etherlabmaster: master/fsm_coe.c@df31116073f6 (annotated)

436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "mailbox.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "fsm_coe.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	48	/** Maximum time in ms to wait for responses when reading out the dictionary.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	49	*/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	50	#define EC_FSM_COE_DICT_TIMEOUT 3000
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	51
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	52	/*****************************************************************************/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	53
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	void ec_fsm_coe_down_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_coe_down_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_coe_down_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	void ec_fsm_coe_down_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	void ec_fsm_coe_up_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	void ec_fsm_coe_up_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_coe_up_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void ec_fsm_coe_up_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_coe_end(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	void ec_fsm_coe_error(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	84	Sdo abort messages.
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	85	The "abort Sdo transfer request" supplies an abort code,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	which can be translated to clear text. This table does
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	the mapping of the codes and messages.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	const ec_code_msg_t sdo_abort_messages[] = {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	{0x05030000, "Toggle bit not changed"},
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	92	{0x05040000, "Sdo protocol timeout"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	{0x05040001, "Client/Server command specifier not valid or unknown"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	{0x05040005, "Out of memory"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	{0x06010000, "Unsupported access to an object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	{0x06010001, "Attempt to read a write-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	{0x06010002, "Attempt to write a read-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	{0x06020000, "This object does not exist in the object directory"},
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	99	{0x06040041, "The object cannot be mapped into the Pdo"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	{0x06040042, "The number and length of the objects to be mapped would"
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	101	" exceed the Pdo length"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{0x06040043, "General parameter incompatibility reason"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	{0x06040047, "Gerneral internal incompatibility in device"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	{0x06060000, "Access failure due to a hardware error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	{0x06070010, "Data type does not match, length of service parameter does"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	" not match"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	{0x06070012, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	" high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{0x06070013, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	" low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	{0x06090011, "Subindex does not exist"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	{0x06090030, "Value range of parameter exceeded"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	{0x06090031, "Value of parameter written too high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	{0x06090032, "Value of parameter written too low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	{0x06090036, "Maximum value is less than minimum value"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	{0x08000000, "General error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	{0x08000020, "Data cannot be transferred or stored to the application"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	{0x08000021, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	" because of local control"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	{0x08000022, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	" because of the present device state"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	{0x08000023, "Object dictionary dynamic generation fails or no object"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	" dictionary is present"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	{}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	};
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	126
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	128
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	130	Outputs an Sdo abort message.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	void ec_canopen_abort_msg(uint32_t abort_code)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	const ec_code_msg_t *abort_msg;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	136
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	if (abort_msg->code == abort_code) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	139	EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	abort_msg->code, abort_msg->message);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	145	EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	147
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	149
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	Constructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	void ec_fsm_coe_init(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	ec_datagram_t datagram /< datagram /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	fsm->state = NULL;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	fsm->datagram = datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	Destructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	void ec_fsm_coe_clear(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	171
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	175	Starts reading a slaves' Sdo dictionary.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	void ec_fsm_coe_dictionary(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	ec_slave_t slave /< EtherCAT slave /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	fsm->slave = slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	fsm->state = ec_fsm_coe_dict_start;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	/**
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	189	Starts to transfer an Sdo to/from a slave.
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	190	*/
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	191
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	192	void ec_fsm_coe_transfer(
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	193	ec_fsm_coe_t fsm, /< State machine. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	194	ec_slave_t slave, /< EtherCAT slave. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	195	ec_sdo_request_t request /< Sdo request. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	196	)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	fsm->slave = slave;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	199	fsm->request = request;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	200	if (request->dir == EC_DIR_OUTPUT)
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	201	fsm->state = ec_fsm_coe_down_start;
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	202	else
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	203	fsm->state = ec_fsm_coe_up_start;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	Executes the current state of the state machine.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	\return false, if state machine has terminated
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	int ec_fsm_coe_exec(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	fsm->state(fsm);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	216
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	Returns, if the state machine terminated with success.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	\return non-zero if successful.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	int ec_fsm_coe_success(ec_fsm_coe_t fsm /< Finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	228	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	return fsm->state == ec_fsm_coe_end;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	231
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	232	/*****************************************************************************/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	233
1092 69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	234	/** Check if the received data are a CoE emergency request.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	235	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	236	* If the check is positive, the emergency request is output.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	237	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	238	* \return The data were an emergency request.
