author | Florian Pose <fp@igh-essen.com> |
Wed, 22 Oct 2008 11:53:40 +0000 | |
changeset 1298 | de91d633ff6c |
parent 1219 | aa030fb1e980 |
child 1310 | bd4631c70392 |
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 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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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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||
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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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/*****************************************************************************/ |
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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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Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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void ec_fsm_coe_transfer( |
854
f4f53be425ac
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ec_fsm_coe_t *fsm, /**< State machine. */ |
f4f53be425ac
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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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854
f4f53be425ac
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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 |
233e32f428e1
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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 for emergency requests during CoE transfers.
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/*****************************************************************************/ |
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Check for emergency requests during CoE transfers.
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233 |
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1092 | 234 |
/** Check if the received data are a CoE emergency request. |
235 |
* |
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236 |
* If the check is positive, the emergency request is output. |
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* |
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238 |
* \return The data were an emergency request. |
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895
5c2125247dde
Check for emergency requests during CoE transfers.
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diff
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239 |
*/ |
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Check for emergency requests during CoE transfers.
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|
240 |
int ec_fsm_coe_check_emergency( |
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
874
diff
changeset
|
241 |
ec_fsm_coe_t *fsm, /**< Finite state machine */ |
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
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diff
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|
242 |
const uint8_t *data, /**< CoE mailbox data. */ |
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
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diff
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|
243 |
size_t size /**< CoE mailbox data size. */ |
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
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diff
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|
244 |
) |
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Check for emergency requests during CoE transfers.
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|
245 |
{ |
5c2125247dde
Check for emergency requests during CoE transfers.
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diff
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|
246 |
if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01) |
5c2125247dde
Check for emergency requests during CoE transfers.
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|
247 |
return 0; |
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Check for emergency requests during CoE transfers.
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|
248 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
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diff
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|
249 |
if (size < 10) { |
5c2125247dde
Check for emergency requests during CoE transfers.
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|
250 |
EC_WARN("Received incomplete CoE Emergency request from slave %u:\n", |
5c2125247dde
Check for emergency requests during CoE transfers.
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diff
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|
251 |
fsm->slave->ring_position); |
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diff
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|
252 |
ec_print_data(data, size); |
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Check for emergency requests during CoE transfers.
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diff
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|
253 |
return 1; |
5c2125247dde
Check for emergency requests during CoE transfers.
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diff
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|
254 |
} |
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Check for emergency requests during CoE transfers.
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parents:
874
diff
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|
255 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
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diff
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|
256 |
EC_INFO("CoE Emergency Request received from slave %u:\n", |
5c2125247dde
Check for emergency requests during CoE transfers.
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parents:
874
diff
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|
257 |
fsm->slave->ring_position); |
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Check for emergency requests during CoE transfers.
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parents:
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diff
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|
258 |
EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n", |
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Check for emergency requests during CoE transfers.
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diff
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|
259 |
EC_READ_U16(data + 2), EC_READ_U8(data + 4)); |
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Check for emergency requests during CoE transfers.
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diff
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|
260 |
ec_print_data(data + 5, 5); |
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Check for emergency requests during CoE transfers.
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diff
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|
261 |
return 1; |
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Check for emergency requests during CoE transfers.
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diff
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|
262 |
} |
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Check for emergency requests during CoE transfers.
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parents:
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diff
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|
263 |
|
436 | 264 |
/****************************************************************************** |
265 |
* CoE dictionary state machine |
|
266 |
*****************************************************************************/ |
|
267 |
||
268 |
/** |
|
269 |
CoE state: DICT START. |
|
270 |
*/ |
|
271 |
||
272 |
void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
273 |
{ |
|
274 |
ec_datagram_t *datagram = fsm->datagram; |
|
275 |
ec_slave_t *slave = fsm->slave; |
|
276 |
uint8_t *data; |
|
277 |
||
834
0791aac03180
Separated SII data from slave.
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parents:
831
diff
changeset
|
278 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) { |
825
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
279 |
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position); |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
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parents:
814
diff
changeset
|
280 |
fsm->state = ec_fsm_coe_error; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
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parents:
814
diff
changeset
|
281 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
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parents:
814
diff
changeset
|
282 |
} |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
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parents:
814
diff
changeset
|
283 |
|
1219
aa030fb1e980
Only query Sdo information service, if slave supports it.
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parents:
1169
diff
changeset
|
284 |
if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) { |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
285 |
EC_ERR("Slave %u does not support Sdo information service!\n", |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
286 |
slave->ring_position); |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
287 |
fsm->state = ec_fsm_coe_error; |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
288 |
return; |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
289 |
} |
aa030fb1e980
Only query Sdo information service, if slave supports it.
Florian Pose <fp@igh-essen.com>
parents:
1169
diff
changeset
|
290 |
|
436 | 291 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { |
292 |
fsm->state = ec_fsm_coe_error; |
|
293 |
return; |
|
294 |
} |
|
295 |
||
814 | 296 |
EC_WRITE_U16(data, 0x8 << 12); // Sdo information |
436 | 297 |
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
298 |
EC_WRITE_U8 (data + 3, 0x00); |
|
299 |
EC_WRITE_U16(data + 4, 0x0000); |
|
814 | 300 |
EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos! |
436 | 301 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
302 |
fsm->retries = EC_FSM_RETRIES; |
436 | 303 |
fsm->state = ec_fsm_coe_dict_request; |
304 |
} |
|
305 |
||
306 |
/*****************************************************************************/ |
|
307 |
||
308 |
/** |
|
309 |
CoE state: DICT REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
310 |
\todo Timeout behavior |
436 | 311 |
*/ |
312 |
||
313 |
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
314 |
{ |
|
315 |
ec_datagram_t *datagram = fsm->datagram; |
|
316 |
ec_slave_t *slave = fsm->slave; |
|
317 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
318 |
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
|
319 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
320 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
321 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
322 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
323 |
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
|
324 |
" 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
|
325 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
326 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
327 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
328 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
329 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
