master/fsm_coe.c
author Florian Pose <fp@igh-essen.com>
Thu, 21 Feb 2008 09:50:54 +0000
changeset 807 f8bca95ab75d
parent 769 2195c2ea37b4
child 814 a51f857b1b2d
permissions -rw-r--r--
Moved ecrt_domain_reg_pdo_entry() to
ecrt_slave_config_reg_pdo_entry().
436
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
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void ec_fsm_coe_down_start(ec_fsm_coe_t *);
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void ec_fsm_coe_down_request(ec_fsm_coe_t *);
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void ec_fsm_coe_down_check(ec_fsm_coe_t *);
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void ec_fsm_coe_down_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_start(ec_fsm_coe_t *);
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void ec_fsm_coe_up_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_response(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
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void ec_fsm_coe_end(ec_fsm_coe_t *);
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void ec_fsm_coe_error(ec_fsm_coe_t *);
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/*****************************************************************************/
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/**
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   SDO abort messages.
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   The "abort SDO transfer request" supplies an abort code,
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   which can be translated to clear text. This table does
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   the mapping of the codes and messages.
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*/
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const ec_code_msg_t sdo_abort_messages[] = {
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    {0x05030000, "Toggle bit not changed"},
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    {0x05040000, "SDO protocol timeout"},
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    {0x05040001, "Client/Server command specifier not valid or unknown"},
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    {0x05040005, "Out of memory"},
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    {0x06010000, "Unsupported access to an object"},
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    {0x06010001, "Attempt to read a write-only object"},
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    {0x06010002, "Attempt to write a read-only object"},
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    {0x06020000, "This object does not exist in the object directory"},
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    {0x06040041, "The object cannot be mapped into the PDO"},
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    {0x06040042, "The number and length of the objects to be mapped would"
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     " exceed the PDO length"},
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    {0x06040043, "General parameter incompatibility reason"},
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    {0x06040047, "Gerneral internal incompatibility in device"},
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    {0x06060000, "Access failure due to a hardware error"},
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    {0x06070010, "Data type does not match, length of service parameter does"
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     " not match"},
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    {0x06070012, "Data type does not match, length of service parameter too"
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     " high"},
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    {0x06070013, "Data type does not match, length of service parameter too"
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     " low"},
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    {0x06090011, "Subindex does not exist"},
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    {0x06090030, "Value range of parameter exceeded"},
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    {0x06090031, "Value of parameter written too high"},
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    {0x06090032, "Value of parameter written too low"},
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    {0x06090036, "Maximum value is less than minimum value"},
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    {0x08000000, "General error"},
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    {0x08000020, "Data cannot be transferred or stored to the application"},
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    {0x08000021, "Data cannot be transferred or stored to the application"
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     " because of local control"},
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    {0x08000022, "Data cannot be transferred or stored to the application"
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     " because of the present device state"},
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    {0x08000023, "Object dictionary dynamic generation fails or no object"
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     " dictionary is present"},
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    {}
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};
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/*****************************************************************************/
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/**
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   Outputs an SDO abort message.
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*/
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void ec_canopen_abort_msg(uint32_t abort_code)
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{
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    const ec_code_msg_t *abort_msg;
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    for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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        if (abort_msg->code == abort_code) {
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            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
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                   abort_msg->code, abort_msg->message);
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            return;
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        }
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    }
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    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
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}
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts reading a slaves' SDO dictionary.
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*/
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
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                           ec_slave_t *slave /**< EtherCAT slave */
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                           )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_dict_start;
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}
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/*****************************************************************************/
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/**
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   Starts to download an SDO to a slave.
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*/
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void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
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                         ec_slave_t *slave, /**< EtherCAT slave */
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                         ec_sdo_data_t *sdodata /**< SDO data object */
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                         )
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{
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    fsm->slave = slave;
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    fsm->sdodata = sdodata;
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    fsm->state = ec_fsm_coe_down_start;
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}
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/*****************************************************************************/
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/**
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   Starts to upload an SDO from a slave.
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*/
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void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */
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                       ec_slave_t *slave, /**< EtherCAT slave */
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                       ec_sdo_request_t *request /**< SDO request */
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                       )
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{
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    fsm->slave = slave;
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    fsm->request = request;
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    fsm->state = ec_fsm_coe_up_start;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_end;
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}
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/******************************************************************************
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 *  CoE dictionary state machine
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 *****************************************************************************/
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/**
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   CoE state: DICT START.