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	239	*/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	240	int ec_fsm_coe_check_emergency(
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	241	ec_fsm_coe_t fsm, /< Finite state machine /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	242	const uint8_t data, /< CoE mailbox data. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	243	size_t size /*< CoE mailbox data size. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	244	)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	245	{
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	246	if (size < 2 \|\| ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	247	return 0;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	248
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	249	if (size < 10) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	250	EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	251	fsm->slave->ring_position);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	252	ec_print_data(data, size);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	253	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	254	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	255
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	256	EC_INFO("CoE Emergency Request received from slave %u:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	257	fsm->slave->ring_position);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	258	EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	259	EC_READ_U16(data + 2), EC_READ_U8(data + 4));
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	260	ec_print_data(data + 5, 5);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	261	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	262	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	263
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	* CoE dictionary state machine
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	CoE state: DICT START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	271
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	void ec_fsm_coe_dict_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	277
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	278	if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	279	EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	280	fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	281	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	282	}
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	283
1634 ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	284	if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	285	EC_ERR("Slave %u does not support Sdo information service!\n",
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	286	slave->ring_position);
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	287	fsm->state = ec_fsm_coe_error;
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	288	return;
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	289	}
ae4c73f4c56d merge -r1446:1448 trunk: Plugfest6 fixes. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	290
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	295
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	296	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	300	EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	307
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	void ec_fsm_coe_dict_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	338
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	void ec_fsm_coe_dict_check(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	373
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	381	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	383
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	void ec_fsm_coe_dict_response(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	size_t rec_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	430
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	433	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	436
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	438	EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	441	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	458	if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	470	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	471
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	472	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	483	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	487	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	490	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	491
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	492	sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	493
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	495	sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	continue;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	504	EC_ERR("Failed to allocate memory for Sdo!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	505	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	506	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	507	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	511	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	524	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	525
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	526	if (list_empty(&slave->sdo_dictionary)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	527	// no Sdos in dictionary. finished.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	529	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	531
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	532	// fetch Sdo descriptions
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	533	fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	534
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	535	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	537	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	539
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	540	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	541	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	542	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	544	EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	548	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	549
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	550	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	551
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	553	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	555	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	556
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	557	void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	558	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	559	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	578	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	579	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	580
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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	582
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	585	fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	586	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	587
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	588	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	589
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	590	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	591	CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	592	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	593
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	594	void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	595	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	596	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	597	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	607	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	608	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	625	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	626	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	627
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	630	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	632
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	638
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	639	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	640
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	642	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	645
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	647	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	653	size_t rec_size, name_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	671	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	672	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	673
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	674	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	675	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	676	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	677	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	678	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	679
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	680	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	681	EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	701	if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	704	" fetching Sdo 0x%04X!\n", slave->ring_position,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	705	sdo->index);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	706	ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	709	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	710
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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	718	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	719	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	732	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	733
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	734	if (rec_size < 12) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	735	EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	736	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	739	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	742	sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	743
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	744	name_size = rec_size - 12;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	747	EC_ERR("Failed to allocate Sdo name!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	749	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	751
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	752	memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	754	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	755
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	757	EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	760	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	761
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	// start fetching entries
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	763
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	fsm->subindex = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	765
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	766	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	767	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	768	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	769	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	770
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	771	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	773	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	774	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	775	EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	776	EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	777	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	780	fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	781	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	782
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	783	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	784
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	785	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	786	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	788	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	789
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	790	void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	791	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	792	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	793	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	794	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	812	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	813	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	819	fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	820	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	821
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	822	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	823
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	824	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	825	CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	826	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	827
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	828	void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	829	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	830	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	831	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	832	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	833
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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	843	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	860	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	861	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	862
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	863	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	865	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	867
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	868	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	871	fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	872	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	873
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	875
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	876	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	877	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	880
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	881	void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	883	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	884	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	886	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	887	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	888	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	889	ec_sdo_entry_t *entry;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	896	EC_ERR("Failed to receive CoE Sdo description response datagram from"
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 975 diff changeset	897	" slave %u (datagram state %u).\n",
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	898	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	899	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	900	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	901
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	902	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	903	fsm->state = ec_fsm_coe_error;
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	904	EC_ERR("Reception of CoE Sdo description"
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	905	" response failed on slave %u: ", slave->ring_position);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	906	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	907	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	908	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	909
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	910	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	911	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	912	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	913	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	914	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	915
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	916	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	917	EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	928	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	937	if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	941	sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	942	ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	945	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	954	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	955	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	956	EC_READ_U16(data + 6) != sdo->index \|\| // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	969	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	970
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	973	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	976	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	977
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	978	data_size = rec_size - 16;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	979
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	980	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	982	EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	985	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	986
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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	988	entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	989	entry->bit_length = EC_READ_U16(data + 12);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	990
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	994	EC_ERR("Failed to allocate Sdo entry name!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	995	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	996	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1001	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1002
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1003	list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1006	fsm->subindex++;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1007
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1008	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1009	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1010	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1011	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1012
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1013	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1014	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1015	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1016	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1017	EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1018	EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1019	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1022	fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1023	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1024	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1025
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1026	// another Sdo description to fetch?
