |
// Fetch response |
|
632 |
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
|
633 |
fsm->retries = EC_FSM_RETRIES; |
436 | 634 |
fsm->state = ec_fsm_coe_dict_desc_response; |
635 |
} |
|
636 |
||
637 |
/*****************************************************************************/ |
|
638 |
||
639 |
/** |
|
640 |
CoE state: DICT DESC RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
641 |
\todo Timeout behavior |
436 | 642 |
*/ |
643 |
||
644 |
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm |
|
645 |
/**< finite state machine */) |
|
646 |
{ |
|
647 |
ec_datagram_t *datagram = fsm->datagram; |
|
648 |
ec_slave_t *slave = fsm->slave; |
|
649 |
ec_sdo_t *sdo = fsm->sdo; |
|
650 |
uint8_t *data, mbox_prot; |
|
651 |
size_t rec_size, name_size; |
|
652 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
653 |
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
|
654 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
655 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
656 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
657 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
658 |
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
|
659 |
" 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
|
660 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
661 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
662 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
663 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
664 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
665 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
666 |
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
|
667 |
" 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
|
668 |
ec_datagram_print_wc_error(datagram); |
436 | 669 |
return; |
670 |
} |
|
671 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
672 |
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
|
673 |
if (IS_ERR(data)) { |
436 | 674 |
fsm->state = ec_fsm_coe_error; |
675 |
return; |
|
676 |
} |
|
677 |
||
678 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 679 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 680 |
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
|
681 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
682 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
683 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
684 |
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
|
685 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
686 |
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
|
687 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
688 |
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
|
689 |
return; |
436 | 690 |
} |
691 |
||
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
|
692 |
if (rec_size < 3) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
693 |
EC_ERR("Received corrupted SDO description response (size %u).\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
|
694 |
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
|
695 |
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
|
696 |
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
|
697 |
} |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
699 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
436 | 700 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
701 |
EC_ERR("SDO information error response at slave %u while" |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
702 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
436 | 703 |
sdo->index); |
704 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
705 |
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
|
706 |
return; |
436 | 707 |
} |
708 |
||
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
|
709 |
if (rec_size < 8) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
710 |
EC_ERR("Received corrupted SDO description response (size %u).\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
|
711 |
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
|
712 |
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
|
713 |
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
|
714 |
} |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
716 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
436 | 717 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
718 |
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
|
719 |
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
|
720 |
EC_DBG("Invalid object description response at slave %u while" |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
721 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
722 |
sdo->index); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
723 |
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
|
724 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
725 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
726 |
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
|
727 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
728 |
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
|
729 |
return; |
436 | 730 |
} |
731 |
||
732 |
if (rec_size < 12) { |
|
733 |
EC_ERR("Invalid data size!\n"); |
|
734 |
ec_print_data(data, rec_size); |
|
735 |
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
|
736 |
return; |
436 | 737 |
} |
738 |
||
962
ea83a7aab57a
Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
739 |
sdo->max_subindex = EC_READ_U8(data + 10); |
436 | 740 |
sdo->object_code = EC_READ_U8(data + 11); |
741 |
||
742 |
name_size = rec_size - 12; |
|
743 |
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
|
744 |
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
745 |
EC_ERR("Failed to allocate SDO name!\n"); |
436 | 746 |
fsm->state = ec_fsm_coe_error; |
747 |
return; |
|
748 |
} |
|
749 |
||
750 |
memcpy(sdo->name, data + 12, name_size); |
|
751 |
sdo->name[name_size] = 0; |
|
752 |
} |
|
753 |
||
754 |
if (EC_READ_U8(data + 2) & 0x80) { |
|
755 |
EC_ERR("Fragment follows (not implemented)!\n"); |
|
756 |
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
|
757 |
return; |
436 | 758 |
} |
759 |
||
760 |
// start fetching entries |
|
761 |
||
762 |
fsm->subindex = 0; |
|
763 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
764 |
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
|
765 |
if (IS_ERR(data)) { |
436 | 766 |
fsm->state = ec_fsm_coe_error; |
767 |
return; |
|
768 |
} |
|
769 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
770 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
436 | 771 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
772 |
EC_WRITE_U8 (data + 3, 0x00); |
|
773 |
EC_WRITE_U16(data + 4, 0x0000); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
774 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
775 |
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex |
1382
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
776 |
EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only) |
436 | 777 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
778 |
fsm->retries = EC_FSM_RETRIES; |
436 | 779 |
fsm->state = ec_fsm_coe_dict_entry_request; |
780 |
} |
|
781 |
||
782 |
/*****************************************************************************/ |
|
783 |
||
784 |
/** |
|
785 |
CoE state: DICT ENTRY REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
786 |
\todo Timeout behavior |
436 | 787 |
*/ |
788 |
||
789 |
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm |
|
790 |
/**< finite state machine */) |
|
791 |
{ |
|
792 |
ec_datagram_t *datagram = fsm->datagram; |
|
793 |
ec_slave_t *slave = fsm->slave; |
|
794 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
795 |
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
|
796 |
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
|
797 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
798 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
799 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
800 |
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
|
801 |
" 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
|
802 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