330 |
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
|
331 |
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
|
332 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
333 |
ec_datagram_print_wc_error(datagram); |
436 | 334 |
return; |
335 |
} |
|
336 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
337 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 338 |
|
339 |
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
|
340 |
fsm->retries = EC_FSM_RETRIES; |
436 | 341 |
fsm->state = ec_fsm_coe_dict_check; |
342 |
} |
|
343 |
||
344 |
/*****************************************************************************/ |
|
345 |
||
346 |
/** |
|
347 |
CoE state: DICT CHECK. |
|
348 |
*/ |
|
349 |
||
350 |
void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
351 |
{ |
|
352 |
ec_datagram_t *datagram = fsm->datagram; |
|
353 |
ec_slave_t *slave = fsm->slave; |
|
354 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
355 |
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
|
356 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
357 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
358 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
359 |
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
|
360 |
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
|
361 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
362 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
363 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
364 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
365 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
366 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
367 |
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
|
368 |
EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ", |
436 | 369 |
slave->ring_position); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
370 |
ec_datagram_print_wc_error(datagram); |
436 | 371 |
return; |
372 |
} |
|
373 |
||
374 |
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
|
375 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
376 |
(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
|
377 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 378 |
fsm->state = ec_fsm_coe_error; |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
379 |
EC_ERR("Timeout while waiting for Sdo dictionary list response " |
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
380 |
"on slave %u.\n", slave->ring_position); |
436 | 381 |
return; |
382 |
} |
|
383 |
||
384 |
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
|
385 |
fsm->retries = EC_FSM_RETRIES; |
436 | 386 |
return; |
387 |
} |
|
388 |
||
389 |
// Fetch response |
|
390 |
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
|
391 |
fsm->retries = EC_FSM_RETRIES; |
436 | 392 |
fsm->state = ec_fsm_coe_dict_response; |
393 |
} |
|
394 |
||
395 |
/*****************************************************************************/ |
|
396 |
||
397 |
/** |
|
398 |
CoE state: DICT RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
399 |
\todo Timeout behavior |
436 | 400 |
*/ |
401 |
||
402 |
void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
403 |
{ |
|
404 |
ec_datagram_t *datagram = fsm->datagram; |
|
405 |
ec_slave_t *slave = fsm->slave; |
|
406 |
uint8_t *data, mbox_prot; |
|
407 |
size_t rec_size; |
|
408 |
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
|
409 |
uint16_t sdo_index, fragments_left; |
436 | 410 |
ec_sdo_t *sdo; |
411 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
412 |
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
|
413 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
414 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
415 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
416 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
417 |
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
|
418 |
" 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
|
419 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
420 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
421 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
422 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
423 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
424 |
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
|
425 |
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
|
426 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
427 |
ec_datagram_print_wc_error(datagram); |
436 | 428 |
return; |
429 |
} |
|
430 |
||
431 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
432 |
&mbox_prot, &rec_size))) { |
|
433 |
fsm->state = ec_fsm_coe_error; |
|
434 |
return; |
|
435 |
} |
|
436 |
||
437 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 438 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 439 |
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
|
440 |
return; |
436 | 441 |
} |
442 |
||
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
443 |
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
|
444 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
445 |
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
|
446 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
447 |
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
|
448 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
449 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
450 |
|
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
|
451 |
if (rec_size < 3) { |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
452 |
EC_ERR("Received corrupted Sdo dictionary response (size %u).\n", |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
453 |
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
|
454 |
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
|
455 |
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
|
456 |
} |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
457 |
|
814 | 458 |
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information |
436 | 459 |
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
460 |
EC_ERR("Sdo information error response at slave %u!\n", |
436 | 461 |
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
|
462 |
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
|
463 |
EC_ERR("Incomplete Sdo information error response:\n"); |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
464 |
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
|
465 |
} 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
|
466 |
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
|
467 |
} |
436 | 468 |
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
|
469 |
return; |
436 | 470 |
} |
471 |
||
814 | 472 |
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information |
436 | 473 |
(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
|
474 |
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
|
475 |
EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n", |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
476 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
477 |
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
|
478 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
479 |
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
|
480 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
481 |
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
|
482 |
return; |
436 | 483 |
} |
484 |
||
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
|
485 |
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
|
486 |
EC_ERR("Invalid data size %u!\n", rec_size); |
436 | 487 |
ec_print_data(data, rec_size); |
488 |
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
|
489 |
return; |
436 | 490 |
} |
491 |
||
492 |
sdo_count = (rec_size - 8) / 2; |
|
493 |
||
494 |
for (i = 0; i < sdo_count; i++) { |
|
495 |
sdo_index = EC_READ_U16(data + 8 + i * 2); |
|
496 |
if (!sdo_index) { |
|
461
b9eda9235173
Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
459
diff
changeset
|
497 |
if (slave->master->debug_level) |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
498 |
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
|
499 |
slave->ring_position); |
436 | 500 |
continue; |
501 |
} |
|
502 |
||
998
05a24788f3b2
Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents:
992
diff
changeset
|
503 |
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) { |
814 | 504 |
EC_ERR("Failed to allocate memory for Sdo!\n"); |
436 | 505 |
fsm->state = ec_fsm_coe_error; |
506 |
return; |
|
507 |
} |
|
508 |
||
992
50a44cbd30af
Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents:
991
diff
changeset
|
509 |
ec_sdo_init(sdo, slave, sdo_index); |
436 | 510 |
list_add_tail(&sdo->list, &slave->sdo_dictionary); |
511 |
} |
|
512 |
||
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
513 |
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
|
514 |
if (slave->master->debug_level && fragments_left) { |
814 | 515 |
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
|
516 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
517 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
518 |
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
|
519 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 520 |
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
|
521 |
fsm->retries = EC_FSM_RETRIES; |
436 | 522 |
fsm->state = ec_fsm_coe_dict_check; |
523 |
return; |
|
524 |
} |
|
525 |
||
526 |
if (list_empty(&slave->sdo_dictionary)) { |
|
814 | 527 |
// no Sdos in dictionary. finished. |
436 | 528 |
fsm->state = ec_fsm_coe_end; // success |
529 |
return; |
|
530 |
} |
|
531 |
||
814 | 532 |
// fetch Sdo descriptions |
436 | 533 |
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list); |
534 |
||
535 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { |
|
536 |
fsm->state = ec_fsm_coe_error; |
|
537 |
return; |
|
538 |
} |
|
539 |
||
814 | 540 |
EC_WRITE_U16(data, 0x8 << 12); // Sdo information |
436 | 541 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
542 |
EC_WRITE_U8 (data + 3, 0x00); |
|
543 |
EC_WRITE_U16(data + 4, 0x0000); |
|
814 | 544 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index |
436 | 545 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
546 |
fsm->retries = EC_FSM_RETRIES; |
436 | 547 |
fsm->state = ec_fsm_coe_dict_desc_request; |
548 |
} |
|
549 |
||
550 |
/*****************************************************************************/ |
|
551 |
||
552 |
/** |
|
553 |
CoE state: DICT DESC REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
554 |
\todo Timeout behavior |
436 | 555 |
*/ |
556 |
||
557 |
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
558 |
{ |
|
559 |
ec_datagram_t *datagram = fsm->datagram; |
|
560 |
ec_slave_t *slave = fsm->slave; |
|
561 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
562 |
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
|
563 |
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
|
564 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
565 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
566 |
fsm->state = ec_fsm_coe_error; |
814 | 567 |
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
|
568 |
" 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
|
569 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
570 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
571 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
572 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
573 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
574 |
fsm->state = ec_fsm_coe_error; |
814 | 575 |
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
|
576 |
" 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
