etherlabmaster: master/fsm_coe.c@f842ca3436ba (annotated)

436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	11	* published by the Free Software Foundation.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	16	* Public License for more details.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1313 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "globals.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "master.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "mailbox.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "fsm_coe.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	44	/** Maximum time in ms to wait for responses when reading out the dictionary.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	45	*/
1794 94e0e1756dec Reduced CoE timeouts to 1000 ms. Florian Pose <fp@igh-essen.com> parents: 1793 diff changeset	46	#define EC_FSM_COE_DICT_TIMEOUT 1000
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	47
1907 dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	48	/** CoE download request header size.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	49	*/
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	50	#define EC_COE_DOWN_REQ_HEADER_SIZE 10
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	51
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	52	/** CoE download segment request header size.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	53	*/
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	54	#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	55
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	56	/** Minimum size of download segment.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	57	*/
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	58	#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	59
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	60	/** Enable debug output for CoE retries.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	61	*/
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	62	#define DEBUG_RETRIES 0
1907 dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	63
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	64	/** Enable warning output if transfers take too long.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	65	*/
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	66	#define DEBUG_LONG 0
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	67
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	68	/*****************************************************************************/
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	69
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	void ec_fsm_coe_down_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	void ec_fsm_coe_down_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	void ec_fsm_coe_down_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	void ec_fsm_coe_down_response(ec_fsm_coe_t *);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	85	void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	86	void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	void ec_fsm_coe_up_start(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	void ec_fsm_coe_up_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	void ec_fsm_coe_up_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	void ec_fsm_coe_up_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	void ec_fsm_coe_end(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	void ec_fsm_coe_error(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	100
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	102	SDO abort messages.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	103	The "abort SDO transfer request" supplies an abort code,
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	104	which can be translated to clear text. This table does
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	the mapping of the codes and messages.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	const ec_code_msg_t sdo_abort_messages[] = {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{0x05030000, "Toggle bit not changed"},
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	110	{0x05040000, "SDO protocol timeout"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	{0x05040001, "Client/Server command specifier not valid or unknown"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	{0x05040005, "Out of memory"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	{0x06010000, "Unsupported access to an object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	{0x06010001, "Attempt to read a write-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	{0x06010002, "Attempt to write a read-only object"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	{0x06020000, "This object does not exist in the object directory"},
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	117	{0x06040041, "The object cannot be mapped into the PDO"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	{0x06040042, "The number and length of the objects to be mapped would"
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	119	" exceed the PDO length"},
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	{0x06040043, "General parameter incompatibility reason"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	{0x06040047, "Gerneral internal incompatibility in device"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	{0x06060000, "Access failure due to a hardware error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	{0x06070010, "Data type does not match, length of service parameter does"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	" not match"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	{0x06070012, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	" high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	{0x06070013, "Data type does not match, length of service parameter too"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	" low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	{0x06090011, "Subindex does not exist"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	{0x06090030, "Value range of parameter exceeded"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	{0x06090031, "Value of parameter written too high"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	{0x06090032, "Value of parameter written too low"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	{0x06090036, "Maximum value is less than minimum value"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	{0x08000000, "General error"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	{0x08000020, "Data cannot be transferred or stored to the application"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	{0x08000021, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	" because of local control"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	{0x08000022, "Data cannot be transferred or stored to the application"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	" because of the present device state"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	{0x08000023, "Object dictionary dynamic generation fails or no object"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	" dictionary is present"},
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	{}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	};
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	146
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	147	/** Outputs an SDO abort message.
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	148	*/
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	149	void ec_canopen_abort_msg(const ec_slave_t *slave, uint32_t abort_code)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	const ec_code_msg_t *abort_msg;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	152
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	if (abort_msg->code == abort_code) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	155	EC_SLAVE_ERR(slave, "SDO abort message 0x%08X: \"%s\".\n",
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	abort_msg->code, abort_msg->message);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	161	EC_SLAVE_ERR(slave, "Unknown SDO abort code 0x%08X.\n", abort_code);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	Constructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	void ec_fsm_coe_init(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	171	ec_datagram_t datagram /< datagram /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	fsm->state = NULL;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	fsm->datagram = datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	Destructor.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	void ec_fsm_coe_clear(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	187
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	189
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	191	Starts reading a slaves' SDO dictionary.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	193
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	void ec_fsm_coe_dictionary(ec_fsm_coe_t fsm, /< finite state machine /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	ec_slave_t slave /< EtherCAT slave /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	198	fsm->slave = slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	fsm->state = ec_fsm_coe_dict_start;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	201
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	203
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	/**
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	205	Starts to transfer an SDO to/from a slave.
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	206	*/
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	207
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	208	void ec_fsm_coe_transfer(
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	209	ec_fsm_coe_t fsm, /< State machine. /
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	210	ec_slave_t slave, /< EtherCAT slave. /
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	211	ec_sdo_request_t request /< SDO 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	212	)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	fsm->slave = slave;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	215	fsm->request = request;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	216	if (request->dir == EC_DIR_OUTPUT)
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	217	fsm->state = ec_fsm_coe_down_start;
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	218	else
233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	219	fsm->state = ec_fsm_coe_up_start;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	Executes the current state of the state machine.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	\return false, if state machine has terminated
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	228
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	int ec_fsm_coe_exec(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	fsm->state(fsm);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	232
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	235
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	237
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	Returns, if the state machine terminated with success.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	\return non-zero if successful.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	int ec_fsm_coe_success(ec_fsm_coe_t fsm /< Finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	245	return fsm->state == ec_fsm_coe_end;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	247
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	248	/*****************************************************************************/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	249
1092 69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	250	/** Check if the received data are a CoE emergency request.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	251	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	252	* If the check is positive, the emergency request is output.
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	253	*
69393cf60399 Improved source code doc. Florian Pose <fp@igh-essen.com> parents: 1053 diff changeset	254	* \return The data were an emergency request.