803 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
804 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
805 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
806 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
807 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
808 |
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
|
809 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
810 |
ec_datagram_print_wc_error(datagram); |
436 | 811 |
return; |
812 |
} |
|
813 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
814 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 815 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
816 |
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
|
817 |
fsm->retries = EC_FSM_RETRIES; |
436 | 818 |
fsm->state = ec_fsm_coe_dict_entry_check; |
819 |
} |
|
820 |
||
821 |
/*****************************************************************************/ |
|
822 |
||
823 |
/** |
|
824 |
CoE state: DICT ENTRY CHECK. |
|
825 |
*/ |
|
826 |
||
827 |
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm |
|
828 |
/**< finite state machine */) |
|
829 |
{ |
|
830 |
ec_datagram_t *datagram = fsm->datagram; |
|
831 |
ec_slave_t *slave = fsm->slave; |
|
832 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
833 |
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
|
834 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
835 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
836 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
837 |
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
|
838 |
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
|
839 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
840 |
slave->ring_position, datagram->state); |
436 | 841 |
return; |
842 |
} |
|
843 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
844 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
845 |
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
|
846 |
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
|
847 |
" 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
|
848 |
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
|
849 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
850 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
851 |
|
436 | 852 |
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
|
853 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
854 |
(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
|
855 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 856 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
857 |
EC_ERR("Timeout while waiting for SDO entry description response " |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
858 |
"on slave %u.\n", slave->ring_position); |
436 | 859 |
return; |
860 |
} |
|
861 |
||
862 |
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
|
863 |
fsm->retries = EC_FSM_RETRIES; |
436 | 864 |
return; |
865 |
} |
|
866 |
||
867 |
// Fetch response |
|
868 |
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
|
869 |
fsm->retries = EC_FSM_RETRIES; |
436 | 870 |
fsm->state = ec_fsm_coe_dict_entry_response; |
871 |
} |
|
872 |
||
873 |
/*****************************************************************************/ |
|
874 |
||
875 |
/** |
|
876 |
CoE state: DICT ENTRY RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
877 |
\todo Timeout behavior |
436 | 878 |
*/ |
879 |
||
880 |
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm |
|
881 |
/**< finite state machine */) |
|
882 |
{ |
|
883 |
ec_datagram_t *datagram = fsm->datagram; |
|
884 |
ec_slave_t *slave = fsm->slave; |
|
885 |
ec_sdo_t *sdo = fsm->sdo; |
|
886 |
uint8_t *data, mbox_prot; |
|
887 |
size_t rec_size, data_size; |
|
888 |
ec_sdo_entry_t *entry; |
|
1382
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
889 |
u16 word; |
436 | 890 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
891 |
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
|
892 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
893 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
894 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
895 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
896 |
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
|
897 |
" 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
|
898 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
899 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
900 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
901 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
902 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
903 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
904 |
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
|
905 |
" 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
|
906 |
ec_datagram_print_wc_error(datagram); |
436 | 907 |
return; |
908 |
} |
|
909 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
910 |
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
|
911 |
if (IS_ERR(data)) { |
436 | 912 |
fsm->state = ec_fsm_coe_error; |
913 |
return; |
|
914 |
} |
|
915 |
||
916 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 917 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 918 |
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
|
919 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
920 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
921 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
922 |
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
|
923 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
924 |
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
|
925 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
926 |
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
|
927 |
return; |
436 | 928 |
} |
929 |
||
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
|
930 |
if (rec_size < 3) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
931 |
EC_ERR("Received corrupted SDO entry description response " |
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
|
932 |
"(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
|
933 |
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
|
934 |
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
|
935 |
} |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
937 |
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
436 | 938 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
939 |
EC_ERR("SDO information error response at slave %u while" |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
940 |
" fetching SDO entry 0x%04X:%02X!\n", slave->ring_position, |
436 | 941 |
sdo->index, fsm->subindex); |
942 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
943 |
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
|
944 |
return; |
436 | 945 |
} |
946 |
||
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
|
947 |
if (rec_size < 9) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
948 |
EC_ERR("Received corrupted SDO entry description response " |
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
|
949 |
"(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
|
950 |
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
|
951 |
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
|
952 |
} |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
954 |
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
436 | 955 |
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
956 |
EC_READ_U16(data + 6) != sdo->index || // SDO index |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
957 |
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
|
958 |
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
|
959 |
EC_DBG("Invalid entry description response at slave %u while" |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
960 |
" fetching SDO entry 0x%04X:%02X!\n", slave->ring_position, |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
961 |
sdo->index, fsm->subindex); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
962 |
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
|
963 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
964 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
965 |