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*/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    uint8_t *data;
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    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
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        fsm->state = ec_fsm_coe_error;
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        return;
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    }
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    EC_WRITE_U16(data, 0x8 << 12); // SDO information
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    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
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    EC_WRITE_U8 (data + 3, 0x00);
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    EC_WRITE_U16(data + 4, 0x0000);
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    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
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505
bc443ca0077f State machines re-send datagrams on timeout.
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    fsm->retries = EC_FSM_RETRIES;
436
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    fsm->state = ec_fsm_coe_dict_request;
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}
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/*****************************************************************************/
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/**
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   CoE state: DICT REQUEST.
505
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   \todo Timeout behavior
436
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*/
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return; // FIXME: request again?
505
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_coe_error;
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        EC_ERR("Failed to receive CoE dictionary request datagram for"
594
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               " slave %i (datagram state %i).\n",
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               slave->ring_position, datagram->state);
505
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        return;
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    }
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    if (datagram->working_counter != 1) {
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        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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        EC_ERR("Reception of CoE dictionary request failed on slave %i: ",
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                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   294
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
    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
   301
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
*/
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
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
   312
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   316
    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
   317
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   318
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   319
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   320
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   321
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   322
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   323
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   324
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   325
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   326
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   327
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   328
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   329
        EC_ERR("Reception of CoE mailbox check datagram failed on slave %i: ",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   331
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
            EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
        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
   345
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
    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
   351
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    fsm->state = ec_fsm_coe_dict_response;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
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
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   359
   \todo Timeout behavior
436
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
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
   363
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
    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
   369
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
    ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   372
    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
   373
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   374
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   375
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   376
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   377
        EC_ERR("Failed to receive CoE dictionary response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   378
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   379
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   380
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   381
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   382
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   383
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   384
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   385
        EC_ERR("Reception of CoE dictionary response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   386
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   387
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   398
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
        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
   400
        return;
436
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
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        EC_ERR("SDO information error response at slave %i!\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
        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
   409
        return;
436
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
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        EC_ERR("Invalid SDO list response at slave %i!\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
        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
   418
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
    if (rec_size < 8) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
        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
   425
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
    sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
        sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
        if (!sdo_index) {
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   433
            if (slave->master->debug_level)
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   434
                EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   435
                        slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
            continue;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
            EC_ERR("Failed to allocate memory for SDO!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        if (ec_sdo_init(sdo, sdo_index, slave)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
            EC_ERR("Failed to init SDO!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
            return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   454
    fragments_left = EC_READ_U16(data + 4);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   455
    if (slave->master->debug_level && fragments_left) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   456
        EC_DBG("SDO list fragments left: %u\n", fragments_left);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   457
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   458
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   459
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
        fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
        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
   462
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
    if (list_empty(&slave->sdo_dictionary)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        // no SDOs in dictionary. finished.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    // fetch SDO descriptions
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    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
   475
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
    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
   483
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
    EC_WRITE_U16(data + 4, 0x0000);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
    EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   487
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
    fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   495
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
*/
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
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
   499
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   503
    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
   504
        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
   505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   506
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   507
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   508
        EC_ERR("Failed to receive CoE SDO description request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   509
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   510
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   511
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   512
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   513
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   514
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   515
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   516
        EC_ERR("Reception of CoE SDO description"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   517
                " request failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   518
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
    fsm->cycles_start = datagram->cycles_sent;
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
    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
   525
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
   CoE state: DICT DESC CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
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
   536
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   540
    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
   541
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   542
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   543
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   544
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   545
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   546
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   547
                slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   551
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   552
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   553
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   554
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   555
        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
   556
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   557
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   558
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
            EC_ERR("Timeout while checking SDO description on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
            return;
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
        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
   569
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
    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
   575
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
    fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   583
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
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
   587
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   595
    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
   596
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   597
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   598
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   599
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   600
        EC_ERR("Failed to receive CoE SDO description response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   601
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   602
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   603
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   604
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   605
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   606
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   607