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	255	*/
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	256	int ec_fsm_coe_check_emergency(
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	257	ec_fsm_coe_t fsm, /< Finite state machine /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	258	const uint8_t data, /< CoE mailbox data. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	259	size_t size /*< CoE mailbox data size. /
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	260	)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	261	{
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	262	if (size < 2 \|\| ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	263	return 0;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	264
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	265	if (size < 10) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	266	EC_SLAVE_WARN(fsm->slave, "Received incomplete CoE Emergency"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	267	" request:\n");
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	268	ec_print_data(data, size);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	269	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	270	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	271
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	272	EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	273	"Error code 0x%04X, Error register 0x%02X, data:\n",
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	274	EC_READ_U16(data + 2), EC_READ_U8(data + 4));
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	275	ec_print_data(data + 5, 5);
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	276	return 1;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	277	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	278
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	* CoE dictionary state machine
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	282
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	CoE state: DICT START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	286
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	void ec_fsm_coe_dict_start(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	293	if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	294	EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	295	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	296	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	297	}
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	298
1219 aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	299	if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	300	EC_SLAVE_ERR(slave, "Slave does not support"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	301	" SDO information service!\n");
1219 aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	302	fsm->state = ec_fsm_coe_error;
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	303	return;
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	304	}
aa030fb1e980 Only query Sdo information service, if slave supports it. Florian Pose <fp@igh-essen.com> parents: 1169 diff changeset	305
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	306	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	307	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	311
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	312	EC_WRITE_U16(data, 0x8 << 12); // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	EC_WRITE_U16(data + 4, 0x0000);
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	316	EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	317
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	318	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	323
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	CoE state: DICT REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	326	\todo Timeout behavior
436 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	void ec_fsm_coe_dict_request(ec_fsm_coe_t fsm /< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	334	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	335	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	336
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	337	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	338	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	339	EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	340	" request datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	341	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	342	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	343	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	344
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	345	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	346	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	347	EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	348	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	return;
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
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	352	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	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	355	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	fsm->state = ec_fsm_coe_dict_check;
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	360
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	364
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	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	366	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	369
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	370	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	371	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	372
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	373	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	374	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	375	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	376	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	377	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	378	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	379
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	380	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	381	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	382	EC_SLAVE_ERR(slave,"Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	383	" datagram failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	384	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	387
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	389	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	390	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	391	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	393	EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	394	" SDO dictionary list response.\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	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	399	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	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	405	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	408
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	410
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	CoE state: DICT RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	413	\todo Timeout behavior
436 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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	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	417	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	size_t rec_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	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	423	uint16_t sdo_index, fragments_left;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	425
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	426	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	427	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	428
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	429	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	430	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	431	EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	432	" response datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	433	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	434	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	435	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	436
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	437	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	438	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	439	EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	440	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	441	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	442	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	443
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	444	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	445	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	446	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	447	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	448	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	449
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	if (mbox_prot != 0x03) { // CoE
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	451	EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	452	mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	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	454	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	456
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	457	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	458	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	459	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	460	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	461	fsm->state = ec_fsm_coe_dict_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	462	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	463	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	464
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	465	if (rec_size < 3) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	466	EC_SLAVE_ERR(slave, "Received corrupted SDO dictionary response"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	467	" (size %zu).\n", rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	468	fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	469	return;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	470	}
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	471
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	472	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	474	EC_SLAVE_ERR(slave, "SDO information error response!\n");
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	475	if (rec_size < 10) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	476	EC_SLAVE_ERR(slave, "Incomplete SDO information"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	477	" error response:\n");
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	478	ec_print_data(data, rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	479	} else {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	480	ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	481	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	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	483	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	485
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	486	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	487	(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	488	if (fsm->slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	489	EC_SLAVE_DBG(slave, 1, "Invalid SDO list response!"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	490	" Retrying...\n");
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	491	ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	492	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	493	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	494	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	495	fsm->state = ec_fsm_coe_dict_check;
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	496	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	498
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	499	if (rec_size < 8 \|\| rec_size % 2) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	500	EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	502	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	503	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	504	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	505
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	506	sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	507
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	508	for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	509	sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	510	if (!sdo_index) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	511	EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	continue;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	513	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	514
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	515	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	516	EC_SLAVE_ERR(slave, "Failed to allocate memory for SDO!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	517	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	518	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	520
992 50a44cbd30af Removed kobjects from sdo and slave. Florian Pose <fp@igh-essen.com> parents: 991 diff changeset	521	ec_sdo_init(sdo, slave, sdo_index);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	list_add_tail(&sdo->list, &slave->sdo_dictionary);
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
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	525	fragments_left = EC_READ_U16(data + 4);
1923 712d04506f12 Minor. Florian Pose <fp@igh-essen.com> parents: 1921 diff changeset	526	if (fragments_left) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	527	EC_SLAVE_DBG(slave, 1, "SDO list fragments left: %u\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	528	fragments_left);
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	529	}
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	530
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	531	if (EC_READ_U8(data + 2) & 0x80 \|\| fragments_left) {
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	532	// more messages waiting. check again.
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	533	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	534	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	535	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	537	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	539
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	540	if (list_empty(&slave->sdo_dictionary)) {
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	541	// no SDOs in dictionary. finished.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	542	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	544	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	545
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	546	// fetch SDO descriptions
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	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	548
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	549	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	550	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	551	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	553	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	554
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	555	EC_WRITE_U16(data, 0x8 << 12); // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	556	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	557	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	558	EC_WRITE_U16(data + 4, 0x0000);
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	559	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	560
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	561	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	563	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	564
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	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	CoE state: DICT DESC REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	569	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	570	*/
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	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	573	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	574	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	575	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	576
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	577	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	578	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	579
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	580	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	581	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	582	EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	583	" description request datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	584	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	585	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	586	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	587
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	588	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	589	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	590	EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	591	" request failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	592	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	593	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	594	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	595
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	596	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	597
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	598	ec_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	599	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	600	fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	601	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	602
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	603	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	604
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	605	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	606	CoE state: DICT DESC CHECK.