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
|
966 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
967 |
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
|
968 |
return; |
436 | 969 |
} |
970 |
||
971 |
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
|
972 |
EC_ERR("Invalid data size %u!\n", rec_size); |
436 | 973 |
ec_print_data(data, rec_size); |
974 |
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
|
975 |
return; |
436 | 976 |
} |
977 |
||
978 |
data_size = rec_size - 16; |
|
979 |
||
980 |
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
|
981 |
kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) { |
436 | 982 |
EC_ERR("Failed to allocate entry!\n"); |
983 |
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
|
984 |
return; |
436 | 985 |
} |
986 |
||
991
2548ca639b1f
Removed kobject from sdo entry.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
987 |
ec_sdo_entry_init(entry, sdo, fsm->subindex); |
436 | 988 |
entry->data_type = EC_READ_U16(data + 10); |
989 |
entry->bit_length = EC_READ_U16(data + 12); |
|
990 |
||
1382
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
991 |
// read access rights |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
992 |
word = EC_READ_U16(data + 14); |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
993 |
entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
994 |
entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1) & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
995 |
entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2) & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
996 |
entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
997 |
entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4) & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
998 |
entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5) & 0x0001; |
cb2188d111f3
Read SDO entry access rights.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
999 |
|
436 | 1000 |
if (data_size) { |
484
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
1001 |
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
|
1002 |
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1003 |
EC_ERR("Failed to allocate SDO entry name!\n"); |
436 | 1004 |
fsm->state = ec_fsm_coe_error; |
1005 |
return; |
|
1006 |
} |
|
484
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
1007 |
memcpy(desc, data + 16, data_size); |
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
1008 |
desc[data_size] = 0; |
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
1009 |
entry->description = desc; |
436 | 1010 |
} |
1011 |
||
1012 |
list_add_tail(&entry->list, &sdo->entries); |
|
1013 |
||
962
ea83a7aab57a
Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
1014 |
if (fsm->subindex < sdo->max_subindex) { |
436 | 1015 |
fsm->subindex++; |
1016 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1017 |
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
|
1018 |
if (IS_ERR(data)) { |
436 | 1019 |
fsm->state = ec_fsm_coe_error; |
1020 |
return; |
|
1021 |
} |
|
1022 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1023 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
436 | 1024 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
1025 |
EC_WRITE_U8 (data + 3, 0x00); |
|
1026 |
EC_WRITE_U16(data + 4, 0x0000); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1027 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1028 |
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex |
436 | 1029 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values) |
1030 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1031 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1032 |
fsm->state = ec_fsm_coe_dict_entry_request; |
1033 |
return; |
|
1034 |
} |
|
1035 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1036 |
// another SDO description to fetch? |
436 | 1037 |
if (fsm->sdo->list.next != &slave->sdo_dictionary) { |
1038 |
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list); |
|
1039 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1040 |
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
|
1041 |
if (IS_ERR(data)) { |
436 | 1042 |
fsm->state = ec_fsm_coe_error; |
1043 |
return; |
|
1044 |
} |
|
1045 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1046 |
EC_WRITE_U16(data, 0x8 << 12); // SDO information |
436 | 1047 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
1048 |
EC_WRITE_U8 (data + 3, 0x00); |
|
1049 |
EC_WRITE_U16(data + 4, 0x0000); |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1050 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index |
436 | 1051 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1052 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1053 |
fsm->state = ec_fsm_coe_dict_desc_request; |
1054 |
return; |
|
1055 |
} |
|
1056 |
||
1057 |
fsm->state = ec_fsm_coe_end; |
|
1058 |
} |
|
1059 |
||
1060 |
/****************************************************************************** |
|
1061 |
* CoE state machine |
|
1062 |
*****************************************************************************/ |
|
1063 |
||
1064 |
/** |
|
1065 |
CoE state: DOWN START. |
|
1066 |
*/ |
|
1067 |
||
1068 |
void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1069 |
{ |
|
1070 |
ec_datagram_t *datagram = fsm->datagram; |
|
1071 |
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
|
1072 |
ec_sdo_request_t *request = fsm->request; |
436 | 1073 |
uint8_t *data; |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1074 |
uint8_t size; |
436 | 1075 |
|
874 | 1076 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1077 |
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
|
1078 |
request->index, request->subindex, slave->ring_position); |
874 | 1079 |
ec_print_data(request->data, request->data_size); |
1080 |
} |
|
436 | 1081 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
1082 |
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
|
1083 |
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
|
1084 |
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
|
1085 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1086 |
} |
1169
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 |
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
|
1089 |
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
|
1090 |
if (IS_ERR(data)) { |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1091 |
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
|
1092 |
return; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1093 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1094 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1095 |
size = 4 - request->data_size; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1096 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1097 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1098 |
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
|
1099 |
| size << 2 |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1100 |
| 0x1 << 5)); // Download request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1101 |
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
|
1102 |
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
|
1103 |
memcpy(data + 6, request->data, request->data_size); |
1457
ec3ad6641d65
Slightly improved CoE download expedited request.
Florian Pose <fp@igh-essen.com>
parents:
1382
diff
changeset
|
1104 |
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size); |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1105 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1106 |
if (slave->master->debug_level) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1107 |
EC_DBG("Expedited download request:\n"); |
1457
ec3ad6641d65
Slightly improved CoE download expedited request.
Florian Pose <fp@igh-essen.com>
parents:
1382
diff
changeset
|
1108 |
ec_print_data(data, 10); |
1169
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 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1111 |
else { // request->data_size > 4, use normal transfer type |
1338
eb31b5a135da
merge -c1621 branches/1.4-foe: Introduced configured_[tr]x_mailbox(size|offset) members of slave.