|
577 |
ec_datagram_print_wc_error(datagram); |
436 | 578 |
return; |
579 |
} |
|
580 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
581 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 582 |
|
583 |
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
|
584 |
fsm->retries = EC_FSM_RETRIES; |
436 | 585 |
fsm->state = ec_fsm_coe_dict_desc_check; |
586 |
} |
|
587 |
||
588 |
/*****************************************************************************/ |
|
589 |
||
590 |
/** |
|
591 |
CoE state: DICT DESC CHECK. |
|
592 |
*/ |
|
593 |
||
594 |
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
595 |
{ |
|
596 |
ec_datagram_t *datagram = fsm->datagram; |
|
597 |
ec_slave_t *slave = fsm->slave; |
|
598 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
599 |
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
|
600 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
601 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
602 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
603 |
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
|
604 |
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
|
605 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
606 |
slave->ring_position, datagram->state); |
436 | 607 |
return; |
608 |
} |
|
609 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
610 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
611 |
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
|
612 |
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
|
613 |
" 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
|
614 |
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
|
615 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
616 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
617 |
|
436 | 618 |
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
|
619 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
620 |
(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
|
621 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 622 |
fsm->state = ec_fsm_coe_error; |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
623 |
EC_ERR("Timeout while waiting for Sdo object description " |
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
624 |
"response on slave %u.\n", slave->ring_position); |
436 | 625 |
return; |
626 |
} |
|
627 |
||
628 |
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
|
629 |
fsm->retries = EC_FSM_RETRIES; |
436 | 630 |
return; |
631 |
} |
|
632 |
||
633 |
// Fetch response |
|
634 |
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
|
635 |
fsm->retries = EC_FSM_RETRIES; |
436 | 636 |
fsm->state = ec_fsm_coe_dict_desc_response; |
637 |
} |
|
638 |
||
639 |
/*****************************************************************************/ |
|
640 |
||
641 |
/** |
|
642 |
CoE state: DICT DESC RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
643 |
\todo Timeout behavior |
436 | 644 |
*/ |
645 |
||
646 |
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm |
|
647 |
/**< finite state machine */) |
|
648 |
{ |
|
649 |
ec_datagram_t *datagram = fsm->datagram; |
|
650 |
ec_slave_t *slave = fsm->slave; |
|
651 |
ec_sdo_t *sdo = fsm->sdo; |
|
652 |
uint8_t *data, mbox_prot; |
|
653 |
size_t rec_size, name_size; |
|
654 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
655 |
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
|
656 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
657 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
658 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
659 |
fsm->state = ec_fsm_coe_error; |
814 | 660 |
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
|
661 |
" 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
|
662 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
663 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
664 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
665 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
666 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
667 |
fsm->state = ec_fsm_coe_error; |
814 | 668 |
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
|
669 |
" 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
|
670 |
ec_datagram_print_wc_error(datagram); |
436 | 671 |
return; |
672 |
} |
|
673 |
||
674 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
675 |
&mbox_prot, &rec_size))) { |
|
676 |
fsm->state = ec_fsm_coe_error; |
|
677 |
return; |
|
678 |
} |
|
679 |
||
680 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 681 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 682 |
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
|
683 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
684 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
685 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
686 |
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
|
687 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
688 |
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
|
689 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
690 |
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
|
691 |
return; |
436 | 692 |
} |
693 |
||
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 |
if (rec_size < 3) { |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
695 |
EC_ERR("Received corrupted Sdo description response (size %u).\n", |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
696 |
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
|
697 |
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
|
698 |
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
|
699 |
} |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
700 |
|
814 | 701 |
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information |
436 | 702 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
703 |
EC_ERR("Sdo information error response at slave %u while" |
814 | 704 |
" fetching Sdo 0x%04X!\n", slave->ring_position, |
436 | 705 |
sdo->index); |
706 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
707 |
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
|
708 |
return; |
436 | 709 |
} |
710 |
||
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 |
if (rec_size < 8) { |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
712 |
EC_ERR("Received corrupted Sdo description response (size %u).\n", |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
713 |
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
|
714 |
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
|
715 |
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
|
716 |
} |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
717 |
|
814 | 718 |
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information |
436 | 719 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response |
814 | 720 |
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
|
721 |
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
|
722 |
EC_DBG("Invalid object description response at slave %u while" |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
723 |
" fetching Sdo 0x%04X!\n", slave->ring_position, |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
724 |
sdo->index); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
725 |
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
|
726 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
727 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
728 |
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
|
729 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
730 |
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
|
731 |
return; |
436 | 732 |
} |
733 |
||
734 |
if (rec_size < 12) { |
|
735 |
EC_ERR("Invalid data size!\n"); |
|
736 |
ec_print_data(data, rec_size); |
|
737 |
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
|
738 |
return; |
436 | 739 |
} |
740 |
||
962
ea83a7aab57a
Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
741 |
sdo->max_subindex = EC_READ_U8(data + 10); |
436 | 742 |
sdo->object_code = EC_READ_U8(data + 11); |
743 |
||
744 |
name_size = rec_size - 12; |
|
745 |
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
|
746 |
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) { |
814 | 747 |
EC_ERR("Failed to allocate Sdo name!\n"); |
436 | 748 |
fsm->state = ec_fsm_coe_error; |
749 |
return; |
|
750 |
} |
|
751 |
||
752 |
memcpy(sdo->name, data + 12, name_size); |
|
753 |
sdo->name[name_size] = 0; |
|
754 |
} |
|
755 |
||
756 |
if (EC_READ_U8(data + 2) & 0x80) { |
|
757 |
EC_ERR("Fragment follows (not implemented)!\n"); |
|
758 |
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
|
759 |
return; |
436 | 760 |
} |
761 |
||
762 |
// start fetching entries |
|
763 |
||
764 |
fsm->subindex = 0; |
|
765 |
||
766 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { |
|
767 |
fsm->state = ec_fsm_coe_error; |
|
768 |
return; |
|
769 |
} |
|
770 |
||
814 | 771 |
EC_WRITE_U16(data, 0x8 << 12); // Sdo information |
436 | 772 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
773 |
EC_WRITE_U8 (data + 3, 0x00); |
|
774 |
EC_WRITE_U16(data + 4, 0x0000); |
|
814 | 775 |
EC_WRITE_U16(data + 6, sdo->index); // Sdo index |
776 |
EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex |
|
436 | 777 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values) |
778 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
779 |
fsm->retries = EC_FSM_RETRIES; |
436 | 780 |
fsm->state = ec_fsm_coe_dict_entry_request; |
781 |
} |
|
782 |
||
783 |
/*****************************************************************************/ |
|
784 |
||
785 |
/** |
|
786 |
CoE state: DICT ENTRY REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
787 |
\todo Timeout behavior |
436 | 788 |
*/ |
789 |
||
790 |
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm |
|
791 |
/**< finite state machine */) |
|
792 |
{ |
|
793 |
ec_datagram_t *datagram = fsm->datagram; |
|
794 |
ec_slave_t *slave = fsm->slave; |
|
795 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
796 |
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
|
797 |
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
|
798 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
799 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
800 |
fsm->state = ec_fsm_coe_error; |
814 | 801 |
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
|
802 |
" 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
|
803 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
804 |
return; |
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 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
807 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
808 |
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
|
809 |
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
|
810 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
811 |
ec_datagram_print_wc_error(datagram); |
436 | 812 |
return; |
813 |
} |
|
814 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
815 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 816 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
817 |
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
|
818 |
fsm->retries = EC_FSM_RETRIES; |
436 | 819 |
fsm->state = ec_fsm_coe_dict_entry_check; |
820 |
} |
|
821 |
||
822 |
/*****************************************************************************/ |
|
823 |
||
824 |
/** |
|
825 |
CoE state: DICT ENTRY CHECK. |
|
826 |
*/ |
|
827 |
||
828 |
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm |
|
829 |
/**< finite state machine */) |
|
830 |
{ |
|
831 |
ec_datagram_t *datagram = fsm->datagram; |
|
832 |
ec_slave_t *slave = fsm->slave; |
|
833 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