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	609	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	610	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	611	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	612	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	613
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	614	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	615	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	616
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	617	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	618	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	619	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	620	ec_datagram_print_state(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	621	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	622	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	623
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	624	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	625	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	626	EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	627	" datagram failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	628	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	629	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	630	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	631
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	632	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	633	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	634	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	635	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	637	EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	638	" SDO 0x%04x object description response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	639	fsm->sdo->index);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	640	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	641	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	642
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	643	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	644	fsm->retries = EC_FSM_RETRIES;
436 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	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	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	650	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	651	fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	652	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	653
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	654	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	655
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	656	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	657	CoE state: DICT DESC RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	658	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	659	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	660
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	661	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	662	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	663	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	664	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	665	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	666	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	667	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	668	size_t rec_size, name_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	669
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	670	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	671	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	672
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	673	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	674	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	675	EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	676	" response datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	677	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	678	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	679	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	680
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	681	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	682	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	683	EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	684	" response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	685	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	686	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	687	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	688
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	689	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	690	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	691	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	692	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	693	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	694
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	695	if (mbox_prot != 0x03) { // CoE
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	696	EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	697	mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	698	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	699	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	700	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	701
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	702	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	703	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	704	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	705	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	706	fsm->state = ec_fsm_coe_dict_desc_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	707	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	708	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	709
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	710	if (rec_size < 3) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	711	EC_SLAVE_ERR(slave, "Received corrupted SDO description response"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	712	" (size %zu).\n", rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	713	fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	714	return;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	715	}
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	716
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	717	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	718	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	719	EC_SLAVE_ERR(slave, "SDO information error response while"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	720	" fetching SDO 0x%04X!\n", sdo->index);
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	721	ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	722	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	723	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	724	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	725
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	726	if (rec_size < 8) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	727	EC_SLAVE_ERR(slave, "Received corrupted SDO"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	728	" description response (size %zu).\n", rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	729	fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	730	return;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	731	}
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	732
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	733	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	734	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	735	EC_READ_U16(data + 6) != sdo->index) { // SDO index
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	736	if (fsm->slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	737	EC_SLAVE_DBG(slave, 1, "Invalid object description response while"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	738	" fetching SDO 0x%04X!\n", sdo->index);
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	739	ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	740	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	741	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	742	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	743	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	744	fsm->state = ec_fsm_coe_dict_desc_check;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	745	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	746	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	747
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	748	if (rec_size < 12) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	749	EC_SLAVE_ERR(slave, "Invalid data size!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	750	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	751	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	752	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	753	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	754
962 ea83a7aab57a Renamed subindices to max_subindex. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	755	sdo->max_subindex = EC_READ_U8(data + 10);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	756	sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	757
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	758	name_size = rec_size - 12;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	759	if (name_size) {
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	760	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	761	EC_SLAVE_ERR(slave, "Failed to allocate SDO name!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	762	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	763	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	764	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	765
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	766	memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	767	sdo->name[name_size] = 0;
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	770	if (EC_READ_U8(data + 2) & 0x80) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	771	EC_SLAVE_ERR(slave, "Fragment follows (not implemented)!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	772	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	773	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	774	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	775
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	776	// start fetching entries
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	777
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	778	fsm->subindex = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	779
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	780	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	781	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	782	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	783	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	784	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	785
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	786	EC_WRITE_U16(data, 0x8 << 12); // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	787	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	788	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	789	EC_WRITE_U16(data + 4, 0x0000);
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	790	EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	791	EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	792	EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	793
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	794	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	795	fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	796	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	797
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	798	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	799
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	800	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	801	CoE state: DICT ENTRY REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	802	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	803	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	804
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	805	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	806	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	807	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	808	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	809	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	810
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	811	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	812	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	813
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	814	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	815	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	816	EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	817	" request datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	818	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	819	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	820	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	821
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	822	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	823	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	824	EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	825	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	826	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	827	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	828
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	829	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	830
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	831	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	832	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	833	fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	834	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	835
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	838	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	839	CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	840	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	841
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	842	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	843	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	844	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	845	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	846	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	847
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	848	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	849	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	850
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	851	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	852	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	853	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	854	ec_datagram_print_state(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	855	return;
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
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	858	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	859	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	860	EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	861	" datagram failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	862	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	863	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	864	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	865
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	866	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	867	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	868	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	869	if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	870	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	871	EC_SLAVE_ERR(slave, "Timeout while waiting for"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	872	" SDO entry 0x%04x:%x description response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	873	fsm->sdo->index, fsm->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	874	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	875	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	876
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	877	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	878	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	879	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	880	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	881
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	882	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	883	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	884	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	885	fsm->state = ec_fsm_coe_dict_entry_response;
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
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	890	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	891	CoE state: DICT ENTRY RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	892	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	893	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	894
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	895	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	896	/*< finite state machine /)
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	897	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	898	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	899	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	900	ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	901	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	902	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	903	ec_sdo_entry_t *entry;
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	904	u16 word;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	905
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	906	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	907	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	908
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	909	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	910	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	911	EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	912	" description response datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	913	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	914	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	915	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	916
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	917	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	918	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	919	EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	920	" response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	921	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	922	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	923	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	924
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	925	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	926	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	927	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	928	return;
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	931	if (mbox_prot != 0x03) { // CoE
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	932	EC_SLAVE_ERR(slave, "Received mailbox protocol"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	933	" 0x%02X as response.\n", mbox_prot);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	934	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	935	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	936	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	937
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	938	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	939	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	940	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	941	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	942	fsm->state = ec_fsm_coe_dict_entry_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	943	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	944	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	945
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	946	if (rec_size < 3) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	947	EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	948	" description response (size %zu).\n", rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	949	fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	950	return;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	951	}
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	952
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	953	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	954	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	955	EC_SLAVE_ERR(slave, "SDO information error response while"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	956	" fetching SDO entry 0x%04X:%02X!\n",
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	957	sdo->index, fsm->subindex);
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	958	ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	959	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	960	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	961	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	962
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	963	if (rec_size < 9) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	964	EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	965	" description response (size %zu).\n", rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	966	fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	967	return;
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	968	}
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	969
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	970	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	971	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	972	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	973	EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	974	if (fsm->slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	975	EC_SLAVE_DBG(slave, 1, "Invalid entry description response while"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	976	" fetching SDO entry 0x%04X:%02X!\n",
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	977	sdo->index, fsm->subindex);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	978	ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	979	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	980	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	981	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	982	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	983	fsm->state = ec_fsm_coe_dict_entry_check;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	984	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	985	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	986
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	987	if (rec_size < 16) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	988	EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	989	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	990	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	991	return;
436 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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	994	data_size = rec_size - 16;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	995
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	996	if (!(entry = (ec_sdo_entry_t *)
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	997	kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	998	EC_SLAVE_ERR(slave, "Failed to allocate entry!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	999	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1000	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1001	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1002
991 2548ca639b1f Removed kobject from sdo entry. Florian Pose <fp@igh-essen.com> parents: 986 diff changeset	1003	ec_sdo_entry_init(entry, sdo, fsm->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1004	entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1005	entry->bit_length = EC_READ_U16(data + 12);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1006
1382 cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1007	// read access rights
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1008	word = EC_READ_U16(data + 14);
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1009	entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1010	entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1) & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1011	entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2) & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1012	entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1013	entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4) & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1014	entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5) & 0x0001;
cb2188d111f3 Read SDO entry access rights. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	1015
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1016	if (data_size) {
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1017	uint8_t *desc;
998 05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones. Florian Pose <fp@igh-essen.com> parents: 992 diff changeset	1018	if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1019	EC_SLAVE_ERR(slave, "Failed to allocate SDO entry name!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1020	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1021	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1022	}
484 9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1023	memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1024	desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors. Florian Pose <fp@igh-essen.com> parents: 476 diff changeset	1025	entry->description = desc;
436 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	list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1029
962 ea83a7aab57a Renamed subindices to max_subindex. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	1030	if (fsm->subindex < sdo->max_subindex) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1031	fsm->subindex++;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1032
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1033	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1034	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1035	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1036	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1037	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1038
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1039	EC_WRITE_U16(data, 0x8 << 12); // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1040	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	1041	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1042	EC_WRITE_U16(data + 4, 0x0000);
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1043	EC_WRITE_U16(data + 6, sdo->index); // SDO index
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1044	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	1045	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	1046
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1047	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1048	fsm->state = ec_fsm_coe_dict_entry_request;
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
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1052	// another SDO description to fetch?