Florian Pose <fp@igh-essen.com>
parents:
1337
diff
changeset
|
1112 |
if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1113 |
EC_ERR("SDO fragmenting not supported yet!\n"); |
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 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1118 |
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
|
1119 |
request->data_size + 10); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1120 |
if (IS_ERR(data)) { |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1121 |
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
|
1122 |
return; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1123 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1124 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1125 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1126 |
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
|
1127 |
| 0x1 << 5)); // Download request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1128 |
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
|
1129 |
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
|
1130 |
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
|
1131 |
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
|
1132 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1133 |
if (slave->master->debug_level) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1134 |
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
|
1135 |
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
|
1136 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1137 |
} |
975
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1138 |
|
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1139 |
fsm->request->jiffies_sent = jiffies; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1140 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1141 |
fsm->state = ec_fsm_coe_down_request; |
1142 |
} |
|
1143 |
||
1144 |
/*****************************************************************************/ |
|
1145 |
||
1146 |
/** |
|
1147 |
CoE state: DOWN REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1148 |
\todo Timeout behavior |
436 | 1149 |
*/ |
1150 |
||
1151 |
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1152 |
{ |
|
1153 |
ec_datagram_t *datagram = fsm->datagram; |
|
1154 |
ec_slave_t *slave = fsm->slave; |
|
1155 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1156 |
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
|
1157 |
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
|
1158 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1159 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1160 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1161 |
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
|
1162 |
" 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
|
1163 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1164 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1165 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1166 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1167 |
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
|
1168 |
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
|
1169 |
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
|
1170 |
(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
|
1171 |
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
|
1172 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1173 |
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
|
1174 |
"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
|
1175 |
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
|
1176 |
} |
1112
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1177 |
// no response; send request datagram again |
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1178 |
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
|
1179 |
} |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1180 |
} |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1181 |
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
|
1182 |
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
|
1183 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1184 |
ec_datagram_print_wc_error(datagram); |
436 | 1185 |
return; |
1186 |
} |
|
1187 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1188 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1189 |
|
1190 |
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
|
1191 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1192 |
fsm->state = ec_fsm_coe_down_check; |
1193 |
} |
|
1194 |
||
1195 |
/*****************************************************************************/ |
|
1196 |
||
1197 |
/** |
|
1198 |
CoE state: DOWN CHECK. |
|
1199 |
*/ |
|
1200 |
||
1201 |
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1202 |
{ |
|
1203 |
ec_datagram_t *datagram = fsm->datagram; |
|
1204 |
ec_slave_t *slave = fsm->slave; |
|
1205 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1206 |
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
|
1207 |
return; |
505
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 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1210 |
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
|
1211 |
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
|
1212 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1213 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1214 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1215 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1216 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1217 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1218 |
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
|
1219 |
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
|
1220 |
" 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
|
1221 |
ec_datagram_print_wc_error(datagram); |
436 | 1222 |
return; |
1223 |
} |
|
1224 |
||
1225 |
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
|
1226 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1227 |
(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
|
1228 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1229 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1230 |
EC_ERR("Timeout while waiting for SDO download response on " |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1231 |
"slave %u.\n", slave->ring_position); |
436 | 1232 |
return; |
1233 |
} |
|
1234 |
||
1235 |
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
|
1236 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1237 |
return; |
1238 |
} |
|
1239 |
||
1240 |
// Fetch response |
|
1241 |
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
|
1242 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1243 |
fsm->state = ec_fsm_coe_down_response; |
1244 |
} |
|
1245 |
||
1246 |
/*****************************************************************************/ |
|
1247 |
||
1248 |
/** |
|
1249 |
CoE state: DOWN RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1250 |
\todo Timeout behavior |
436 | 1251 |
*/ |
1252 |
||
1253 |
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1254 |
{ |
|
1255 |
ec_datagram_t *datagram = fsm->datagram; |
|
1256 |
ec_slave_t *slave = fsm->slave; |
|
1257 |
uint8_t *data, mbox_prot; |
|
1258 |
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
|
1259 |
ec_sdo_request_t *request = fsm->request; |
436 | 1260 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1261 |
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
|
1262 |
return; // FIXME: request again? |
505
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 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1265 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1266 |
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
|
1267 |
" 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
|
1268 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1269 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1270 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1271 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1272 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1273 |
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
|
1274 |
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
|
1275 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1276 |
ec_datagram_print_wc_error(datagram); |
436 | 1277 |
return; |
1278 |
} |
|
1279 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1280 |
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
|
1281 |
if (IS_ERR(data)) { |
436 | 1282 |
fsm->state = ec_fsm_coe_error; |
1283 |
return; |
|
1284 |
} |
|
1285 |
||
1286 |
if (mbox_prot != 0x03) { // CoE |
|
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1287 |
fsm->state = ec_fsm_coe_error; |
446 | 1288 |
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
|
1289 |
return; |
436 | 1290 |
} |
1291 |
||
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1292 |
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
|
1293 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1294 |
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
|
1295 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1296 |
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
|
1297 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1298 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1299 |
|
975
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1300 |
if (slave->master->debug_level) { |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1301 |