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   608
        EC_ERR("Reception of CoE SDO description"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   609
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   610
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   620
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   621
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   623
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
        EC_ERR("SDO information error response at slave %i while"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
               " fetching SDO 0x%04X!\n", slave->ring_position,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
        EC_READ_U16(data + 6) != sdo->index) { // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
        EC_ERR("Invalid object description response at slave %i while"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
               " fetching SDO 0x%04X!\n", slave->ring_position,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
    if (rec_size < 12) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
	return;
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
    sdo->subindices = EC_READ_U8(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
    sdo->object_code = EC_READ_U8(data + 11);
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
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
    if (name_size) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
        if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
            EC_ERR("Failed to allocate SDO name!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
            return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
        sdo->name[name_size] = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
    if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
        EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
    fsm->subindex = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   683
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
    EC_WRITE_U16(data, 0x8 << 12); // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
    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
   686
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
    EC_WRITE_U16(data + 4, 0x0000);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
    EC_WRITE_U16(data + 6, sdo->index); // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
    EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
    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
   691
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   692
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
    fsm->state = ec_fsm_coe_dict_entry_request;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   697
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   699
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   700
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   703
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
   704
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   709
    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
   710
        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
   711
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   712
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   713
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   714
        EC_ERR("Failed to receive CoE SDO entry request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   715
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   716
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   717
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   718
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   719
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   720
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   721
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   722
        EC_ERR("Reception of CoE SDO entry request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   723
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   724
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   730
    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
   731
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
   CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
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
   742
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   747
    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
   748
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   749
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   750
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   751
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   752
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   753
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   754
               slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   758
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   759
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   760
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   761
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   762
        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
   763
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   764
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   765
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   767
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   768
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
            EC_ERR("Timeout while checking SDO entry on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
        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
   776
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   780
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
    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
   782
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
    fsm->state = ec_fsm_coe_dict_entry_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   785
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   786
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   787
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   788
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   789
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   790
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   791
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   792
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   793
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
   794
                                    /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   795
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   796
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   797
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   798
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   799
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   800
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
    ec_sdo_entry_t *entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   803
    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
   804
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   805
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   806
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   807
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   808
        EC_ERR("Failed to receive CoE SDO description response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   809
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   810
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   811
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   812
    }
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->working_counter != 1) {
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;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   816
        EC_ERR("Reception of CoE SDO description"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   817
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   818
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   822
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   823
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   824
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   825
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   826
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   827
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   828
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   829
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   830
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   831
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   832
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   833
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   834
    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   835
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   836
        EC_ERR("SDO information error response at slave %i while"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   837
               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   838
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   839
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   840
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   841
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   843
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   844
    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   845
        (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
        EC_READ_U16(data + 6) != sdo->index || // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   847
        EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
        EC_ERR("Invalid entry description response at slave %i while"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
               " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   853
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   856
    if (rec_size < 16) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   857
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   859
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   861
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   862
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   863
    data_size = rec_size - 16;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   864
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
    if (!(entry = (ec_sdo_entry_t *)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   866
          kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   867
        EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   869
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   871
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
    if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
        EC_ERR("Failed to init entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   874
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   875
	return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   878
    entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
    entry->bit_length = EC_READ_U16(data + 12);
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
    if (data_size) {
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   882
        uint8_t *desc;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   883
        if (!(desc = kmalloc(data_size + 1, GFP_ATOMIC))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   884
            EC_ERR("Failed to allocate SDO entry name!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   885
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   886
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   887
        }
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   888
        memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   889
        desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   890
        entry->description = desc;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   891
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   892
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   893
    list_add_tail(&entry->list, &sdo->entries);
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
    if (fsm->subindex < sdo->subindices) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
        fsm->subindex++;
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
        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   901
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   902
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   903
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
        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
   905
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   906
        EC_WRITE_U16(data + 4, 0x0000);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   907
        EC_WRITE_U16(data + 6, sdo->index); // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   908
        EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   909
        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
   910
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   911
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   912
        fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   913
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   914
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   915
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   916
    // another SDO description to fetch?