834 |
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
|
835 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
836 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
837 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
838 |
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
|
839 |
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
|
840 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
841 |
slave->ring_position, datagram->state); |
436 | 842 |
return; |
843 |
} |
|
844 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
845 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
846 |
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
|
847 |
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
|
848 |
" 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
|
849 |
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
|
850 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
851 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
852 |
|
436 | 853 |
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
|
854 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
855 |
(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
|
856 |
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { |
436 | 857 |
fsm->state = ec_fsm_coe_error; |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
858 |
EC_ERR("Timeout while waiting for Sdo entry description response " |
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
859 |
"on slave %u.\n", slave->ring_position); |
436 | 860 |
return; |
861 |
} |
|
862 |
||
863 |
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
|
864 |
fsm->retries = EC_FSM_RETRIES; |
436 | 865 |
return; |
866 |
} |
|
867 |
||
868 |
// Fetch response |
|
869 |
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
|
870 |
fsm->retries = EC_FSM_RETRIES; |
436 | 871 |
fsm->state = ec_fsm_coe_dict_entry_response; |
872 |
} |
|
873 |
||
874 |
/*****************************************************************************/ |
|
875 |
||
876 |
/** |
|
877 |
CoE state: DICT ENTRY RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
878 |
\todo Timeout behavior |
436 | 879 |
*/ |
880 |
||
881 |
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm |
|
882 |
/**< finite state machine */) |
|
883 |
{ |
|
884 |
ec_datagram_t *datagram = fsm->datagram; |
|
885 |
ec_slave_t *slave = fsm->slave; |
|
886 |
ec_sdo_t *sdo = fsm->sdo; |
|
887 |
uint8_t *data, mbox_prot; |
|
888 |
size_t rec_size, data_size; |
|
889 |
ec_sdo_entry_t *entry; |
|
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; |
814 | 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; |
814 | 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 |
||
910 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
911 |
&mbox_prot, &rec_size))) { |
|
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) { |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
931 |
EC_ERR("Received corrupted Sdo entry description response " |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
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 |
|
814 | 937 |
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information |
436 | 938 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
939 |
EC_ERR("Sdo information error response at slave %u while" |
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
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) { |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
948 |
EC_ERR("Received corrupted Sdo entry description response " |
59f191c9185b
Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents:
1035
diff
changeset
|
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 |
|
814 | 954 |
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information |
436 | 955 |
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response |
814 | 956 |
EC_READ_U16(data + 6) != sdo->index || // Sdo index |
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" |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
960 |
" fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position, |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
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 |
||
991 |
if (data_size) { |
|
484
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
992 |
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
|
993 |
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) { |
814 | 994 |
EC_ERR("Failed to allocate Sdo entry name!\n"); |
436 | 995 |
fsm->state = ec_fsm_coe_error; |
996 |
return; |
|
997 |
} |
|
484
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
998 |
memcpy(desc, data + 16, data_size); |
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
999 |
desc[data_size] = 0; |
9fde4a17b820
kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents:
476
diff
changeset
|
1000 |
entry->description = desc; |
436 | 1001 |
} |
1002 |
||
1003 |
list_add_tail(&entry->list, &sdo->entries); |
|
1004 |
||
962
ea83a7aab57a
Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents:
926
diff
changeset
|
1005 |
if (fsm->subindex < sdo->max_subindex) { |
436 | 1006 |
fsm->subindex++; |
1007 |
||
1008 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { |
|
1009 |
fsm->state = ec_fsm_coe_error; |
|
1010 |
return; |
|
1011 |
} |
|
1012 |
||
814 | 1013 |
EC_WRITE_U16(data, 0x8 << 12); // Sdo information |
436 | 1014 |
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
1015 |
EC_WRITE_U8 (data + 3, 0x00); |
|
1016 |
EC_WRITE_U16(data + 4, 0x0000); |
|
814 | 1017 |
EC_WRITE_U16(data + 6, sdo->index); // Sdo index |
1018 |
EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex |
|
436 | 1019 |
EC_WRITE_U8 (data + 9, 0x00); // value info (no values) |
1020 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1021 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1022 |
fsm->state = ec_fsm_coe_dict_entry_request; |
1023 |
return; |
|
1024 |
} |
|
1025 |
||
814 | 1026 |
// another Sdo description to fetch? |
436 | 1027 |
if (fsm->sdo->list.next != &slave->sdo_dictionary) { |
1028 |
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list); |
|
1029 |
||
1030 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { |
|
1031 |
fsm->state = ec_fsm_coe_error; |
|
1032 |
return; |
|
1033 |
} |
|
1034 |
||
814 | 1035 |
EC_WRITE_U16(data, 0x8 << 12); // Sdo information |
436 | 1036 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
1037 |
EC_WRITE_U8 (data + 3, 0x00); |
|
1038 |
EC_WRITE_U16(data + 4, 0x0000); |
|
814 | 1039 |
EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index |
436 | 1040 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1041 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1042 |
fsm->state = ec_fsm_coe_dict_desc_request; |
1043 |
return; |
|
1044 |
} |
|
1045 |
||
1046 |
fsm->state = ec_fsm_coe_end; |
|
1047 |
} |
|
1048 |
||
1049 |
/****************************************************************************** |
|
1050 |
* CoE state machine |
|
1051 |
*****************************************************************************/ |
|
1052 |
||
1053 |
/** |
|
1054 |
CoE state: DOWN START. |
|
1055 |
*/ |
|
1056 |
||
1057 |
void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1058 |
{ |
|
1059 |
ec_datagram_t *datagram = fsm->datagram; |
|
1060 |
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
|
1061 |
ec_sdo_request_t *request = fsm->request; |
436 | 1062 |
uint8_t *data; |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1063 |
uint8_t size; |
436 | 1064 |
|
874 | 1065 |
if (fsm->slave->master->debug_level) { |
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
1066 |
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
|
1067 |
request->index, request->subindex, slave->ring_position); |
874 | 1068 |
ec_print_data(request->data, request->data_size); |
1069 |
} |
|
436 | 1070 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
1071 |
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
|
1072 |
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
|
1073 |
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
|
1074 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1075 |
} |
1169
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1076 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1077 |
if (request->data_size <= 4) { // use expedited transfer type |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1078 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1079 |
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
|
1080 |
return; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1081 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1082 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1083 |
size = 4 - request->data_size; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1084 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1085 |
EC_WRITE_U16(data, 0x2 << 12); // Sdo request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1086 |
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
|
1087 |
| size << 2 |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1088 |
| 0x1 << 5)); // Download request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1089 |
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
|
1090 |
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
|
1091 |
memcpy(data + 6, request->data, request->data_size); |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1092 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1093 |
if (slave->master->debug_level) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1094 |
EC_DBG("Expedited download request:\n"); |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1095 |
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
|
1096 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1097 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1098 |
else { // request->data_size > 4, use normal transfer type |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1099 |
if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1100 |
EC_ERR("Sdo fragmenting not supported yet!\n"); |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1101 |
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
|
1102 |
return; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1103 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1104 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1105 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1106 |
request->data_size + 10))) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1107 |
fsm->state = ec_fsm_coe_error; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1108 |
return; |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1109 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1110 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1111 |
EC_WRITE_U16(data, 0x2 << 12); // Sdo request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1112 |
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
|
1113 |
| 0x1 << 5)); // Download request |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1114 |
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
|
1115 |
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
|
1116 |
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
|
1117 |
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
|
1118 |
|
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1119 |
if (slave->master->debug_level) { |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1120 |
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
|
1121 |
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
|
1122 |
} |
cf0b5293eea6
Use expedited transfer type for Sdos <= 4 byte.