EC_DBG("Download response:\n"); |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1302 |
ec_print_data(data, rec_size); |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1303 |
} |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1304 |
|
436 | 1305 |
if (rec_size < 6) { |
1306 |
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
|
1307 |
EC_ERR("Received data are too small (%u bytes):\n", rec_size); |
436 | 1308 |
ec_print_data(data, rec_size); |
1309 |
return; |
|
1310 |
} |
|
1311 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1312 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1313 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1314 |
fsm->state = ec_fsm_coe_error; |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1315 |
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
|
1316 |
request->index, request->subindex, request->data_size, |
436 | 1317 |
slave->ring_position); |
1318 |
if (rec_size < 10) { |
|
1319 |
EC_ERR("Incomplete Abort command:\n"); |
|
1320 |
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
|
1321 |
} 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
|
1322 |
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
|
1323 |
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
|
1324 |
} |
436 | 1325 |
return; |
1326 |
} |
|
1327 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1328 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
436 | 1329 |
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
|
1330 |
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
|
1331 |
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
|
1332 |
if (slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1333 |
EC_DBG("Invalid SDO download response at slave %u! Retrying...\n", |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1334 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1335 |
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
|
1336 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1337 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1338 |
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
|
1339 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1340 |
fsm->state = ec_fsm_coe_down_check; |
436 | 1341 |
return; |
1342 |
} |
|
1343 |
||
1344 |
fsm->state = ec_fsm_coe_end; // success |
|
1345 |
} |
|
1346 |
||
1347 |
/*****************************************************************************/ |
|
1348 |
||
1349 |
/** |
|
1350 |
CoE state: UP START. |
|
1351 |
*/ |
|
1352 |
||
1353 |
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1354 |
{ |
|
1355 |
ec_datagram_t *datagram = fsm->datagram; |
|
1356 |
ec_slave_t *slave = fsm->slave; |
|
1357 |
ec_master_t *master = slave->master; |
|
1358 |
ec_sdo_request_t *request = fsm->request; |
|
1359 |
uint8_t *data; |
|
1360 |
||
459
f0da52cf6b5b
Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
1361 |
if (master->debug_level) |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1362 |
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
|
1363 |
request->index, request->subindex, slave->ring_position); |
436 | 1364 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
1365 |
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
|
1366 |
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
|
1367 |
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
|
1368 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1369 |
} |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1370 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1371 |
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
|
1372 |
if (IS_ERR(data)) { |
436 | 1373 |
fsm->state = ec_fsm_coe_error; |
1374 |
return; |
|
1375 |
} |
|
1376 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1377 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
436 | 1378 |
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
|
1379 |
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
|
1380 |
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
|
1381 |
memset(data + 6, 0x00, 4); |
436 | 1382 |
|
1383 |
if (master->debug_level) { |
|
1384 |
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
|
1385 |
ec_print_data(data, 10); |
436 | 1386 |
} |
1387 |
||
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1388 |
fsm->request->jiffies_sent = jiffies; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1389 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1390 |
fsm->state = ec_fsm_coe_up_request; |
1391 |
} |
|
1392 |
||
1393 |
/*****************************************************************************/ |
|
1394 |
||
1395 |
/** |
|
1396 |
CoE state: UP REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1397 |
\todo Timeout behavior |
436 | 1398 |
*/ |
1399 |
||
1400 |
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1401 |
{ |
|
1402 |
ec_datagram_t *datagram = fsm->datagram; |
|
1403 |
ec_slave_t *slave = fsm->slave; |
|
1404 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1405 |
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
|
1406 |
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
|
1407 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1408 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1409 |
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
|
1410 |
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
|
1411 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1412 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1413 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1414 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1415 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1416 |
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
|
1417 |
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
|
1418 |
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
|
1419 |
(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
|
1420 |
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
|
1421 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1422 |
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
|
1423 |
"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
|
1424 |
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
|
1425 |
} |
1112
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1426 |
// no response; send request datagram again |
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1427 |
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
|
1428 |
} |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1429 |
} |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1430 |
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
|
1431 |
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
|
1432 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1433 |
ec_datagram_print_wc_error(datagram); |
436 | 1434 |
return; |
1435 |
} |
|
1436 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1437 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1438 |
|
1439 |
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
|
1440 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1441 |
fsm->state = ec_fsm_coe_up_check; |
1442 |
} |
|
1443 |
||
1444 |
/*****************************************************************************/ |
|
1445 |
||
1446 |
/** |
|
1447 |
CoE state: UP CHECK. |
|
1448 |
*/ |
|
1449 |
||
1450 |
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1451 |
{ |
|
1452 |
ec_datagram_t *datagram = fsm->datagram; |
|
1453 |
ec_slave_t *slave = fsm->slave; |
|
1454 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1455 |
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
|
1456 |
return; |
505
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 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1459 |
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
|
1460 |
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
|
1461 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1462 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1463 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1464 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1465 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1466 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1467 |
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
|
1468 |
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
|
1469 |
" 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
|
1470 |
ec_datagram_print_wc_error(datagram); |
436 | 1471 |
return; |
1472 |
} |
|
1473 |
||
1474 |
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
|
1475 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1476 |
(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
|
1477 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1478 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1479 |
EC_ERR("Timeout while waiting for SDO upload response on " |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
1480 |
"slave %u.\n", slave->ring_position); |
436 | 1481 |
return; |
1482 |
} |
|
1483 |
||
1484 |
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
|
1485 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1486 |
return; |
1487 |
} |
|
1488 |
||
1489 |
// Fetch response |
|
1490 |
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
|
1491 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1492 |
fsm->state = ec_fsm_coe_up_response; |
1493 |
} |
|
1494 |
||
1495 |
/*****************************************************************************/ |
|
1496 |
||
1497 |
/** |
|
1498 |
CoE state: UP RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1499 |