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1027	if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1028	fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1030	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1033	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1034
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1035	EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1036	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1038	EC_WRITE_U16(data + 4, 0x0000);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1039	EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042	fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1043	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1044	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1045
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1046	fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1047	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1048
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1049	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1050	* CoE state machine
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1051	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1052
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1053	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1054	CoE state: DOWN START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1055	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1056
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1057	void ec_fsm_coe_down_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1064
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	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 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1068	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1069	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1127	fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1128	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1129
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1130	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1131
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1132	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1135	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1136
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1137	void ec_fsm_coe_down_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1138	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1139	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1140	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1171	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1172	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1175
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1178	fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1179	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1180
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1181	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1182
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1183	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1184	CoE state: DOWN CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1185	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1186
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1187	void ec_fsm_coe_down_check(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1188	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1189	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1190	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1208	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1209	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1210
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1218	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1219	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1220
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1223	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1224	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1225
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1226	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1229	fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1230	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1231
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1232	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1233
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1234	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1235	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1237	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1238
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1239	void ec_fsm_coe_down_response(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1240	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1241	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1242	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1243	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1263	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1264	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1266	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1267	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1268	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1269	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272	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 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1276	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1291	if (rec_size < 6) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1294	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1295	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1296	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1297
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1298	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1299	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303	slave->ring_position);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	if (rec_size < 10) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1305	EC_ERR("Incomplete Abort command:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1313
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1314	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // Sdo response
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1327	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1328	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1329
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1330	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1331	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1332
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1333	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1334
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1335	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1336	CoE state: UP START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1337	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1338
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1339	void ec_fsm_coe_up_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1340	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1341	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1342	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1343	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1344	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1345	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1358	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1359	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1360	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1361
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1362	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1367
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1368	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1371	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1375	fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1376	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1377
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1378	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1379
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1380	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1383	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1384
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	void ec_fsm_coe_up_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1387	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1419	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1420	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1423
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1426	fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1427	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1428
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1429	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1430
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1432	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1433	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1434
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1435	void ec_fsm_coe_up_check(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1436	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1437	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1438	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1456	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1457	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1458
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1466	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1468
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1471	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1472	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1473
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1477	fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1478	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1479
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1480	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1481
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1482	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1485	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1486
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1487	void ec_fsm_coe_up_response(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1488	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1489	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1493	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1494	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1495	uint32_t complete_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1496	unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1514	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1515	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1516
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1517	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1518	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1519	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1520	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1521	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1522
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1523	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1524	EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1525	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1526	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1527
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1544	EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1547	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1548
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1549	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1564	expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1565
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1591	size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1592	if (size_specified) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1595	complete_size = 4;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1655	fsm->toggle = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1656
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1659	data_size, complete_size);
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1660
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1661	if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1662	0x03, 3))) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1663	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1664	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1665	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1666
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1667	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1668	EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1669	\| 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1670
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1671	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1672	EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1673	ec_print_data(data, 3);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1674	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1675
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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1677	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1678	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1680	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1681
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1682	if (master->debug_level) {
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1683	EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1684	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1685	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1686
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1688	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1689
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1691
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1692	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1695	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1696
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697	void ec_fsm_coe_up_seg_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1698	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1699	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1700	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1718	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1719	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1722
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1725	fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1726	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1728	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1729
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1730	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1731	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1732	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1733
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734	void ec_fsm_coe_up_seg_check(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1735	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1736	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1737	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1755	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1756	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1757
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1765	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1766	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1767
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1770	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1771	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1772
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1773	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1776	fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1777	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1778
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1779	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1780
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1781	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1782	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1785	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1786
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787	void ec_fsm_coe_up_seg_response(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1792	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1793	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1795	uint32_t seg_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1796	unsigned int last_segment;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1814	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1815	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1816
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1817	if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1818	&mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1819	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1820	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1821	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1822
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1823	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1824	EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1826	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1827
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1828	if (mbox_prot != 0x03) { // CoE
446 8fede404c01f Persistent slave lists. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	1829	EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1840	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1841
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1842	if (rec_size < 10) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1843	EC_ERR("Received currupted Sdo upload segment response!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1844	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1847	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1848
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1849	if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1857	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1858
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1859	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // Sdo response
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1871	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1872
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1873	last_segment = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1874	seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1875	data_size = rec_size - 10;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1876
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1877	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1879	" - Fragmenting not implemented.\n",
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1880	data_size, seg_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1881	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1882
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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1885
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1886	if (!last_segment) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1887	fsm->toggle = !fsm->toggle;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1888
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1889	if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1890	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1891	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1892	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1893
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 769 diff changeset	1894	EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1895	EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1896	\| 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1897
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1898	if (master->debug_level) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1899	EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1900	ec_print_data(data, 3);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1901	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1904	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1905	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1906	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1907
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1908	if (master->debug_level) {
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1909	EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1910	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1911	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1912
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1913	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1914	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1915
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1916	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1917
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1918	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1919	State: ERROR.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1920	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1921
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1922	void ec_fsm_coe_error(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1923	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1924	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1925
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1926	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1927
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1928	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1929	State: END.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1930	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1931
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1932	void ec_fsm_coe_end(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1933	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1934	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1935
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1936	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 21 Oct 2008 09:30:53 +0000
branch	stable-1.4
changeset 1652	df31116073f6
parent 1634	ae4c73f4c56d
child 1310	bd4631c70392
permissions	-rw-r--r--