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
        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
   919
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   920
        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   921
            fsm->state = ec_fsm_coe_error;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   925
        EC_WRITE_U16(data, 0x8 << 12); // SDO information
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   926
        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
   927
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   928
        EC_WRITE_U16(data + 4, 0x0000);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   929
        EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   931
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   933
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   934
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   935
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   936
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   937
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   938
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   939
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   940
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   941
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   942
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   943
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   944
   CoE state: DOWN START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   945
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   946
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   947
void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   948
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   949
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   950
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   951
    ec_sdo_data_t *sdodata = fsm->sdodata;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   952
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   953
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   954
    if (fsm->slave->master->debug_level)
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   955
        EC_DBG("Downloading SDO 0x%04X:%i to slave %i.\n",
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   956
               sdodata->index, sdodata->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   957
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
    if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
        EC_ERR("SDO fragmenting not supported yet!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   961
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   964
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
                                            sdodata->size + 10))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   967
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   968
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   969
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   970
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   971
    EC_WRITE_U8 (data + 2, (0x1 // size specified
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
                            | 0x1 << 5)); // Download request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   973
    EC_WRITE_U16(data + 3, sdodata->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
    EC_WRITE_U8 (data + 5, sdodata->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
    EC_WRITE_U32(data + 6, sdodata->size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   976
    memcpy(data + 10, sdodata->data, sdodata->size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   978
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   981
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   982
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   983
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   986
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   987
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   988
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   989
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
   990
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   991
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   992
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   994
    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
   995
        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
   996
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   997
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   998
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   999
        EC_ERR("Failed to receive CoE download request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1000
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1001
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1002
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1003
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1004
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1005
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1006
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1007
        EC_ERR("Reception of CoE download request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1008
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1009
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1010
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1015
    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
  1016
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
    fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1018
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1020
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
   CoE state: DOWN CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1024
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1026
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
  1027
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1028
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1029
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1030
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1031
    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
  1032
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1033
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1034
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1035
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1036
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1037
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1038
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1039
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1040
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1041
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1042
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1043
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1044
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1045
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1046
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1047
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1048
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1049
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1050
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1053
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1054
            EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1055
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1056
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1057
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1059
        ec_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
  1060
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1061
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1062
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1063
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1064
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1065
    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
  1066
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
    fsm->state = ec_fsm_coe_down_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1068
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1069
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1070
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1071
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1072
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1073
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1074
   \todo Timeout behavior
436
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
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
  1078
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1080
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1081
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1082
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1083
    ec_sdo_data_t *sdodata = fsm->sdodata;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1085
    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
  1086
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1087
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1088
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1089
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1090
        EC_ERR("Failed to receive CoE download response datagram from"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1091
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1092
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1093
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1094
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1095
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1096
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1097
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1098
        EC_ERR("Reception of CoE download response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1099
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1100
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1102
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1103
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1107
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1108
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1109
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1110
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1111
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1112
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1113
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1114
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1115
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1116
    if (rec_size < 6) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1117
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1118
        EC_ERR("Received data is too small (%i bytes):\n", rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1119
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1120
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1121
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1122
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1123
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1124
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1125
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1126
        EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1127
               sdodata->index, sdodata->subindex, sdodata->size,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1128
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1129
        if (rec_size < 10) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1130
            EC_ERR("Incomplete Abort command:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1131
            ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1132
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1133
        else
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1134
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1135
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1136
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1137
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1138
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1139
        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1140
        EC_READ_U16(data + 3) != sdodata->index || // index
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1141
        EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1142
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1143
        EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1144
               sdodata->index, sdodata->subindex, sdodata->size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1145
        EC_ERR("Invalid SDO download response at slave %i!\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1146
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1147
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1148
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1149
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1150
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1151
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1152
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1153
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1154
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1155
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1156
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1157
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1158
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1159
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1160
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
  1161
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1162
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1163
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1164
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1165
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1166
    ec_sdo_entry_t *entry = request->entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1167
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1168
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
  1169
    if (master->debug_level)
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
  1170
        EC_DBG("Uploading SDO 0x%04X:%i from slave %i.\n",
739
4a02162a6301 Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
  1171
               entry->sdo->index, entry->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1172
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1173
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1174
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1175
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1176
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1177
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1178
    EC_WRITE_U16(data, 0x2 << 12); // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1179
    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
739
4a02162a6301 Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
  1180
    EC_WRITE_U16(data + 3, entry->sdo->index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1181
    EC_WRITE_U8 (data + 5, entry->subindex);
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1182
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
        EC_DBG("Upload request:\n");
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1186
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1187
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1189
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
    fsm->state = ec_fsm_coe_up_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1193
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1195
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1196
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1197
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1198
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1199
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1200
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