Florian Pose <fp@igh-essen.com>
parents:
1112
diff
changeset
|
1123 |
} |
975
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1124 |
|
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1125 |
fsm->request->jiffies_sent = jiffies; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1126 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1127 |
fsm->state = ec_fsm_coe_down_request; |
1128 |
} |
|
1129 |
||
1130 |
/*****************************************************************************/ |
|
1131 |
||
1132 |
/** |
|
1133 |
CoE state: DOWN REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1134 |
\todo Timeout behavior |
436 | 1135 |
*/ |
1136 |
||
1137 |
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1138 |
{ |
|
1139 |
ec_datagram_t *datagram = fsm->datagram; |
|
1140 |
ec_slave_t *slave = fsm->slave; |
|
1141 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1142 |
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
|
1143 |
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
|
1144 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1145 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1146 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1147 |
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
|
1148 |
" 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
|
1149 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1150 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1151 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1152 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1153 |
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
|
1154 |
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
|
1155 |
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
|
1156 |
(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
|
1157 |
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
|
1158 |
if (fsm->slave->master->debug_level) { |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1159 |
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
|
1160 |
"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
|
1161 |
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
|
1162 |
} |
1112
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1163 |
// no response; send request datagram again |
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1164 |
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
|
1165 |
} |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1166 |
} |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1167 |
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
|
1168 |
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
|
1169 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1170 |
ec_datagram_print_wc_error(datagram); |
436 | 1171 |
return; |
1172 |
} |
|
1173 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1174 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1175 |
|
1176 |
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
|
1177 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1178 |
fsm->state = ec_fsm_coe_down_check; |
1179 |
} |
|
1180 |
||
1181 |
/*****************************************************************************/ |
|
1182 |
||
1183 |
/** |
|
1184 |
CoE state: DOWN CHECK. |
|
1185 |
*/ |
|
1186 |
||
1187 |
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1188 |
{ |
|
1189 |
ec_datagram_t *datagram = fsm->datagram; |
|
1190 |
ec_slave_t *slave = fsm->slave; |
|
1191 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1192 |
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
|
1193 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1194 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1195 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1196 |
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
|
1197 |
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
|
1198 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1199 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1200 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1201 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1202 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1203 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1204 |
fsm->state = ec_fsm_coe_error; |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1205 |
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
|
1206 |
" 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
|
1207 |
ec_datagram_print_wc_error(datagram); |
436 | 1208 |
return; |
1209 |
} |
|
1210 |
||
1211 |
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
|
1212 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1213 |
(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
|
1214 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1215 |
fsm->state = ec_fsm_coe_error; |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1216 |
EC_ERR("Timeout while waiting for Sdo download response on " |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1217 |
"slave %u.\n", slave->ring_position); |
436 | 1218 |
return; |
1219 |
} |
|
1220 |
||
1221 |
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
|
1222 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1223 |
return; |
1224 |
} |
|
1225 |
||
1226 |
// Fetch response |
|
1227 |
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
|
1228 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1229 |
fsm->state = ec_fsm_coe_down_response; |
1230 |
} |
|
1231 |
||
1232 |
/*****************************************************************************/ |
|
1233 |
||
1234 |
/** |
|
1235 |
CoE state: DOWN RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1236 |
\todo Timeout behavior |
436 | 1237 |
*/ |
1238 |
||
1239 |
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1240 |
{ |
|
1241 |
ec_datagram_t *datagram = fsm->datagram; |
|
1242 |
ec_slave_t *slave = fsm->slave; |
|
1243 |
uint8_t *data, mbox_prot; |
|
1244 |
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
|
1245 |
ec_sdo_request_t *request = fsm->request; |
436 | 1246 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1247 |
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
|
1248 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1249 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1250 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1251 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1252 |
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
|
1253 |
" 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
|
1254 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1255 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1256 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1257 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1258 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1259 |
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
|
1260 |
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
|
1261 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1262 |
ec_datagram_print_wc_error(datagram); |
436 | 1263 |
return; |
1264 |
} |
|
1265 |
||
1266 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
1267 |
&mbox_prot, &rec_size))) { |
|
1268 |
fsm->state = ec_fsm_coe_error; |
|
1269 |
return; |
|
1270 |
} |
|
1271 |
||
1272 |
if (mbox_prot != 0x03) { // CoE |
|
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1273 |
fsm->state = ec_fsm_coe_error; |
446 | 1274 |
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
|
1275 |
return; |
436 | 1276 |
} |
1277 |
||
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1278 |
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
|
1279 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1280 |
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
|
1281 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1282 |
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
|
1283 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1284 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1285 |
|
975
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1286 |
if (slave->master->debug_level) { |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1287 |
EC_DBG("Download response:\n"); |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1288 |
ec_print_data(data, rec_size); |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1289 |
} |
dae04112bcc7
Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents:
962
diff
changeset
|
1290 |
|
436 | 1291 |
if (rec_size < 6) { |
1292 |
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
|
1293 |
EC_ERR("Received data are too small (%u bytes):\n", rec_size); |
436 | 1294 |
ec_print_data(data, rec_size); |
1295 |
return; |
|
1296 |
} |
|
1297 |
||
814 | 1298 |
