master/fsm_coe.c
author Florian Pose <fp@igh-essen.com>
Mon, 07 Apr 2008 10:26:13 +0000
changeset 886 ee1b25db1fbf
parent 874 022f869ea40f
child 895 5c2125247dde
permissions -rw-r--r--
Added a few docs.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_start(ec_fsm_coe_t *);
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void ec_fsm_coe_down_request(ec_fsm_coe_t *);
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void ec_fsm_coe_down_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_start(ec_fsm_coe_t *);
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void ec_fsm_coe_up_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_end(ec_fsm_coe_t *);
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void ec_fsm_coe_error(ec_fsm_coe_t *);
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/*****************************************************************************/
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/**
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   Sdo abort messages.
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   The "abort Sdo transfer request" supplies an abort code,
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   which can be translated to clear text. This table does
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   the mapping of the codes and messages.
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*/
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const ec_code_msg_t sdo_abort_messages[] = {
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    {0x05030000, "Toggle bit not changed"},
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    {0x05040000, "Sdo protocol timeout"},
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    {0x05040001, "Client/Server command specifier not valid or unknown"},
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    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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    {0x06020000, "This object does not exist in the object directory"},
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    {0x06040041, "The object cannot be mapped into the Pdo"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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     " exceed the Pdo length"},
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    {0x06040043, "General parameter incompatibility reason"},
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    {0x06040047, "Gerneral internal incompatibility in device"},
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    {0x06060000, "Access failure due to a hardware error"},
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    {0x06070010, "Data type does not match, length of service parameter does"
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     " not match"},
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    {0x06070012, "Data type does not match, length of service parameter too"
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     " high"},
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    {0x06070013, "Data type does not match, length of service parameter too"
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     " low"},
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    {0x06090011, "Subindex does not exist"},
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    {0x06090030, "Value range of parameter exceeded"},
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    {0x06090031, "Value of parameter written too high"},
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    {0x06090032, "Value of parameter written too low"},
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    {0x06090036, "Maximum value is less than minimum value"},
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    {0x08000000, "General error"},
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    {0x08000020, "Data cannot be transferred or stored to the application"},
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    {0x08000021, "Data cannot be transferred or stored to the application"
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     " because of local control"},
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    {0x08000022, "Data cannot be transferred or stored to the application"
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     " because of the present device state"},
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    {0x08000023, "Object dictionary dynamic generation fails or no object"
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     " dictionary is present"},
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    {}
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};
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/*****************************************************************************/
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/**
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   Outputs an Sdo abort message.
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*/
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void ec_canopen_abort_msg(uint32_t abort_code)
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{
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    const ec_code_msg_t *abort_msg;
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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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        if (abort_msg->code == abort_code) {
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            EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",
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                   abort_msg->code, abort_msg->message);
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            return;
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        }
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    }
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    EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
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}
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts reading a slaves' Sdo dictionary.
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*/
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
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                           ec_slave_t *slave /**< EtherCAT slave */
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                           )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_dict_start;
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}
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/*****************************************************************************/
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/**
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   Starts to transfer an Sdo to/from a slave.
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*/
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void ec_fsm_coe_transfer(
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        ec_fsm_coe_t *fsm, /**< State machine. */
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        ec_slave_t *slave, /**< EtherCAT slave. */
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        ec_sdo_request_t *request /**< Sdo request. */
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        )
436
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{
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    fsm->slave = slave;
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    fsm->request = request;
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    if (request->dir == EC_DIR_OUTPUT)
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        fsm->state = ec_fsm_coe_down_start;
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    else
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        fsm->state = ec_fsm_coe_up_start;
436
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_end;
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}
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/******************************************************************************
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 *  CoE dictionary state machine
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 *****************************************************************************/
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/**
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   CoE state: DICT START.