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1053	if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1054	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	1055
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1056	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1057	if (IS_ERR(data)) {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1058	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1059	return;
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
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1062	EC_WRITE_U16(data, 0x8 << 12); // SDO information
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1063	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	1064	EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1065	EC_WRITE_U16(data + 4, 0x0000);
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1066	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	1067
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_dict_desc_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1070	return;
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	fsm->state = ec_fsm_coe_end;
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1076	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1077	* CoE state machine
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
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1080	/** CoE state: DOWN START.
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1081	*/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1082	void ec_fsm_coe_down_start(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1083	ec_fsm_coe_t fsm /< finite state machine /
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1084	)
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1085	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1086	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1087	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	1088	ec_sdo_request_t *request = fsm->request;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1089	uint8_t *data;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1090	uint8_t data_set_size;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1091
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1092	if (fsm->slave->master->debug_level) {
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1093	char subidxstr[10];
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1094	if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1095	subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1096	} else {
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1097	sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1098	}
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1099	EC_SLAVE_DBG(slave, 1, "Downloading SDO 0x%04X%s.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1100	request->index, subidxstr);
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1101	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	1102	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1103
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1104	if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1105	EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1106	request->errno = EPROTONOSUPPORT;
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1107	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	1108	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1109	}
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1110
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1111	if (slave->configured_rx_mailbox_size <
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1112	EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1113	EC_SLAVE_ERR(slave, "Mailbox too small!\n");
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1114	request->errno = EOVERFLOW;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1115	fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1116	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1117	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1118
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1119	if (request->data_size <= 4) { // use expedited transfer type
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1120	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1121	EC_COE_DOWN_REQ_HEADER_SIZE);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1122	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1123	request->errno = PTR_ERR(data);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1124	fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1125	return;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1126	}
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1127
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1128	fsm->remaining = 0;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1129
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1130	data_set_size = 4 - request->data_size;
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1131
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1132	EC_WRITE_U16(data, 0x2 << 12); // SDO request
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1133	EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1134	\| data_set_size << 2
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1135	\| ((request->complete_access ? 1 : 0) << 4)
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1136	\| 0x1 << 5)); // Download request
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1137	EC_WRITE_U16(data + 3, request->index);
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1138	EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1139	request->complete_access ? 0x00 : request->subindex);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1140	memcpy(data + 6, request->data, request->data_size);
1457 ec3ad6641d65 Slightly improved CoE download expedited request. Florian Pose <fp@igh-essen.com> parents: 1382 diff changeset	1141	memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1142
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1143	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1144	EC_SLAVE_DBG(slave, 1, "Expedited download request:\n");
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1145	ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1146	}
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1147	}
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1148	else { // request->data_size > 4, use normal transfer type
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1149	size_t data_size,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1150	max_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1151	slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1152	required_data_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1153	EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1154
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1155	if (max_data_size < required_data_size) {
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1156	// segmenting needed
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1157	data_size = max_data_size;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1158	} else {
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1159	data_size = required_data_size;
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1160	}
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1161
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1162	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1163	data_size);
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1164	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1165	request->errno = PTR_ERR(data);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1166	fsm->state = ec_fsm_coe_error;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1167	return;
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1168	}
68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1169
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1170	fsm->offset = 0;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1171	fsm->remaining = request->data_size;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1172
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1173	EC_WRITE_U16(data, 0x2 << 12); // SDO request
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1174	EC_WRITE_U8(data + 2,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1175	0x1 // size indicator, normal
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1176	\| ((request->complete_access ? 1 : 0) << 4)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1177	\| 0x1 << 5); // Download request
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1178	EC_WRITE_U16(data + 3, request->index);
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1179	EC_WRITE_U8 (data + 5,
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1180	request->complete_access ? 0x00 : request->subindex);
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1181	EC_WRITE_U32(data + 6, request->data_size);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1182
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1183	if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1184	size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1185	memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1186	request->data, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1187	fsm->offset += segment_size;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1188	fsm->remaining -= segment_size;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1189	}
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1190
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1191	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1192	EC_SLAVE_DBG(slave, 1, "Normal download request:\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1193	ec_print_data(data, data_size);
1169 cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte. Florian Pose <fp@igh-essen.com> parents: 1112 diff changeset	1194	}
1507 68e89abadd19 Removed unwanted tabulators. Florian Pose <fp@igh-essen.com> parents: 1498 diff changeset	1195	}
975 dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1196
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1197	fsm->request->jiffies_sent = jiffies;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1198	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1199	fsm->state = ec_fsm_coe_down_request;
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
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1204	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1205	CoE state: DOWN REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1206	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1207	*/
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	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	1210	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1211	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1212	ec_slave_t *slave = fsm->slave;
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1213	unsigned long diff_ms;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1214
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1215	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	1216	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	1217
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1218	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1219	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1220	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1221	EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1222	" request datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1223	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1224	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1225	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1226
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1227	diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1228
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1229	if (datagram->working_counter != 1) {
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1230	if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1231	if (diff_ms < fsm->request->response_timeout) {
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	1232	#if DEBUG_RETRIES
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1233	EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1234	" download request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1235	diff_ms);
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	1236	#endif
1112 d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1237	// no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1238	return;
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1239	}
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1240	}
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1241	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1242	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1243	EC_SLAVE_ERR(slave, "Reception of CoE download request"
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1244	" for SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1245	fsm->request->index, fsm->request->subindex, diff_ms);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1246	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1247	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1248	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1249
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1250	#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1251	if (diff_ms > 200) {
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1252	EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %lu ms.\n",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1253	fsm->request->index, fsm->request->subindex, diff_ms);
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1254	}
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1255	#endif
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1256
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1257	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1258
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1259	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	1260	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1261	fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1262	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1263
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1264	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1265
1907 dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	1266	/** CoE state: DOWN CHECK.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	1267	*/
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1268	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	1269	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1270	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1271	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1272
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1273	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	1274	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1275
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1276	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1277	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1278	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1279	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1280	" datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1281	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1282	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1283	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1284
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1285	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1286	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1287	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1288	EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1289	" datagram failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1290	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1291	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1292	}
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	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1295	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1296	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1297	if (diff_ms >= fsm->request->response_timeout) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1298	fsm->request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1299	fsm->state = ec_fsm_coe_error;
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1300	EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1301	" for SDO 0x%04x:%x download response.\n", diff_ms,
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1302	fsm->request->index, fsm->request->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1303	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1304	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1305
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1306	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	1307	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1308	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1309	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1310
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1311	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1312	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	1313	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1314	fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1315	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1316
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1317	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1318
1907 dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	1319	/** Prepare a download segment request.