  1201
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1203
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1204
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1205
    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
  1206
        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
  1207
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1208
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1209
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1210
        EC_ERR("Failed to receive CoE upload request for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1211
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1212
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1213
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1214
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1215
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1216
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1217
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1218
        EC_ERR("Reception of CoE upload request failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1219
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1220
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1221
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1222
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1223
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1224
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1225
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1226
    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
  1227
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1228
    fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1235
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1236
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1237
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
  1238
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1239
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1240
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1242
    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
  1243
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1244
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1245
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1246
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1247
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1248
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1249
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1250
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1251
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1252
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1253
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1254
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1255
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1256
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1257
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1258
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1263
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1264
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1265
            EC_ERR("Timeout while checking SDO upload on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1266
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1267
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
        }
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_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
  1271
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1272
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1273
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1274
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1275
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1276
    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
  1277
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1279
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1281
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1282
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1283
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1284
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1285
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1286
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1287
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1288
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
  1289
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1290
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1291
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1292
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1293
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1294
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1296
    ec_sdo_entry_t *entry = request->entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1297
    uint32_t complete_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
    unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1299
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1300
    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
  1301
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1302
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1303
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1304
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1305
        EC_ERR("Failed to receive CoE upload response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1306
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1307
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1308
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1309
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1310
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1311
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1312
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1313
        EC_ERR("Reception of CoE upload response failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1314
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1315
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1316
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1319
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1320
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1321
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1322
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1323
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1324
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1325
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1326
        EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1327
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1328
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1329
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1330
    if (mbox_prot != 0x03) { // CoE
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1331
        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1332
        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
  1333
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1334
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1335
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1336
    if (rec_size < 3) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1337
        EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1338
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1339
        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
  1340
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1341
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1342
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1343
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1344
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1345
        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
739
4a02162a6301 Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
  1346
               entry->sdo->index, entry->subindex, slave->ring_position);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1347
        if (rec_size >= 10)
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1348
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1349
        else
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1350
            EC_ERR("No abort message.\n");
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1351
        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
  1352
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1353
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1354
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1355
    if (request->data) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1356
        kfree(request->data);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1357
        request->data = NULL;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1358
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1359
    request->size = 0;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1360
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1361
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1362
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1363
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1364
    if (expedited) {
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1365
        if (rec_size < 7) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1366
            EC_ERR("Received currupted SDO expedited upload"
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1367
                    " response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1368
            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
  1369
            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
  1370
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1371
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1372
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1373
        if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1374
                EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1375
                EC_READ_U16(data + 3) != entry->sdo->index || // index
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1376
                EC_READ_U8 (data + 5) != entry->subindex) { // subindex
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1377
            EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1378
            EC_ERR("Invalid SDO upload response at slave %i!\n",
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1379
                    slave->ring_position);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1380
            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
  1381
            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
  1382
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1383
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1384
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1385
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1386
        if (size_specified) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1387
            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
  1388
        } else {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1389
            complete_size = 4;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1390
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1391
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1392
        if (rec_size < 6 + complete_size) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1393
            EC_ERR("Received currupted SDO expedited upload"
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1394
                    " response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1395
            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
  1396
            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
  1397
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1398
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1399
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1400
        if (!(request->data = (uint8_t *)
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1401
                    kmalloc(complete_size + 1, GFP_ATOMIC))) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1402
            EC_ERR("Failed to allocate %i bytes of SDO data!\n",
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1403
                    complete_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1404
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1405
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1406
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1407
        request->data[complete_size] = 0x00; // just to be sure...
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1408
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1409
        memcpy(request->data, data + 6, complete_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1410
        request->size = complete_size;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1411
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1412
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1413
        if (rec_size < 10) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1414
            EC_ERR("Received currupted SDO normal upload"
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1415
                    " response (only %u bytes)!\n", rec_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1416
            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
  1417
            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
  1418
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1419
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1420
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1421
        if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1422
                EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1423
                EC_READ_U16(data + 3) != entry->sdo->index || // index
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1424
                EC_READ_U8 (data + 5) != entry->subindex) { // subindex
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1425
            EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1426
            EC_ERR("Invalid SDO upload response at slave %i!\n",
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1427
                    slave->ring_position);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1428
            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
  1429
            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
  1430
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1431
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1432
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1433
        data_size = rec_size - 10;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1434
        complete_size = EC_READ_U32(data + 6);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1435
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1436
        if (!complete_size) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1437
            EC_ERR("No complete size supplied!\n");
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1438
            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
  1439
            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
  1440
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1441
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1442
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1443
        if (!(request->data = (uint8_t *)
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1444
                    kmalloc(complete_size + 1, GFP_ATOMIC))) {
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1445
            EC_ERR("Failed to allocate %i bytes of SDO data!\n",
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1446
                    complete_size);
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1447
            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
  1448
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1449
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1450
        request->data[complete_size] = 0x00; // just to be sure...