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*/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    uint8_t *data;
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834
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    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
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3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
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        fsm->state = ec_fsm_coe_error;
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        return;
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    }
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436
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    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
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        fsm->state = ec_fsm_coe_error;
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        return;
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    }
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    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
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    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
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    EC_WRITE_U8 (data + 3, 0x00);
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    EC_WRITE_U16(data + 4, 0x0000);
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    EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
436
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505
bc443ca0077f State machines re-send datagrams on timeout.
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    fsm->retries = EC_FSM_RETRIES;
436
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    fsm->state = ec_fsm_coe_dict_request;
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}
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/*****************************************************************************/
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/**
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   CoE state: DICT REQUEST.
505
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   \todo Timeout behavior
436
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*/
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return; // FIXME: request again?
505
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_coe_error;
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   278
        EC_ERR("Failed to receive CoE dictionary request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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               slave->ring_position, datagram->state);
505
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        return;
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    }
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diff changeset
   284
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   285
        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
   286
        EC_ERR("Reception of CoE dictionary request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   287
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   288
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
    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
   295
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
*/
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
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
   306
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   310
    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
   311
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   312
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   313
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   314
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   315
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   316
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   317
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   318
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   319
    }
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->working_counter != 1) {
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;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   323
        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i: ",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   325
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   333
            EC_ERR("Timeout while checking Sdo dictionary on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
        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
   339
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    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
   345
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
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
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   353
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
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
   357
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
    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
   363
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   366
    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
   367
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   368
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   369
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   370
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   371
        EC_ERR("Failed to receive CoE dictionary response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   372
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   373
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   374
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   375
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   376
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   377
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   378
        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
   379
        EC_ERR("Reception of CoE dictionary response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   380
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   381
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   392
        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
   393
        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
   394
        return;
436
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   397
    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
   398
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   399
        EC_ERR("Sdo information error response at slave %i!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
        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
   403
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   406
    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
   407
        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   408
        EC_ERR("Invalid Sdo list response at slave %i!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
        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
   412
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
    if (rec_size < 8) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
        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
   419
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
        sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        if (!sdo_index) {
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   427
            if (slave->master->debug_level)
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   428
                EC_WARN("Sdo dictionary of slave %i contains index 0x0000.\n",
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   429
                        slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
            continue;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   434
            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
   435
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
        if (ec_sdo_init(sdo, sdo_index, slave)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   440
            EC_ERR("Failed to init Sdo!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   448
    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
   449
    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
   450
        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
   451
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   452
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   453
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
        fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        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
   456
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
    if (list_empty(&slave->sdo_dictionary)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   462
        // no Sdos in dictionary. finished.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
        fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   467
    // fetch Sdo descriptions
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
    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
   469
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
    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
   471
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   475
    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    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
   477
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
    EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   479
    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
   480
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   481
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
    fsm->state = ec_fsm_coe_dict_desc_request;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   489
   \todo Timeout behavior
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
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
   493
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   497
    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
   498
        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
   499
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   500
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   501
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   502
        EC_ERR("Failed to receive CoE Sdo description request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   503
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   504
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   505
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   506
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   507
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   508
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   509
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   510
        EC_ERR("Reception of CoE Sdo description"
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   511
                " request failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   512
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
    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
   519
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
/*****************************************************************************/
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
   CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
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
   530
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   534
    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
   535
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   536
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   537
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   538
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   539
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   540
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   541
                slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   545
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   546
        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
   547
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   548
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   549
        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
   550
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   551
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   552
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   557
            EC_ERR("Timeout while checking Sdo description on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
        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
   563
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
    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
   569
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
    fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   577
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
*/
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
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
   581
                                   /**< finite state machine */)
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_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   589
    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
   590
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   591
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   592
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   593
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   594
        EC_ERR("Failed to receive CoE Sdo description response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   595
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   596
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   597
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   598
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   599
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   600
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   601
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   602
        EC_ERR("Reception of CoE Sdo description"
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   603
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   604
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   606
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   615
        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
   616
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   620
    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
   621
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   622
        EC_ERR("Sdo information error response at slave %i while"
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   623
               " fetching Sdo 0x%04X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   630
    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
   631
        (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
   632
        EC_READ_U16(data + 6) != sdo->index) { // Sdo index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
        EC_ERR("Invalid object description response at slave %i while"
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   634
               " fetching Sdo 0x%04X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
	return;
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
    if (rec_size < 12) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
    sdo->subindices = EC_READ_U8(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
    sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
    if (name_size) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
        if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   654
            EC_ERR("Failed to allocate Sdo name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
        sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
    if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
        EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
    fsm->subindex = 0;
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
    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
   674
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   678
    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    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
   680
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
    EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   682
    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
   683
    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
   684
    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
   685
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   686
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
    fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
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
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   694
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
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
   698
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   703
    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
   704
        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
   705
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   706
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   707
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   708
        EC_ERR("Failed to receive CoE Sdo entry request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   709
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   710
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   711
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   712
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   713
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   714
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   715
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   716
        EC_ERR("Reception of CoE Sdo entry request failed on slave %i: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   717
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   718
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   721
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   724
    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
   725
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
    fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
   CoE state: DICT ENTRY CHECK.