dd276ae226b4 Added missing code documentation. Florian Pose <fp@igh-essen.com> parents: 1831 diff changeset	1320	*/
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1321	void ec_fsm_coe_down_prepare_segment_request(
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1322	ec_fsm_coe_t fsm /< finite state machine /
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1323	)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1324	{
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1325	ec_datagram_t *datagram = fsm->datagram;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1326	ec_slave_t *slave = fsm->slave;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1327	ec_sdo_request_t *request = fsm->request;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1328	size_t max_segment_size =
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1329	slave->configured_rx_mailbox_size
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1330	- EC_MBOX_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1331	- EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1332	size_t segment_size, data_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1333	uint8_t last_segment, seg_data_size, *data;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1334
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1335	if (fsm->remaining > max_segment_size) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1336	segment_size = max_segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1337	last_segment = 0;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1338	} else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1339	segment_size = fsm->remaining;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1340	last_segment = 1;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1341	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1342
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1343	if (segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1344	seg_data_size = 0x00;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1345	data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1346	} else {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1347	seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1348	data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1349	+ EC_COE_DOWN_SEG_MIN_DATA_SIZE;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1350	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1351
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1352	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1353	data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1354	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1355	request->errno = PTR_ERR(data);
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1356	fsm->state = ec_fsm_coe_error;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1357	return;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1358	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1359
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1360	EC_WRITE_U16(data, 0x2 << 12); // SDO request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1361	EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1362	\| (seg_data_size << 1)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1363	\| (fsm->toggle << 4)
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1364	\| (0x00 << 5)); // Download segment request
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1365	memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1366	request->data + fsm->offset, segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1367	if (segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1368	memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size, 0x00,
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1369	EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1370	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1371
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1372	fsm->offset += segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1373	fsm->remaining -= segment_size;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1374
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1375	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1376	EC_SLAVE_DBG(slave, 1, "Download segment request:\n");
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1377	ec_print_data(data, data_size);
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1378	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1379
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1380	fsm->state = ec_fsm_coe_down_seg_check;
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1381	}
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1382
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1383	/*****************************************************************************/
ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1384
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1385	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1386	CoE state: DOWN RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1387	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1388	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1389
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1390	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	1391	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1392	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1393	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1394	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1395	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	1396	ec_sdo_request_t *request = fsm->request;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1397
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1398	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1399	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1400
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1401	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1402	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1403	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1404	EC_SLAVE_ERR(slave, "Failed to receive CoE download"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1405	" response datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1406	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1407	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1408	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1409
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1410	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1411	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1412	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1413	EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1414	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1415	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1416	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1417
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1418	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1419	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1420	request->errno = PTR_ERR(data);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1421	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1422	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1423	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1424
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1425	if (mbox_prot != 0x03) { // CoE
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1426	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1427	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1428	EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1429	mbox_prot);
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1430	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1431	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1432
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1433	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1434	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1435	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1436	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1437	fsm->state = ec_fsm_coe_down_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1438	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1439	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1440
975 dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1441	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1442	EC_SLAVE_DBG(slave, 1, "Download response:\n");
975 dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1443	ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1444	}
dae04112bcc7 Added debugging for sdo download. Florian Pose <fp@igh-essen.com> parents: 962 diff changeset	1445
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1446	if (rec_size < 6) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1447	request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1448	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1449	EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1450	rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1451	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1452	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1453	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1454
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1455	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1456	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1457	char subidxstr[10];
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1458	request->errno = EIO;
1526 66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1459	fsm->state = ec_fsm_coe_error;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1460	if (request->complete_access) {
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1461	subidxstr[0] = 0x00;
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1462	} else {
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1463	sprintf(subidxstr, ":%02X", request->subindex);
66edd310830c Implemented CompleteAccess for SDO downloads. Florian Pose <fp@igh-essen.com> parents: 1507 diff changeset	1464	}
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1465	EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1466	request->index, subidxstr, request->data_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1467	if (rec_size < 10) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1468	EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1469	ec_print_data(data, rec_size);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1470	} else {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1471	fsm->request->abort_code = EC_READ_U32(data + 6);
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1472	ec_canopen_abort_msg(slave, fsm->request->abort_code);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1473	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1474	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1475	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1476
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1477	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	1478	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	1479	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	1480	EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1481	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1482	EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1483	" Retrying...\n");
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1484	ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1485	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1486	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1487	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1488	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	1489	fsm->state = ec_fsm_coe_down_check;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1490	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1491	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1492
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1493	if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1494	fsm->toggle = 0;
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1495	ec_fsm_coe_down_prepare_segment_request(fsm);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1496	} else {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1497	fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1498	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1499	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1500
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1501	/*****************************************************************************/
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1502
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1503	/**
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1504	CoE state: DOWN SEG CHECK.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1505	*/
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1506
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1507	void ec_fsm_coe_down_seg_check(ec_fsm_coe_t fsm /< finite state machine /)
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1508	{
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1509	ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1510	ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1511
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1512	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1513	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1514
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1515	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1516	fsm->request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1517	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1518	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1519	ec_datagram_print_state(datagram);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1520	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1521	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1522
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1523	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1524	fsm->request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1525	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1526	EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1527	" datagram failed: ");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1528	ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1529	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1530	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1531
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1532	if (!ec_slave_mbox_check(datagram)) {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1533	unsigned long diff_ms =
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1534	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1535	if (diff_ms >= fsm->request->response_timeout) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1536	fsm->request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1537	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1538	EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1539	" segment response.\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1540	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1541	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1542
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1543	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1544	fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1545	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1546	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1547
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1548	// Fetch response
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1549	ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1550	fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1551	fsm->state = ec_fsm_coe_down_seg_response;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1552	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1553
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1554	/*****************************************************************************/
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1555
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1556	/**
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1557	CoE state: DOWN SEG RESPONSE.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1558	\todo Timeout behavior
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1559	*/
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1560
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1561	void ec_fsm_coe_down_seg_response(
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1562	ec_fsm_coe_t fsm /< finite state machine /
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1563	)
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1564	{
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1565	ec_datagram_t *datagram = fsm->datagram;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1566	ec_slave_t *slave = fsm->slave;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1567	uint8_t *data, mbox_prot;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1568	size_t rec_size;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1569	ec_sdo_request_t *request = fsm->request;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1570
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1571	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1572	return; // FIXME: request again?