if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request |
1299 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request |
|
1300 |
fsm->state = ec_fsm_coe_error; |
|
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
1301 |
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
|
1302 |
request->index, request->subindex, request->data_size, |
436 | 1303 |
slave->ring_position); |
1304 |
if (rec_size < 10) { |
|
1305 |
EC_ERR("Incomplete Abort command:\n"); |
|
1306 |
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
|
1307 |
} 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
|
1308 |
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
|
1309 |
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
|
1310 |
} |
436 | 1311 |
return; |
1312 |
} |
|
1313 |
||
814 | 1314 |
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response |
436 | 1315 |
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
|
1316 |
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
|
1317 |
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
|
1318 |
if (slave->master->debug_level) { |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1319 |
EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n", |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1320 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1321 |
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
|
1322 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1323 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1324 |
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
|
1325 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1326 |
fsm->state = ec_fsm_coe_down_check; |
436 | 1327 |
return; |
1328 |
} |
|
1329 |
||
1330 |
fsm->state = ec_fsm_coe_end; // success |
|
1331 |
} |
|
1332 |
||
1333 |
/*****************************************************************************/ |
|
1334 |
||
1335 |
/** |
|
1336 |
CoE state: UP START. |
|
1337 |
*/ |
|
1338 |
||
1339 |
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1340 |
{ |
|
1341 |
ec_datagram_t *datagram = fsm->datagram; |
|
1342 |
ec_slave_t *slave = fsm->slave; |
|
1343 |
ec_master_t *master = slave->master; |
|
1344 |
ec_sdo_request_t *request = fsm->request; |
|
1345 |
uint8_t *data; |
|
1346 |
||
459
f0da52cf6b5b
Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents:
446
diff
changeset
|
1347 |
if (master->debug_level) |
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
1348 |
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
|
1349 |
request->index, request->subindex, slave->ring_position); |
436 | 1350 |
|
834
0791aac03180
Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents:
831
diff
changeset
|
1351 |
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
|
1352 |
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
|
1353 |
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
|
1354 |
return; |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1355 |
} |
3771f5a0ed90
CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
1356 |
|
476
fd7c0ee645f8
Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents:
461
diff
changeset
|
1357 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { |
436 | 1358 |
fsm->state = ec_fsm_coe_error; |
1359 |
return; |
|
1360 |
} |
|
1361 |
||
814 | 1362 |
EC_WRITE_U16(data, 0x2 << 12); // Sdo request |
436 | 1363 |
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
|
1364 |
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
|
1365 |
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
|
1366 |
memset(data + 6, 0x00, 4); |
436 | 1367 |
|
1368 |
if (master->debug_level) { |
|
1369 |
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
|
1370 |
ec_print_data(data, 10); |
436 | 1371 |
} |
1372 |
||
1035
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1373 |
fsm->request->jiffies_sent = jiffies; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1374 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1375 |
fsm->state = ec_fsm_coe_up_request; |
1376 |
} |
|
1377 |
||
1378 |
/*****************************************************************************/ |
|
1379 |
||
1380 |
/** |
|
1381 |
CoE state: UP REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1382 |
\todo Timeout behavior |
436 | 1383 |
*/ |
1384 |
||
1385 |
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1386 |
{ |
|
1387 |
ec_datagram_t *datagram = fsm->datagram; |
|
1388 |
ec_slave_t *slave = fsm->slave; |
|
1389 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1390 |
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
|
1391 |
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
|
1392 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1393 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1394 |
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
|
1395 |
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
|
1396 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1397 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1398 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1399 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1400 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1401 |
if (datagram->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
|
1402 |
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
|
1403 |
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
|
1404 |
(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
|
1405 |
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
|
1406 |
if (fsm->slave->master->debug_level) { |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1407 |
EC_DBG("Slave %u did no respond to Sdo upload request. " |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1408 |
"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
|
1409 |
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
|
1410 |
} |
1112
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1411 |
// no response; send request datagram again |
d11661e1f4de
Fixed CoE transfer timeout bug.
Florian Pose <fp@igh-essen.com>
parents:
1111
diff
changeset
|
1412 |
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
|
1413 |
} |
7fafc1a7451e
Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents:
998
diff
changeset
|
1414 |
} |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1415 |
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
|
1416 |
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
|
1417 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1418 |
ec_datagram_print_wc_error(datagram); |
436 | 1419 |
return; |
1420 |
} |
|
1421 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1422 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1423 |
|
1424 |
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
|
1425 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1426 |
fsm->state = ec_fsm_coe_up_check; |
1427 |
} |
|
1428 |
||
1429 |
/*****************************************************************************/ |
|
1430 |
||
1431 |
/** |
|
1432 |
CoE state: UP CHECK. |
|
1433 |
*/ |
|
1434 |
||
1435 |
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1436 |
{ |
|
1437 |
ec_datagram_t *datagram = fsm->datagram; |
|
1438 |
ec_slave_t *slave = fsm->slave; |
|
1439 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1440 |
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
|
1441 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1442 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1443 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1444 |
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
|
1445 |
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
|
1446 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1447 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1448 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1449 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1450 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1451 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1452 |
fsm->state = ec_fsm_coe_error; |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1453 |
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
|
1454 |
" 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
|
1455 |
ec_datagram_print_wc_error(datagram); |
436 | 1456 |
return; |
1457 |
} |
|
1458 |
||
1459 |
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
|
1460 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1461 |
(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
|
1462 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1463 |
fsm->state = ec_fsm_coe_error; |
1111
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
1464 |
EC_ERR("Timeout while waiting for Sdo upload response on " |
6aaf6a0c375c
Improved timeout error messages.