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
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
   736
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   741
    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
   742
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   743
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   744
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   745
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   746
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   747
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   748
               slave->ring_position, datagram->state);
436
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
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   752
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   753
        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
   754
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   755
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   756
        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
   757
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   758
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   759
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   764
            EC_ERR("Timeout while checking Sdo entry on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   765
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
        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
   770
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
    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
   776
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
    fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
/*****************************************************************************/
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
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   784
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
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
   788
                                    /**< finite state machine */)
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
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   794
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
    ec_sdo_entry_t *entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   797
    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
   798
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   799
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   800
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   801
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   802
        EC_ERR("Failed to receive CoE Sdo description response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   803
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   804
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   805
        return;
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
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   808
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   809
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   810
        EC_ERR("Reception of CoE Sdo description"
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   811
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   812
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   815
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   816
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   818
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
        return;
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
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   823
        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
   824
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   825
	return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   828
    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
   829
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   830
        EC_ERR("Sdo information error response at slave %i while"
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   831
               " fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   834
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   835
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   836
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   837
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   838
    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
   839
        (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
   840
        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
   841
        EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
        EC_ERR("Invalid entry description response at slave %i while"
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   843
               " fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   844
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
    if (rec_size < 16) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   856
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   857
    data_size = rec_size - 16;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   859
    if (!(entry = (ec_sdo_entry_t *)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
          kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
        EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   863
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   864
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   866
    if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   867
        EC_ERR("Failed to init entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   869
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
    entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
    entry->bit_length = EC_READ_U16(data + 12);
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
    if (data_size) {
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   876
        uint8_t *desc;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   877
        if (!(desc = kmalloc(data_size + 1, GFP_ATOMIC))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   878
            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
   879
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   880
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   881
        }
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   882
        memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   883
        desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   884
        entry->description = desc;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
    list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   888
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   889
    if (fsm->subindex < sdo->subindices) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   890
        fsm->subindex++;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   891
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   892
        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
   893
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   894
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   895
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   897
        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   898
        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
   899
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
        EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   901
        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
   902
        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
   903
        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
   904
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   905
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   906
        fsm->state = ec_fsm_coe_dict_entry_request;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   910
    // another Sdo description to fetch?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   911
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   912
        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
   913
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   914
        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
   915
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   916
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   919
        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   920
        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
   921
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   922
        EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   923
        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
   924
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   925
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   926
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   931
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   933
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   937
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   938
   CoE state: DOWN START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   941
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
   942
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   944
    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
   945
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   946
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   947
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
   948
    if (fsm->slave->master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
   949
        EC_DBG("Downloading Sdo 0x%04X:%u 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
   950
               request->index, request->subindex, slave->ring_position);
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
   951
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
   952
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
   954
    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
   955
        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
   956
        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
   957
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   958
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   959
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
   960
    if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   961
        EC_ERR("Sdo fragmenting not supported yet!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
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
   967
                                            request->data_size + 10))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   968
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
        return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   972
    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
    EC_WRITE_U8 (data + 2, (0x1 // size specified
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
                            | 0x1 << 5)); // Download request
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
   975
    EC_WRITE_U16(data + 3, request->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
   976
    EC_WRITE_U8 (data + 5, request->subindex);
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
   977
    EC_WRITE_U32(data + 6, request->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
   978
    memcpy(data + 10, request->data, request->data_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   980
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   981
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   982
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
/*****************************************************************************/
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
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   987
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   988
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   989
*/
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
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
   992
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   994
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   996
    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
   997
        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
   998
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   999
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1000
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1001
        EC_ERR("Failed to receive CoE download request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1002
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1003
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1004
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1005
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1006
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1007
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1008
        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
  1009
        EC_ERR("Reception of CoE download request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1010
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1011
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
    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
  1018
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
    fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1020
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