\todo Timeout behavior |
436 | 1500 |
*/ |
1501 |
||
1502 |
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1503 |
{ |
|
1504 |
ec_datagram_t *datagram = fsm->datagram; |
|
1505 |
ec_slave_t *slave = fsm->slave; |
|
1506 |
ec_master_t *master = slave->master; |
|
1468
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1507 |
uint16_t rec_index; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1508 |
uint8_t *data, mbox_prot, rec_subindex; |
436 | 1509 |
size_t rec_size, data_size; |
1510 |
ec_sdo_request_t *request = fsm->request; |
|
1511 |
unsigned int expedited, size_specified; |
|
1512 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1513 |
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
|
1514 |
return; // FIXME: request again? |
505
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 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1517 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1518 |
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
|
1519 |
" 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
|
1520 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1521 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1522 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1523 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1524 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1525 |
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
|
1526 |
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
|
1527 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1528 |
ec_datagram_print_wc_error(datagram); |
436 | 1529 |
return; |
1530 |
} |
|
1531 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1532 |
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
|
1533 |
if (IS_ERR(data)) { |
436 | 1534 |
fsm->state = ec_fsm_coe_error; |
1535 |
return; |
|
1536 |
} |
|
1537 |
||
1538 |
if (master->debug_level) { |
|
1539 |
EC_DBG("Upload response:\n"); |
|
1540 |
ec_print_data(data, rec_size); |
|
1541 |
} |
|
1542 |
||
1543 |
if (mbox_prot != 0x03) { // CoE |
|
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1544 |
fsm->state = ec_fsm_coe_error; |
436 | 1545 |
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
|
1546 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1547 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1548 |
|
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1549 |
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
|
1550 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1551 |
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
|
1552 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1553 |
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
|
1554 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1555 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1556 |
|
1468
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1557 |
if (rec_size < 6) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1558 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1559 |
EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size); |
436 | 1560 |
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
|
1561 |
return; |
436 | 1562 |
} |
1563 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1564 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
1468
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1565 |
EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1566 |
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
|
1567 |
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
|
1568 |
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
|
1569 |
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
|
1570 |
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
|
1571 |
} else { |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1572 |
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
|
1573 |
} |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1574 |
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
|
1575 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1576 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1577 |
|
1468
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1578 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1579 |
EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1580 |
EC_ERR("Received unknown response while uploading SDO 0x%04X:%02X" |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1581 |
" from slave %u.\n", request->index, request->subindex, |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1582 |
slave->ring_position); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1583 |
ec_print_data(data, rec_size); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1584 |
fsm->state = ec_fsm_coe_error; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1585 |
return; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1586 |
} |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1587 |
|
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1588 |
rec_index = EC_READ_U16(data + 3); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1589 |
rec_subindex = EC_READ_U8(data + 5); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1590 |
|
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1591 |
if (rec_index != request->index || rec_subindex != request->subindex) { |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1592 |
EC_ERR("Received upload response for wrong SDO (0x%04X:%02X," |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1593 |
" requested: 0x%04X:%02X) from slave %u.\n", |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1594 |
rec_index, rec_subindex, request->index, request->subindex, |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1595 |
slave->ring_position); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1596 |
ec_print_data(data, rec_size); |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1597 |
|
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1598 |
// check for CoE response again |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1599 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1600 |
fsm->retries = EC_FSM_RETRIES; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1601 |
fsm->state = ec_fsm_coe_up_check; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1602 |
return; |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1603 |
} |
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
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 |
// normal or expedited? |
436 | 1606 |
expedited = EC_READ_U8(data + 2) & 0x02; |
1607 |
||
1608 |
if (expedited) { |
|
1609 |
size_specified = EC_READ_U8(data + 2) & 0x01; |
|
1610 |
if (size_specified) { |
|
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1611 |
fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2); |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1612 |
} else { |
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1613 |
fsm->complete_size = 4; |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1614 |
} |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1615 |
|
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1616 |
if (rec_size < 6 + fsm->complete_size) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1617 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1618 |
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
|
1619 |
" 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
|
1620 |
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
|
1621 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1622 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1623 |
|
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1624 |
if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_size)) { |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1625 |
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
|
1626 |
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
|
1627 |
} |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1628 |
} else { // normal |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1629 |
if (rec_size < 10) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1630 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1631 |
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
|
1632 |
" 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
|
1633 |
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
|
1634 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1635 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1636 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1637 |
data_size = rec_size - 10; |
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1638 |
fsm->complete_size = EC_READ_U32(data + 6); |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1639 |
|
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1640 |
if (!fsm->complete_size) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1641 |
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
|
1642 |
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
|
1643 |
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
|
1644 |
return; |
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 |
|
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1647 |
if (ec_sdo_request_alloc(request, fsm->complete_size)) { |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1648 |
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
|
1649 |
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
|
1650 |
} |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1651 |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1652 |