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1451
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1452
        memcpy(request->data, data + 10, data_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1453
        request->size = complete_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1454
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1455
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1456
        if (data_size < complete_size) {
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1457
            EC_WARN("SDO data incomplete (%i / %i).\n",
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1458
                    data_size, complete_size);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1459
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1460
            if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1461
                                                    0x03, 3))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1462
                fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1463
                return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1464
            }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1465
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1466
            EC_WRITE_U16(data, 0x2 << 12); // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1467
            EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1468
                                    | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1469
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1470
            if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1471
                EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1472
                ec_print_data(data, 3);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1473
            }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1474
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1475
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1476
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1477
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1478
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1479
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1480
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1481
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1482
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1483
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1484
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1485
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1486
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1487
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1488
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1489
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1490
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1491
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
  1492
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1493
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1494
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1495
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1496
    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
  1497
        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
  1498
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1499
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1500
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1501
        EC_ERR("Failed to receive CoE upload segment request datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1502
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1503
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1504
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1505
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1506
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1507
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1508
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1509
        EC_ERR("Reception of CoE upload segment"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1510
                " request failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1511
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1512
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1513
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1514
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1515
    fsm->cycles_start = datagram->cycles_sent;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1516
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1517
    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
  1518
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1519
    fsm->state = ec_fsm_coe_up_seg_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1520
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1521
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1522
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1523
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1524
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1525
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1526
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1527
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1528
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
  1529
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1530
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1531
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1532
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1533
    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
  1534
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1535
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1536
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1537
        fsm->state = ec_fsm_coe_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1538
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1539
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1540
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1541
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1542
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1543
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1544
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1545
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1546
        EC_ERR("Reception of CoE mailbox check"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1547
                " datagram failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1548
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1549
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1550
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1551
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1552
    if (!ec_slave_mbox_check(datagram)) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1553
        if (datagram->cycles_received
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1554
            - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1555
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1556
            EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1557
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1558
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1559
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1560
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1561
        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
  1562
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1563
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1564
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1565
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1566
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1567
    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
  1568
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1569
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1570
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1571
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1572
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1573
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1574
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1575
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1576
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1577
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1578
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1579
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
  1580
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1581
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1582
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1583
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1584
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1585
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1586
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1587
    ec_sdo_entry_t *entry = request->entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1588
    uint32_t seg_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1589
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1590
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1591
    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
  1592
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1593
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1594
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1595
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1596
        EC_ERR("Failed to receive CoE upload segment response datagram for"
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1597
               " slave %i (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1598
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1599
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1600
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1601
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1602
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1603
        fsm->state = ec_fsm_coe_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1604
        EC_ERR("Reception of CoE upload segment"
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1605
                " response failed on slave %i: ", slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1606
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1607
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1608
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1609
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1610
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1611
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1612
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1613
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1614
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1615
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1616
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1617
        EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1618
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1619
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1620
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1621
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1622
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1623
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1624
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1625
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1626
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1627
    if (rec_size < 10) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1628
        EC_ERR("Received currupted SDO upload segment response!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1629
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1630
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1631
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1632
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1633
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1634
    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1635
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1636
        EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
739
4a02162a6301 Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
  1637
               entry->sdo->index, entry->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1638
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1639
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1640
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1641
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1642
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1643
    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1644
        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
739
4a02162a6301 Removed 'sdo' field from ec_sdo_request_t; Exported
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
  1645
        EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1646
        EC_ERR("Invalid SDO upload segment response at slave %i!\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1647
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1648
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1649
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1650
	return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1651
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1652
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1653
    last_segment = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1654
    seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1655
    data_size = rec_size - 10;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1656
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1657
    if (data_size != seg_size) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1658
        EC_WARN("SDO segment data invalid (%i / %i)"
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1659
                " - Fragmenting not implemented.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1660
                data_size, seg_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1661
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1662
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1663
    memcpy(request->data + request->size, data + 10, data_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1664
    request->size += data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1665
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1666
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1667
        fsm->toggle = !fsm->toggle;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1668
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1669
        if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1670
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1671
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1672
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1673
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1674
        EC_WRITE_U16(data, 0x2 << 12); // SDO request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1675
        EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1676
                                | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1677
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1678
        if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1679
            EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1680
            ec_print_data(data, 3);
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
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1683
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1684
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1685
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1688
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1689
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1691
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1692
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1693
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1694
   State: ERROR.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1695
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1696
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1697
void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1698
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1699
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1700
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1701
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1702
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1703
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1704
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1705
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1706
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1707
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
  1708
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1709
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1710
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1711
/*****************************************************************************/