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
   CoE state: DOWN CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1027
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1028
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
  1029
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1030
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1031
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1032
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1033
    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
  1034
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1035
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1036
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1037
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1038
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1039
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1040
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1041
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1042
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1043
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1044
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1045
        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
  1046
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1047
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1048
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1049
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1050
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1053
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1054
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1055
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1056
            EC_ERR("Timeout while checking Sdo configuration on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1057
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1060
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
        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
  1062
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1064
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1066
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
    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
  1068
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
    fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1071
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1072
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1073
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1074
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1075
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1076
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1077
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1078
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
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
  1080
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
    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
  1085
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1086
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1087
    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
  1088
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1089
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1090
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1091
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1092
        EC_ERR("Failed to receive CoE download response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1093
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1094
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1095
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1096
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1097
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1098
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1099
        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
  1100
        EC_ERR("Reception of CoE download response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1101
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1102
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1103
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1107
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1108
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1109
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1110
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1111
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1112
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1113
        fsm->state = ec_fsm_coe_error;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1114
        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
  1115
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1116
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1117
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1118
    if (rec_size < 6) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1119
        fsm->state = ec_fsm_coe_error;
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1120
        EC_ERR("Received data is too small (%u bytes):\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1121
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1122
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1123
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1124
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1125
    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
  1126
        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
  1127
        fsm->state = ec_fsm_coe_error;
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1128
        EC_ERR("Sdo download 0x%04X:%X (%i bytes) aborted on slave %i.\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
  1129
               request->index, request->subindex, request->data_size,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1130
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1131
        if (rec_size < 10) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1132
            EC_ERR("Incomplete Abort command:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1133
            ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1134
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1135
        else
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1136
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1137
        return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1140
    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
  1141
        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
  1142
        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
  1143
        EC_READ_U8 (data + 5) != request->subindex) { // subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1144
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1145
        EC_ERR("Sdo download 0x%04X:%X (%i bytes) failed:\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
  1146
               request->index, request->subindex, request->data_size);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1147
        EC_ERR("Invalid Sdo download response at slave %i!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1148
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1149
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1150
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1151
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1152
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1153
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1154
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1155
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1156
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1157
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1158
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1159
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1160
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1161
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1162
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
  1163
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1164
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1165
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1166
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1167
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1168
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1169
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
  1170
    if (master->debug_level)
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1171
        EC_DBG("Uploading Sdo 0x%04X:%u from slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1172
               request->index, request->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1173
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1174
    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
  1175
        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
  1176
        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
  1177
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1178
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1179
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1180
    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
  1181
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1182
        return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1185
    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
    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
  1187
    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
  1188
    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
  1189
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
        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
  1193
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1196
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
    fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1200
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1201
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1203
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1204
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1205
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
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
  1208
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1209
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1210
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1212
    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
  1213
        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
  1214
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1215
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1216
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1217
        EC_ERR("Failed to receive CoE upload request for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1218
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1219
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1220
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1221
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1222
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1223
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1224
        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
  1225
        EC_ERR("Reception of CoE upload request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1226
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1227
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1228
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
    }
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
    fsm->cycles_start = datagram->cycles_sent;
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
    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
  1234
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
    fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1238
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1242
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1243
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1244
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
  1245
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1246
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1247
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1248
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1249
    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
  1250
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1251
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1252
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1253
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1254
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1255
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1256
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1257
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1258
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1259
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1260
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1261
        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
  1262
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1263
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1264
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1270
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1271
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1272
            EC_ERR("Timeout while checking Sdo upload on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1274
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1275
        }