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1573
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1574	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1575	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1576	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1577	EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1578	" datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1579	ec_datagram_print_state(datagram);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1580	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1581	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1582
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1583	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1584	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1585	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1586	EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1587	ec_datagram_print_wc_error(datagram);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1588	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1589	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1590
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1591	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1592	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1593	request->errno = PTR_ERR(data);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1594	fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1595	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1596	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1597
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1598	if (mbox_prot != 0x03) { // CoE
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1599	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1600	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1601	EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1602	mbox_prot);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1603	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1604	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1605
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1606	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1607	// check for CoE response again
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1608	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1609	fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1610	fsm->state = ec_fsm_coe_down_check;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1611	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1612	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1613
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1614	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1615	EC_SLAVE_DBG(slave, 1, "Download response:\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1616	ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1617	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1618
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1619	if (rec_size < 6) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1620	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1621	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1622	EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1623	rec_size);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1624	ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1625	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1626	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1627
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1628	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1629	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1630	char subidxstr[10];
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1631	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1632	fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1633	if (request->complete_access) {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1634	subidxstr[0] = 0x00;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1635	} else {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1636	sprintf(subidxstr, ":%02X", request->subindex);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1637	}
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1638	EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1639	request->index, subidxstr, request->data_size);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1640	if (rec_size < 10) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1641	EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1642	ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1643	} else {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1644	fsm->request->abort_code = EC_READ_U32(data + 6);
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1645	ec_canopen_abort_msg(slave, fsm->request->abort_code);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1646	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1647	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1648	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1649
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1650	if (EC_READ_U16(data) >> 12 != 0x3 \|\|
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1651	((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1652	if (slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1653	EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1654	" Retrying...\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1655	ec_print_data(data, rec_size);
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1656	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1657	// check for CoE response again
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1658	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1659	fsm->retries = EC_FSM_RETRIES;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1660	fsm->state = ec_fsm_coe_down_seg_check;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1661	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1662	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1663
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1664	if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1665	EC_SLAVE_ERR(slave, "Invalid toggle received during"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1666	" segmented download:\n");
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1667	ec_print_data(data, rec_size);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1668	request->errno = EIO;
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1669	fsm->state = ec_fsm_coe_error;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1670	return;
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1671	}
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1672
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1673	if (fsm->remaining) { // more segments to download
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1674	fsm->toggle = !fsm->toggle;
1563 ddedb71b3a85 Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented Florian Pose <fp@igh-essen.com> parents: 1562 diff changeset	1675	ec_fsm_coe_down_prepare_segment_request(fsm);
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1676	} else {
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1677	fsm->state = ec_fsm_coe_end; // success
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1550 diff changeset	1678	}
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1679	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1680
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1681	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1682
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1683	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1684	CoE state: UP START.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1685	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1686
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1687	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	1688	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1689	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1690	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1691	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1692	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1693	uint8_t *data;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1694
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1695	EC_SLAVE_DBG(slave, 1, "Uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1696	request->index, request->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1697
834 0791aac03180 Separated SII data from slave. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	1698	if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1699	EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1700	request->errno = EPROTONOSUPPORT;
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1701	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	1702	return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1703	}
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	1704
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1705	data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1706	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1707	request->errno = PTR_ERR(data);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1708	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1709	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1710	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1711
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1712	EC_WRITE_U16(data, 0x2 << 12); // SDO request
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1713	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	1714	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	1715	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	1716	memset(data + 6, 0x00, 4);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1717
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1718	if (master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1719	EC_SLAVE_DBG(slave, 1, "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	1720	ec_print_data(data, 10);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1721	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1722
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1723	fsm->request->jiffies_sent = jiffies;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1724	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1725	fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1726	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1727
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1728	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1729
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1730	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1731	CoE state: UP REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1732	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1733	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1734
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1735	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	1736	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1737	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1738	ec_slave_t *slave = fsm->slave;
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1739	unsigned long diff_ms;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1740
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1741	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	1742	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	1743
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1744	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1745	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1746	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1747	EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1748	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1749	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1750	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1751
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1752	diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1753
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1754	if (datagram->working_counter != 1) {
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1755	if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1756	if (diff_ms < fsm->request->response_timeout) {
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	1757	#if DEBUG_RETRIES
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1758	EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1759	" SDO upload request. Retrying after %lu ms...\n",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1760	diff_ms);
1791 27030c6b2de3 Do not output CoE retries. Florian Pose <fp@igh-essen.com> parents: 1563 diff changeset	1761	#endif
1112 d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1762	// no response; send request datagram again
d11661e1f4de Fixed CoE transfer timeout bug. Florian Pose <fp@igh-essen.com> parents: 1111 diff changeset	1763	return;
1035 7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1764	}
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map. Florian Pose <fp@igh-essen.com> parents: 998 diff changeset	1765	}
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1766	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1767	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1768	EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1769	" SDO 0x%04x:%x failed with timeout after %lu ms: ",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1770	fsm->request->index, fsm->request->subindex, diff_ms);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1771	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1772	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1773	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1774
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1775	#if DEBUG_LONG
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1776	if (diff_ms > 200) {
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1777	EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %lu ms.\n",
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1778	fsm->request->index, fsm->request->subindex, diff_ms);
1792 3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1779	}
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1780	#endif
3eb466e9bad5 Improved CoE error messages. Florian Pose <fp@igh-essen.com> parents: 1791 diff changeset	1781
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1782	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1783
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1784	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	1785	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1786	fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1787	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1788
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1789	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1790
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1791	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1792	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1793	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1794
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1795	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	1796	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1797	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1798	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1799
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1800	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	1801	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1802
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1803	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1804	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1805	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1806	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1807	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1808	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1809	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1810
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1811	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1812	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1813	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1814	EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1815	" datagram failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1816	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1817	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1818	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1819
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1820	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1821	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	1822	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1043 2abea4233a6d Response timeout for checking Sdo upload. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	1823	if (diff_ms >= fsm->request->response_timeout) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1824	fsm->request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1825	fsm->state = ec_fsm_coe_error;
1931 831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1826	EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
831f2d34664c Fixed format specifiers. Florian Pose <fp@igh-essen.com> parents: 1923 diff changeset	1827	" SDO 0x%04x:%x upload response.\n", diff_ms,
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1828	fsm->request->index, fsm->request->subindex);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1829	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1830	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1831
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1832	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	1833	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1834	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1835	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1836
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1837	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1838	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	1839	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1840	fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1841	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1842
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1843	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1844
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1845	/** Prepare an SDO upload segment request.