Florian Pose <fp@igh-essen.com>
parents:
1092
diff
changeset
|
1465 |
"slave %u.\n", slave->ring_position); |
436 | 1466 |
return; |
1467 |
} |
|
1468 |
||
1469 |
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
|
1470 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1471 |
return; |
1472 |
} |
|
1473 |
||
1474 |
// Fetch response |
|
1475 |
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
|
1476 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1477 |
fsm->state = ec_fsm_coe_up_response; |
1478 |
} |
|
1479 |
||
1480 |
/*****************************************************************************/ |
|
1481 |
||
1482 |
/** |
|
1483 |
CoE state: UP RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1484 |
\todo Timeout behavior |
436 | 1485 |
*/ |
1486 |
||
1487 |
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1488 |
{ |
|
1489 |
ec_datagram_t *datagram = fsm->datagram; |
|
1490 |
ec_slave_t *slave = fsm->slave; |
|
1491 |
ec_master_t *master = slave->master; |
|
1492 |
uint8_t *data, mbox_prot; |
|
1493 |
size_t rec_size, data_size; |
|
1494 |
ec_sdo_request_t *request = fsm->request; |
|
1495 |
uint32_t complete_size; |
|
1496 |
unsigned int expedited, size_specified; |
|
1497 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1498 |
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
|
1499 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1500 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1501 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1502 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1503 |
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
|
1504 |
" 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
|
1505 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1506 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1507 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1508 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1509 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1510 |
fsm->state = ec_fsm_coe_error; |
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1511 |
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
|
1512 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
1513 |
ec_datagram_print_wc_error(datagram); |
436 | 1514 |
return; |
1515 |
} |
|
1516 |
||
1517 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
1518 |
&mbox_prot, &rec_size))) { |
|
1519 |
fsm->state = ec_fsm_coe_error; |
|
1520 |
return; |
|
1521 |
} |
|
1522 |
||
1523 |
if (master->debug_level) { |
|
1524 |
EC_DBG("Upload response:\n"); |
|
1525 |
ec_print_data(data, rec_size); |
|
1526 |
} |
|
1527 |
||
1528 |
if (mbox_prot != 0x03) { // CoE |
|
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1529 |
fsm->state = ec_fsm_coe_error; |
436 | 1530 |
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
|
1531 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1532 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1533 |
|
895
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1534 |
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
|
1535 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1536 |
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
|
1537 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1538 |
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
|
1539 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1540 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1541 |
|
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1542 |
if (rec_size < 3) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1543 |
fsm->state = ec_fsm_coe_error; |
814 | 1544 |
EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size); |
436 | 1545 |
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
|
1546 |
return; |
436 | 1547 |
} |
1548 |
||
814 | 1549 |
if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request |
1550 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request |
|
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
1551 |
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
|
1552 |
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
|
1553 |
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
|
1554 |
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
|
1555 |
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
|
1556 |
} else { |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1557 |
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
|
1558 |
} |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1559 |
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
|
1560 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1561 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1562 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1563 |
// normal or expedited? |
436 | 1564 |
expedited = EC_READ_U8(data + 2) & 0x02; |
1565 |
||
1566 |
if (expedited) { |
|
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1567 |
if (rec_size < 7) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1568 |
fsm->state = ec_fsm_coe_error; |
814 | 1569 |
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
|
1570 |
" 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
|
1571 |
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
|
1572 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1573 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1574 |
|
814 | 1575 |
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1576 |
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
825
diff
changeset
|
1577 |
EC_READ_U16(data + 3) != request->index || // index |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
825
diff
changeset
|
1578 |
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
|
1579 |
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
|
1580 |
EC_DBG("Invalid Sdo upload expedited response at slave %u!\n", |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1581 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1582 |
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
|
1583 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1584 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1585 |
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
|
1586 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1587 |
fsm->state = ec_fsm_coe_up_check; |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1588 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1589 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1590 |
|
436 | 1591 |
size_specified = EC_READ_U8(data + 2) & 0x01; |
1592 |
if (size_specified) { |
|
1593 |
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
|
1594 |
} else { |
436 | 1595 |
complete_size = 4; |
1596 |
} |
|
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1597 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1598 |
if (rec_size < 6 + complete_size) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1599 |
fsm->state = ec_fsm_coe_error; |
814 | 1600 |
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
|
1601 |
" 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
|
1602 |
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
|
1603 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1604 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1605 |
|
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
|
1606 |
if (ec_sdo_request_copy_data(request, data + 6, complete_size)) { |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1607 |
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
|
1608 |
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
|
1609 |
} |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1610 |
} else { // normal |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1611 |
if (rec_size < 10) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1612 |
fsm->state = ec_fsm_coe_error; |
814 | 1613 |
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
|
1614 |
" 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
|
1615 |
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
|
1616 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1617 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1618 |
|
814 | 1619 |
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1620 |
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response |
831
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
825
diff
changeset
|
1621 |
EC_READ_U16(data + 3) != request->index || // index |
ded9519c8d6e
Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents:
825
diff
changeset
|
1622 |
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
|
1623 |
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
|
1624 |
EC_DBG("Invalid Sdo normal upload response at slave %u!\n", |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1625 |
slave->ring_position); |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1626 |
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
|
1627 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1628 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1629 |
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
|
1630 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1631 |
fsm->state = ec_fsm_coe_up_check; |
769
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1632 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1633 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1634 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1635 |
data_size = rec_size - 10; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1636 |
complete_size = EC_READ_U32(data + 6); |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1637 |
|
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1638 |
if (!complete_size) { |
860
ba5c38f0bb30
Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents:
859
diff
changeset
|
1639 |
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
|
1640 |
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
|
1641 |
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
|
1642 |
return; |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1643 |
} |
2195c2ea37b4
Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents:
739
diff
changeset
|
1644 |
|
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
|
1645 |
if (ec_sdo_request_alloc(request, complete_size)) { |
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1646 |
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
|
1647 |
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
|
1648 |
} |
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 |
|
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 |
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
|
1651 |
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
|
1652 |
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
|
1653 |
} |
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 |
|
436 | 1655 |
fsm->toggle = 0; |
1656 |
||
1657 |
if (data_size < complete_size) { |
|
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
975
diff
changeset
|
1658 |
EC_WARN("Sdo data incomplete (%u / %u).\n", |
446 | 1659 |
data_size, complete_size); |
1660 |
||
1661 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, |
|
1662 |
0x03, 3))) { |
|
436 | 1663 |
fsm->state = ec_fsm_coe_error; |
1664 |
return; |
|
1665 |
} |
|
1666 |
||
814 | 1667 |
EC_WRITE_U16(data, 0x2 << 12); // Sdo request |
436 | 1668 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle |
1669 |
| 0x3 << 5)); // upload segment request |
|
1670 |
||
1671 |
if (master->debug_level) { |
|
1672 |
EC_DBG("Upload segment request:\n"); |
|
1673 |
ec_print_data(data, 3); |
|
1674 |
} |
|
1675 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1676 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1677 |