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
        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
  1278
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1283
    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
  1284
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1285
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1288
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1289
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1290
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1291
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1292
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1293
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1294
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
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
  1296
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1297
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1299
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1300
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1301
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1302
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1303
    uint32_t complete_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1304
    unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1305
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1306
    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
  1307
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1308
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1309
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1310
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1311
        EC_ERR("Failed to receive CoE upload response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1312
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1313
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1314
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1315
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1316
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1317
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1318
        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
  1319
        EC_ERR("Reception of CoE upload response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1320
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1321
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1322
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1323
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1324
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1325
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1326
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1327
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1328
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1331
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1332
        EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1333
        ec_print_data(data, rec_size);
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
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1337
        fsm->state = ec_fsm_coe_error;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1338
        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
  1339
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1340
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1341
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1342
    if (rec_size < 3) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1343
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1344
        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
  1345
        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
  1346
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1347
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1348
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1349
    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
  1350
        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
  1351
        EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1352
               request->index, request->subindex, slave->ring_position);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1353
        if (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
  1354
            ec_canopen_abort_msg(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
  1355
        else
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1356
            EC_ERR("No abort message.\n");
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1357
        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
  1358
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1359
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1360
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1361
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1362
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1363
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1364
    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
  1365
        if (rec_size < 7) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1366
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1367
            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
  1368
                    " 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
  1369
            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
  1370
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1371
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1372
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1373
        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
  1374
                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
  1375
                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
  1376
                EC_READ_U8 (data + 5) != request->subindex) { // subindex
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1377
            fsm->state = ec_fsm_coe_error;
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1378
            EC_ERR("Sdo upload 0x%04X:%X failed:\n",
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1379
                    request->index, request->subindex);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1380
            EC_ERR("Invalid Sdo upload response at slave %i!\n",
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1381
                    slave->ring_position);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1382
            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
  1383
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1384
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1385
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1386
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1387
        if (size_specified) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1388
            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
  1389
        } else {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
            complete_size = 4;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1391
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1392
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1393
        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
  1394
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1395
            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
  1396
                    " 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
  1397
            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
  1398
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1399
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1400
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
  1401
        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
  1402
            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
  1403
            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
  1404
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1405
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1406
        if (rec_size < 10) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1407
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1408
            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
  1409
                    " 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
  1410
            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
  1411
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1412
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1413
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1414
        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
  1415
                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
  1416
                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
  1417
                EC_READ_U8 (data + 5) != request->subindex) { // subindex
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1418
            fsm->state = ec_fsm_coe_error;
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1419
            EC_ERR("Sdo upload 0x%04X:%X failed:\n",
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1420
                    request->index, request->subindex);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1421
            EC_ERR("Invalid Sdo upload response at slave %i!\n",
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1422
                    slave->ring_position);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1423
            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
  1424
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1425
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1426
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1427
        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
  1428
        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
  1429
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1430
        if (!complete_size) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1431
            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
  1432
            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
  1433
            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
  1434
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1435
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1436
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
  1437
        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
  1438
            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
  1439
            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
  1440
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1441
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1442
        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
  1443
            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
  1444
            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
  1445
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1446
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1447
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1448
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1449
        if (data_size < complete_size) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1450
            EC_WARN("Sdo data incomplete (%i / %i).\n",
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1451
                    data_size, complete_size);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1452
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1453
            if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1454
                                                    0x03, 3))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1455
                fsm->state = ec_fsm_coe_error;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1459
            EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1460
            EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1461
                                    | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1462
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1463
            if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1464
                EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1465
                ec_print_data(data, 3);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1466
            }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1467
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1468
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1469
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1470
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1471
        }
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
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1474
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1475
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1476
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1477
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1478
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1479
    fsm->state = ec_fsm_coe_end; // success
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1484
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1485
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1486
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1487
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1488
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1489
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
  1490
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1491
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1492