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1846	*/
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1847	void ec_fsm_coe_up_prepare_segment_request(
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1848	ec_fsm_coe_t fsm /< Finite state machine /
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1849	)
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1850	{
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1851	uint8_t *data =
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1852	ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1853	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1854	fsm->request->errno = PTR_ERR(data);
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1855	fsm->state = ec_fsm_coe_error;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1856	return;
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1857	}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1858
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1859	EC_WRITE_U16(data, 0x2 << 12); // SDO request
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1860	EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1861	\| 0x3 << 5)); // upload segment request
1550 81a16ba13ae6 Avoid zeroing mailbox datagram because of VoE handlers. Florian Pose <fp@igh-essen.com> parents: 1544 diff changeset	1862	memset(data + 3, 0x00, 7);
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1863
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1864	if (fsm->slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1865	EC_SLAVE_DBG(fsm->slave, 1, "Upload segment request:\n");
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1866	ec_print_data(data, 10);
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1867	}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1868	}
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1869
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1870	/*****************************************************************************/
58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	1871
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1872	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1873	CoE state: UP RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1874	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1875	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1876
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1877	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	1878	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1879	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1880	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1881	ec_master_t *master = slave->master;
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1882	uint16_t rec_index;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1883	uint8_t *data, mbox_prot, rec_subindex;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1884	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1885	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1886	unsigned int expedited, size_specified;
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1887	int ret;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1888
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	1889	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	1890	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1891
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1892	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1893	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1894	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1895	EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1896	" datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	1897	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1898	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1899	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1900
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1901	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1902	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	1903	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1904	EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	1905	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1906	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1907	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1908
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1909	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	1910	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1911	request->errno = PTR_ERR(data);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1912	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1913	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1914	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1915
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1916	if (master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1917	EC_SLAVE_DBG(slave, 1, "Upload response:\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1918	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1919	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1920
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1921	if (mbox_prot != 0x03) { // CoE
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1922	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1923	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1924	EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1925	" 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	1926	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1927	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1928
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1929	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1930	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1931	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1932	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1933	fsm->state = ec_fsm_coe_up_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1934	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1935	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	1936
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1937	if (rec_size < 6) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1938	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	1939	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1940	EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1941	" (%zu bytes)!\n", rec_size);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1942	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	1943	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1944	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1945
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	1946	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1947	EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1948	EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1949	request->index, request->subindex);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1950	if (rec_size >= 10) {
59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1951	request->abort_code = EC_READ_U32(data + 6);
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1952	ec_canopen_abort_msg(slave, request->abort_code);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1953	} else {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1954	EC_SLAVE_ERR(slave, "No abort message.\n");
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	1955	}
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1956	request->errno = EIO;
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1957	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	1958	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1959	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1960
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1961	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1962	EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1963	EC_SLAVE_ERR(slave, "Received unknown response while"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1964	" uploading SDO 0x%04X:%02X.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1965	request->index, request->subindex);
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1966	ec_print_data(data, rec_size);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	1967	request->errno = EIO;
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1968	fsm->state = ec_fsm_coe_error;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1969	return;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1970	}
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1971
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1972	rec_index = EC_READ_U16(data + 3);
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1973	rec_subindex = EC_READ_U8(data + 5);
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1974
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1975	if (rec_index != request->index \|\| rec_subindex != request->subindex) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1976	EC_SLAVE_ERR(slave, "Received upload response for wrong SDO"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1977	" (0x%04X:%02X, requested: 0x%04X:%02X).\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	1978	rec_index, rec_subindex, request->index, request->subindex);
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1979	ec_print_data(data, rec_size);
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1980
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1981	// check for CoE response again
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1982	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1983	fsm->retries = EC_FSM_RETRIES;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1984	fsm->state = ec_fsm_coe_up_check;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1985	return;
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1986	}
0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	1987
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1988	// normal or expedited?
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1989	expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1990
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1991	if (expedited) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1992	size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1993	if (size_specified) {
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	1994	fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	1995	} else {
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	1996	fsm->complete_size = 4;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	1997	}
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	1998
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	1999	if (rec_size < 6 + fsm->complete_size) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2000	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	2001	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2002	EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
1543 373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2003	" response (only %zu bytes)!\n", 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	2004	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	2005	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2006	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2007
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2008	ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2009	if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2010	request->errno = -ret;
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	2011	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	2012	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	2013	}
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2014	} else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2015	if (rec_size < 10) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2016	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	2017	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2018	EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
1543 373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2019	" response (only %zu bytes)!\n", 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	2020	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	2021	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2022	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2023
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2024	data_size = rec_size - 10;
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2025	fsm->complete_size = EC_READ_U32(data + 6);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2026
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2027	if (!fsm->complete_size) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2028	request->errno = EIO;
860 ba5c38f0bb30 Minor change: Moved state assign to beginning. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	2029	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2030	EC_SLAVE_ERR(slave, "No complete size supplied!\n");
769 2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2031	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	2032	return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2033	}
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when Florian Pose <fp@igh-essen.com> parents: 739 diff changeset	2034
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2035	ret = ec_sdo_request_alloc(request, fsm->complete_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2036	if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2037	request->errno = -ret;
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	2038	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	2039	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	2040	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	2041
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2042	ret = ec_sdo_request_copy_data(request, data + 10, data_size);
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2043	if (ret) {
fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2044	request->errno = -ret;
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	2045	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	2046	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	2047	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 834 diff changeset	2048
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2049	fsm->toggle = 0;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2050
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2051	if (data_size < fsm->complete_size) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2052	EC_SLAVE_DBG(slave, 1, "SDO data incomplete (%zu / %u)."