fsm->state = ec_fsm_coe_up_seg_request; |
1678 |
return; |
|
1679 |
} |
|
1680 |
} |
|
1681 |
||
874 | 1682 |
if (master->debug_level) { |
1683 |
EC_DBG("Uploaded data:\n"); |
|
1684 |
ec_print_data(request->data, request->data_size); |
|
1685 |
} |
|
1686 |
||
436 | 1687 |
fsm->state = ec_fsm_coe_end; // success |
1688 |
} |
|
1689 |
||
1690 |
/*****************************************************************************/ |
|
1691 |
||
1692 |
/** |
|
1693 |
CoE state: UP REQUEST. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1694 |
\todo Timeout behavior |
436 | 1695 |
*/ |
1696 |
||
1697 |
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1698 |
{ |
|
1699 |
ec_datagram_t *datagram = fsm->datagram; |
|
1700 |
ec_slave_t *slave = fsm->slave; |
|
1701 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1702 |
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
|
1703 |
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
|
1704 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1705 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1706 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1707 |
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
|
1708 |
" 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
|
1709 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1710 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1711 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1712 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1713 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1714 |
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
|
1715 |
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
|
1716 |
" 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
|
1717 |
ec_datagram_print_wc_error(datagram); |
436 | 1718 |
return; |
1719 |
} |
|
1720 |
||
1038
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1721 |
fsm->jiffies_start = datagram->jiffies_sent; |
436 | 1722 |
|
1723 |
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
|
1724 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1725 |
fsm->state = ec_fsm_coe_up_seg_check; |
1726 |
} |
|
1727 |
||
1728 |
/*****************************************************************************/ |
|
1729 |
||
1730 |
/** |
|
1731 |
CoE state: UP CHECK. |
|
1732 |
*/ |
|
1733 |
||
1734 |
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1735 |
{ |
|
1736 |
ec_datagram_t *datagram = fsm->datagram; |
|
1737 |
ec_slave_t *slave = fsm->slave; |
|
1738 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1739 |
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
|
1740 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1741 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1742 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1743 |
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
|
1744 |
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
|
1745 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
1746 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1747 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1748 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1749 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1750 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1751 |
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
|
1752 |
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
|
1753 |
" 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
|
1754 |
ec_datagram_print_wc_error(datagram); |
436 | 1755 |
return; |
1756 |
} |
|
1757 |
||
1758 |
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
|
1759 |
unsigned long diff_ms = |
7ca4103ba170
Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
1037
diff
changeset
|
1760 |
(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
|
1761 |
if (diff_ms >= fsm->request->response_timeout) { |
436 | 1762 |
fsm->state = ec_fsm_coe_error; |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1763 |
EC_ERR("Timeout while waiting for Sdo upload segment response " |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1764 |
"on slave %u.\n", slave->ring_position); |
436 | 1765 |
return; |
1766 |
} |
|
1767 |
||
1768 |
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
|
1769 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1770 |
return; |
1771 |
} |
|
1772 |
||
1773 |
// Fetch response |
|
1774 |
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
|
1775 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1776 |
fsm->state = ec_fsm_coe_up_seg_response; |
1777 |
} |
|
1778 |
||
1779 |
/*****************************************************************************/ |
|
1780 |
||
1781 |
/** |
|
1782 |
CoE state: UP RESPONSE. |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1783 |
\todo Timeout behavior |
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
834
diff
changeset
|
1784 |
\todo Check for \a data_size exceeding \a complete_size. |
436 | 1785 |
*/ |
1786 |
||
1787 |
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1788 |
{ |
|
1789 |
ec_datagram_t *datagram = fsm->datagram; |
|
1790 |
ec_slave_t *slave = fsm->slave; |
|
1791 |
ec_master_t *master = slave->master; |
|
1792 |
uint8_t *data, mbox_prot; |
|
1793 |
size_t rec_size, data_size; |
|
1794 |
ec_sdo_request_t *request = fsm->request; |
|
1795 |
uint32_t seg_size; |
|
1796 |
unsigned int last_segment; |
|
1797 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
1798 |
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
|
1799 |
return; // FIXME: request again? |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1800 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1801 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1802 |
fsm->state = ec_fsm_coe_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1803 |
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
|
1804 |
" 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
|
1805 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1806 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1807 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1808 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1809 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1810 |
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
|
1811 |
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
|
1812 |
" 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
|
1813 |
ec_datagram_print_wc_error(datagram); |
436 | 1814 |
return; |
1815 |
} |
|
1816 |
||
1817 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
1818 |
&mbox_prot, &rec_size))) { |
|
1819 |
fsm->state = ec_fsm_coe_error; |
|
1820 |
return; |
|
1821 |
} |
|
1822 |
||
1823 |
if (master->debug_level) { |
|
1824 |
EC_DBG("Upload segment response:\n"); |
|
1825 |
ec_print_data(data, rec_size); |
|
1826 |
} |
|
1827 |
||
1828 |
if (mbox_prot != 0x03) { // CoE |
|
446 | 1829 |
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot); |
436 | 1830 |
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
|
1831 |
return; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1832 |
} |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1833 |
|
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1834 |
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
|
1835 |
// check for CoE response again |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1836 |
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
|
1837 |
fsm->retries = EC_FSM_RETRIES; |
5c2125247dde
Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents:
874
diff
changeset
|
1838 |
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
|
1839 |
return; |
436 | 1840 |
} |
1841 |
||
1842 |
if (rec_size < 10) { |
|
814 | 1843 |
EC_ERR("Received currupted Sdo upload segment response!\n"); |
436 | 1844 |
ec_print_data(data, rec_size); |
1845 |
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
|
1846 |
return; |
436 | 1847 |
} |
1848 |
||
814 | 1849 |
if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request |
1850 |
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request |
|
926
6bb33c6ec770
Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents:
895
diff
changeset
|
1851 |
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
|
1852 |
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
|
1853 |
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
|
1854 |
ec_canopen_abort_msg(request->abort_code); |
436 | 1855 |
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
|
1856 |
return; |
436 | 1857 |
} |
1858 |
||
814 | 1859 |
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response |
436 | 1860 |
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
|
1861 |
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
|
1862 |
EC_DBG("Invalid Sdo upload segment response at slave %u!\n", |
436 | 1863 |
slave->ring_position); |
1053
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1864 |
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
|
1865 |
} |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1866 |
// check for CoE response again |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1867 |
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
|
1868 |
fsm->retries = EC_FSM_RETRIES; |
0cb9604cbaa7
Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents:
1043
diff
changeset
|
1869 |
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
|
1870 |
return; |
436 | 1871 |
} |
1872 |
||
1873 |
last_segment = EC_READ_U8(data + 2) & 0x01; |
|
1874 |
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1; |
|
1875 |
data_size = rec_size - 10; |
|
1876 |
||
1877 |
if (data_size != seg_size) { |
|
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
975
diff
changeset
|
1878 |
EC_WARN("Sdo segment data invalid (%u / %u)" |
436 | 1879 |
" - Fragmenting not implemented.\n", |
1880 |
data_size, seg_size); |
|
1881 |
} |
|
1882 |
||
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
|
1883 |
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
|
1884 |
request->data_size += data_size; |
436 | 1885 |
|
1886 |
if (!last_segment) { |
|
1887 |
fsm->toggle = !fsm->toggle; |
|
1888 |
||
1889 |
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) { |
|
1890 |
fsm->state = ec_fsm_coe_error; |
|
1891 |
return; |
|
1892 |
} |
|
1893 |
||
814 | 1894 |
EC_WRITE_U16(data, 0x2 << 12); // Sdo request |
436 | 1895 |
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle |
1896 |
| 0x3 << 5)); // upload segment request |
|
1897 |
||
1898 |
if (master->debug_level) { |
|
1899 |
EC_DBG("Upload segment request:\n"); |
|
1900 |
ec_print_data(data, 3); |
|
1901 |
} |
|
1902 |
||
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
501
diff
changeset
|
1903 |
fsm->retries = EC_FSM_RETRIES; |
436 | 1904 |
fsm->state = ec_fsm_coe_up_seg_request; |
1905 |
return; |
|
1906 |
} |
|
1907 |
||
874 | 1908 |
if (master->debug_level) { |
1909 |
EC_DBG("Uploaded data:\n"); |
|
1910 |
ec_print_data(request->data, request->data_size); |
|
1911 |
} |
|
1912 |
||
436 | 1913 |
fsm->state = ec_fsm_coe_end; // success |
1914 |
} |
|
1915 |
||
1916 |
/*****************************************************************************/ |
|
1917 |
||
1918 |
/** |
|
1919 |
State: ERROR. |
|
1920 |
*/ |
|
1921 |
||
1922 |
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1923 |
{ |
|
1924 |
} |
|
1925 |
||
1926 |
/*****************************************************************************/ |
|
1927 |
||
1928 |
/** |
|
1929 |
State: END. |
|
1930 |
*/ |
|
1931 |
||
1932 |
void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */) |
|
1933 |
{ |
|
1934 |
} |
|
1935 |
||
1936 |
/*****************************************************************************/ |