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1493
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1494
    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
  1495
        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
  1496
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1497
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1498
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1499
        EC_ERR("Failed to receive CoE upload segment request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1500
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1501
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1502
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1503
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1504
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1505
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1506
        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
  1507
        EC_ERR("Reception of CoE upload segment"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1508
                " request failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1509
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1510
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1511
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1512
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1513
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1514
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1515
    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
  1516
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1517
    fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1518
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1519
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1520
/*****************************************************************************/
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
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1524
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1525
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1526
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
  1527
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1528
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1529
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1530
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1531
    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
  1532
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1533
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1534
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1535
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1536
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1537
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1538
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1539
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1540
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1541
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1542
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1543
        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
  1544
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1545
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1546
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1547
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1548
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1549
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1550
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1551
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1552
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1553
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1554
            EC_ERR("Timeout while checking Sdo upload segment on slave %i.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1555
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1556
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1557
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1558
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1559
        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
  1560
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1561
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1562
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1563
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
    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
  1566
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1567
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1568
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1570
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1571
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1572
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1573
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1574
   \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
  1575
   \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
  1576
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1577
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1578
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
  1579
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1580
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1581
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1582
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1583
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1584
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1585
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1586
    uint32_t seg_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1587
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1588
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1589
    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
  1590
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1591
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1592
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1593
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1594
        EC_ERR("Failed to receive CoE upload segment response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1595
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1596
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1597
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1598
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1599
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1600
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1601
        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
  1602
        EC_ERR("Reception of CoE upload segment"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1603
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1604
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1605
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1606
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1607
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1608
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1609
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1610
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1611
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1612
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1613
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1614
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1615
        EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1616
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1617
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1618
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1619
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1620
        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
  1621
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1622
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1623
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1624
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1625
    if (rec_size < 10) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1626
        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
  1627
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1628
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1629
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1630
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1631
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1632
    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
  1633
        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
  1634
        EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1635
               request->index, request->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1636
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1637
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1638
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1639
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1640
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1641
    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
  1642
        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1643
        EC_ERR("Sdo upload 0x%04X:%X failed:\n", request->index, request->subindex);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1644
        EC_ERR("Invalid Sdo upload segment response at slave %i!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1645
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1646
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1647
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1648
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1649
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1650
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1651
    last_segment = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1652
    seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1653
    data_size = rec_size - 10;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1654
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1655
    if (data_size != seg_size) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1656
        EC_WARN("Sdo segment data invalid (%i / %i)"
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1657
                " - Fragmenting not implemented.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1658
                data_size, seg_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1659
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1660
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
  1661
    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
  1662
    request->data_size += data_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1663
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1664
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1665
        fsm->toggle = !fsm->toggle;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1666
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1667
        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
  1668
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1669
            return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1672
        EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1673
        EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1674
                                | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1675
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1676
        if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1677
            EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1678
            ec_print_data(data, 3);
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
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1681
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1682
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1683
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1684
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1685
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1686
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1687
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1688
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1689
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1690
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
    fsm->state = ec_fsm_coe_end; // success
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1694
/*****************************************************************************/
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
   State: ERROR.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1698
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1699
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1700
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
  1701
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1702
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1703
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1704
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1705
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1706
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1707
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1708
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1709
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1710
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
  1711
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1712
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1713
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1714
/*****************************************************************************/