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
|
1653 |
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
|
1654 |
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
|
1655 |
} |
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 |
|
436 | 1657 |
fsm->toggle = 0; |
1658 |
||
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1659 |
if (data_size < fsm->complete_size) { |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1660 |
if (master->debug_level) |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1661 |
EC_DBG("SDO data incomplete (%u / %u). Segmenting...\n", |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1662 |
data_size, fsm->complete_size); |
446 | 1663 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1664 |
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
|
1665 |
0x03, 3); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1666 |
if (IS_ERR(data)) { |
436 | 1667 |
fsm->state = ec_fsm_coe_error; |
1668 |
return; |
|
1669 |
} |
|
1670 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1671 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
436 | 1672 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle |
1673 |
| 0x3 << 5)); // upload segment request |
|
1674 |
||
1675 |
if (master->debug_level) { |
|
1676 |
EC_DBG("Upload segment request:\n"); |
|
1677 |
ec_print_data(data, 3); |
|
1678 |
} |
|
1679 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1680 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1681 |
fsm->state = ec_fsm_coe_up_seg_request; |
1682 |
return; |
|
1683 |
} |
|
1684 |
} |
|
1685 |
||
874 | 1686 |
if (master->debug_level) { |
1687 |
EC_DBG("Uploaded data:\n"); |
|
1688 |
ec_print_data(request->data, request->data_size); |
|
1689 |
} |
|
1690 |
||
436 | 1691 |
fsm->state = ec_fsm_coe_end; // success |
1692 |
} |
|
1693 |
||
1694 |
/*****************************************************************************/ |
|
1695 |
||
1696 |
/** |
|
1697 |
CoE state: UP REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1698 |
\todo Timeout behavior |
436 | 1699 |
*/ |
1700 |
||
1701 |
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1702 |
{ |
|
1703 |
ec_datagram_t *datagram = fsm->datagram; |
|
1704 |
ec_slave_t *slave = fsm->slave; |
|
1705 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1706 |
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
|
1707 |
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
|
1708 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1709 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1710 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1711 |
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
|
1712 |
" 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
|
1713 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1714 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1715 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1716 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1717 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1718 |
fsm->state = ec_fsm_coe_error; |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1719 |
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
|
1720 |
" 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
|
1721 |
ec_datagram_print_wc_error(datagram); |
436 | 1722 |
return; |
1723 |
} |
|
1724 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1725 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1726 |
|
1727 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1728 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1729 |
fsm->state = ec_fsm_coe_up_seg_check; |
1730 |
} |
|
1731 |
||
1732 |
/*****************************************************************************/ |
|
1733 |
||
1734 |
/** |
|
1735 |
CoE state: UP CHECK. |
|
1736 |
*/ |
|
1737 |
||
1738 |
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1739 |
{ |
|
1740 |
ec_datagram_t *datagram = fsm->datagram; |
|
1741 |
ec_slave_t *slave = fsm->slave; |
|
1742 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1743 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1744 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1745 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1746 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1747 |
fsm->state = ec_fsm_coe_error; |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1748 |
EC_ERR("Failed to receive CoE mailbox check datagram for slave %u" |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
975
diff
changeset
|
1749 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1750 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1751 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1752 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1753 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1754 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1755 |
fsm->state = ec_fsm_coe_error; |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1756 |
EC_ERR("Reception of CoE mailbox check" |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1757 |
" datagram failed on slave %u: ", slave->ring_position); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1758 |
ec_datagram_print_wc_error(datagram); |
436 | 1759 |
return; |
1760 |
} |
|
1761 |
||
1762 |
if (!ec_slave_mbox_check(datagram)) { |
|
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1763 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1764 |
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1765 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1766 |
fsm->state = ec_fsm_coe_error; |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1767 |
EC_ERR("Timeout while waiting for SDO upload segment response " |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1768 |
"on slave %u.\n", slave->ring_position); |
436 | 1769 |
return; |
1770 |
} |
|
1771 |
||
1772 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1773 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1774 |
return; |
1775 |
} |
|
1776 |
||
1777 |
// Fetch response |
|
1778 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1779 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1780 |
fsm->state = ec_fsm_coe_up_seg_response; |
1781 |
} |
|
1782 |
||
1783 |
/*****************************************************************************/ |
|
1784 |
||
1785 |
/** |
|
1786 |
CoE state: UP RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1787 |
\todo Timeout behavior |
436 | 1788 |
*/ |
1789 |
||
1790 |
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1791 |
{ |
|
1792 |
ec_datagram_t *datagram = fsm->datagram; |
|
1793 |
ec_slave_t *slave = fsm->slave; |
|
1794 |
ec_master_t *master = slave->master; |
|
1795 |
uint8_t *data, mbox_prot; |
|
1796 |
size_t rec_size, data_size; |
|
1797 |
ec_sdo_request_t *request = fsm->request; |
|
1798 |
uint32_t seg_size; |
|
1799 |
unsigned int last_segment; |
|
1800 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1801 |
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
|
1802 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1803 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1804 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1805 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1806 |
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
|
1807 |
" 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
|
1808 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1809 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1810 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1811 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1812 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1813 |
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
|
1814 |
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
|
1815 |
" 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
|
1816 |
ec_datagram_print_wc_error(datagram); |
436 | 1817 |
return; |
1818 |
} |
|
1819 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1820 |
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
|
1821 |
if (IS_ERR(data)) { |
436 | 1822 |
fsm->state = ec_fsm_coe_error; |
1823 |
return; |
|
1824 |
} |
|
1825 |
||
1826 |
if (master->debug_level) { |
|
1827 |
EC_DBG("Upload segment response:\n"); |
|
1828 |
ec_print_data(data, rec_size); |
|
1829 |
} |
|
1830 |
||
1831 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 1832 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 1833 |
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
|
1834 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1835 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1836 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1837 |
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
|
1838 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1839 |
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
|
1840 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1841 |
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
|
1842 |
return; |
436 | 1843 |
} |
1844 |
||
1845 |
if (rec_size < 10) { |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1846 |
EC_ERR("Received currupted SDO upload segment response!\n"); |
436 | 1847 |
ec_print_data(data, rec_size); |
1848 |
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
|
1849 |
return; |
436 | 1850 |
} |
1851 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1852 |
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
1468
0a804ddbaf93
Improved error checking on SDO upload.