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2053	" Segmenting...\n", data_size, fsm->complete_size);
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	2054	ec_fsm_coe_up_prepare_segment_request(fsm);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2055	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2056	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2057	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2058	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2059	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2060
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2061	if (master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2062	EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2063	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2064	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2065
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2066	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2067	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2068
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2069	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2070
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2071	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2072	CoE state: UP REQUEST.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2073	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2074	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2075
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2076	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	2077	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2078	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2079	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2080
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	2081	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	2082	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	2083
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2084	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2085	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2086	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2087	EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2088	" request datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	2089	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2090	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2091	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2092
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2093	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2094	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2095	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2096	EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2097	" request failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	2098	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2099	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2100	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2101
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	2102	fsm->jiffies_start = datagram->jiffies_sent;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2103
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2104	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	2105	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2106	fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2107	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2108
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2109	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2110
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2111	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2112	CoE state: UP CHECK.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2113	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2114
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2115	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	2116	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2117	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2118	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2119
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	2120	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	2121	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2122
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2123	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2124	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2125	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2126	EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2127	" datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	2128	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2129	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2130	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2131
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2132	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2133	fsm->request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2134	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2135	EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2136	" failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	2137	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2138	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2139	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2140
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2141	if (!ec_slave_mbox_check(datagram)) {
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	2142	unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 1037 diff changeset	2143	(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2144	if (diff_ms >= fsm->request->response_timeout) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2145	fsm->request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2146	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2147	EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2148	" segment response.\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2149	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2150	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2151
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2152	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	2153	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2154	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2155	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2156
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2157	// Fetch response
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2158	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	2159	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2160	fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2161	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2162
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2163	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2164
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2165	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2166	CoE state: UP RESPONSE.
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2167	\todo Timeout behavior
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2168	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2169
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2170	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	2171	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2172	ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2173	ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2174	ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2175	uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2176	size_t rec_size, data_size;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2177	ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2178	unsigned int last_segment;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2179
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	2180	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	2181	return; // FIXME: request again?
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2182
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2183	if (datagram->state != EC_DATAGRAM_RECEIVED) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2184	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2185	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2186	EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2187	" response datagram: ");
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1794 diff changeset	2188	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2189	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2190	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2191
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2192	if (datagram->working_counter != 1) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2193	request->errno = EIO;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2194	fsm->state = ec_fsm_coe_error;
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2195	EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2196	" response failed: ");
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	2197	ec_datagram_print_wc_error(datagram);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2198	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2199	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2200
1313 ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	2201	data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions. Florian Pose <fp@igh-essen.com> parents: 1310 diff changeset	2202	if (IS_ERR(data)) {
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2203	request->errno = PTR_ERR(data);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2204	fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2205	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2206	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2207
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2208	if (master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2209	EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2210	ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2211	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2212
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2213	if (mbox_prot != 0x03) { // CoE
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2214	EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2215	mbox_prot);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2216	request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2217	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2218	return;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2219	}
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2220
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2221	if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2222	// check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2223	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2224	fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2225	fsm->state = ec_fsm_coe_up_seg_check;
5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2226	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2227	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2228
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2229	if (rec_size < 10) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2230	EC_SLAVE_ERR(slave, "Received currupted SDO upload"
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2231	" segment response!\n");
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2232	ec_print_data(data, rec_size);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2233	request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2234	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2235	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2236	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2237
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	2238	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
1468 0a804ddbaf93 Improved error checking on SDO upload. Florian Pose <fp@igh-essen.com> parents: 1457 diff changeset	2239	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2240	EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2241	request->index, request->subindex);
1037 59f191c9185b Store abort code in sdo request; output it in user space; added some Florian Pose <fp@igh-essen.com> parents: 1035 diff changeset	2242	request->abort_code = EC_READ_U32(data + 6);
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2243	ec_canopen_abort_msg(slave, request->abort_code);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2244	request->errno = EIO;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2245	fsm->state = ec_fsm_coe_error;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2246	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2247	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2248
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	2249	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	2250	EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2251	if (fsm->slave->master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2252	EC_SLAVE_DBG(slave, 1, "Invalid SDO upload segment response!\n");
1053 0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2253	ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2254	}
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2255	// check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2256	ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2257	fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch. Florian Pose <fp@igh-essen.com> parents: 1043 diff changeset	2258	fsm->state = ec_fsm_coe_up_seg_check;
895 5c2125247dde Check for emergency requests during CoE transfers. Florian Pose <fp@igh-essen.com> parents: 874 diff changeset	2259	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2260	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2261
1533 bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2262	data_size = rec_size - 3; /* Header of segment upload is smaller than
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2263	normal upload */
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2264	if (rec_size == 10) {
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2265	uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2266	data_size -= seg_size;
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2267	}
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2268
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2269	if (request->data_size + data_size > fsm->complete_size) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2270	EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2271	" exceeding complete size!\n",
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2272	request->index, request->subindex);
1948 fa1c4fb0a8da Output correct errno when transferring SDOs via command-line interface. Florian Pose <fp@igh-essen.com> parents: 1931 diff changeset	2273	request->errno = EOVERFLOW;
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2274	fsm->state = ec_fsm_coe_error;
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2275	return;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2276	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2277
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	2278	memcpy(request->data + request->data_size, data + 3, data_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	2279	request->data_size += data_size;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2280
1533 bd150d066ea2 Fixed SDO upload segment response for 10 bytes mailbox length (thanks to Joerg Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2281	last_segment = EC_READ_U8(data + 2) & 0x01;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2282	if (!last_segment) {
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2283	fsm->toggle = !fsm->toggle;
1498 58532f81a456 Fixed SDO upload segment response (thanks to Christoph Peter). Florian Pose <fp@igh-essen.com> parents: 1495 diff changeset	2284	ec_fsm_coe_up_prepare_segment_request(fsm);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 501 diff changeset	2285	fsm->retries = EC_FSM_RETRIES;
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2286	fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2287	return;
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2288	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2289
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2290	if (request->data_size != fsm->complete_size) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2291	EC_SLAVE_WARN(slave, "SDO upload 0x%04X:%02X: Assembled data"
1543 373cd456dc26 Avoid warnings on x86_64 platform. Thanks to Thomas Elste. Florian Pose <fp@igh-essen.com> parents: 1526 diff changeset	2292	" size (%zu) does not match complete size (%u)!\n",
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2293	request->index, request->subindex,
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2294	request->data_size, fsm->complete_size);
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2295	}
3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1338 diff changeset	2296
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2297	if (master->debug_level) {
1921 d9cf40facbc4 Improved syslog macros. Florian Pose <fp@igh-essen.com> parents: 1907 diff changeset	2298	EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
874 022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2299	ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2300	}
022f869ea40f Added CoE debugging. Florian Pose <fp@igh-essen.com> parents: 860 diff changeset	2301
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2302	fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2303	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2304
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2305	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2306
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2307	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2308	State: ERROR.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2309	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2310
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2311	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	2312	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2313	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2314
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2315	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2316
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2317	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2318	State: END.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2319	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2320
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2321	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	2322	{
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2323	}
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2324
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2325	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 04 Jan 2012 15:57:10 +0100
branch	redundancy
changeset 2308	f842ca3436ba
parent 1948	fa1c4fb0a8da
child 2041	f5b31f46c38f
child 2196	6b481c7b3b34
permissions	-rw-r--r--