Florian Pose <fp@igh-essen.com>
parents:
1457
diff
changeset
|
1853 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1854 |
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
|
1855 |
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
|
1856 |
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
|
1857 |
ec_canopen_abort_msg(request->abort_code); |
436 | 1858 |
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
|
1859 |
return; |
436 | 1860 |
} |
1861 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1862 |
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
436 | 1863 |
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
|
1864 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1865 |
EC_DBG("Invalid SDO upload segment response at slave %u!\n", |
436 | 1866 |
slave->ring_position); |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1867 |
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
|
1868 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1869 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1870 |
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
|
1871 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1872 |
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
|
1873 |
return; |
436 | 1874 |
} |
1875 |
||
1876 |
last_segment = EC_READ_U8(data + 2) & 0x01; |
|
1877 |
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1; |
|
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1878 |
if (rec_size > 10) { |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1879 |
data_size = rec_size - 10; |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1880 |
} else { // == 10 |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1881 |
/* seg_size contains the number of trailing bytes to ignore. */ |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1882 |
data_size = rec_size - seg_size; |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1883 |
} |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1884 |
|
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1885 |
if (request->data_size + data_size > fsm->complete_size) { |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1886 |
EC_ERR("SDO upload 0x%04X:%02X failed on slave %u: Fragment" |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1887 |
" exceeding complete size!\n", |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1888 |
request->index, request->subindex, slave->ring_position); |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1889 |
fsm->state = ec_fsm_coe_error; |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1890 |
return; |
436 | 1891 |
} |
1892 |
||
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
|
1893 |
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
|
1894 |
request->data_size += data_size; |
436 | 1895 |
|
1896 |
if (!last_segment) { |
|
1897 |
fsm->toggle = !fsm->toggle; |
|
1898 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1310
diff
changeset
|
1899 |
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
|
1900 |
if (IS_ERR(data)) { |
436 | 1901 |
fsm->state = ec_fsm_coe_error; |
1902 |
return; |
|
1903 |
} |
|
1904 |
||
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
1905 |
EC_WRITE_U16(data, 0x2 << 12); // SDO request |
436 | 1906 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle |
1907 |
| 0x3 << 5)); // upload segment request |
|
1908 |
||
1909 |
if (master->debug_level) { |
|
1910 |
EC_DBG("Upload segment request:\n"); |
|
1911 |
ec_print_data(data, 3); |
|
1912 |
} |
|
1913 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1914 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1915 |
fsm->state = ec_fsm_coe_up_seg_request; |
1916 |
return; |
|
1917 |
} |
|
1918 |
||
1339
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1919 |
if (request->data_size != fsm->complete_size) { |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1920 |
EC_WARN("SDO upload 0x%04X:%02X on slave %u: Assembled data" |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1921 |
" size (%u) does not match complete size (%u)!\n", |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1922 |
request->index, request->subindex, slave->ring_position, |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1923 |
request->data_size, fsm->complete_size); |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1924 |
} |
3483999e1aba
merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response.
Florian Pose <fp@igh-essen.com>
parents:
1338
diff
changeset
|
1925 |
|
874 | 1926 |
if (master->debug_level) { |
1927 |
EC_DBG("Uploaded data:\n"); |
|
1928 |
ec_print_data(request->data, request->data_size); |
|
1929 |
} |
|
1930 |
||
436 | 1931 |
fsm->state = ec_fsm_coe_end; // success |
1932 |
} |
|
1933 |
||
1934 |
/*****************************************************************************/ |
|
1935 |
||
1936 |
/** |
|
1937 |
State: ERROR. |
|
1938 |
*/ |
|
1939 |
||
1940 |
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1941 |
{ |
|
1942 |
} |
|
1943 |
||
1944 |
/*****************************************************************************/ |
|
1945 |
||
1946 |
/** |
|
1947 |
State: END. |
|
1948 |
*/ |
|
1949 |
||
1950 |
void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1951 |
{ |
|
1952 |
} |
|
1953 |
||
1954 |
/*****************************************************************************/ |