master/fsm_coe.c
author Florian Pose <fp@igh-essen.com>
Wed, 02 Jul 2008 14:06:10 +0000
changeset 1082 ff06c58e269c
parent 1053 0cb9604cbaa7
child 1092 69393cf60399
permissions -rw-r--r--
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Added EC_MAX_SYNC_MANAGERS to ecrt.h.
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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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/** Maximum time in ms to wait for responses when reading out the dictionary.
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 */
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#define EC_FSM_COE_DICT_TIMEOUT 3000
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/*****************************************************************************/
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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);
436
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}
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts reading a slaves' Sdo dictionary.
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*/
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
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                           ec_slave_t *slave /**< EtherCAT slave */
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                           )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_dict_start;
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}
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/*****************************************************************************/
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/**
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   Starts to transfer an Sdo to/from a slave.
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*/
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void ec_fsm_coe_transfer(
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        ec_fsm_coe_t *fsm, /**< State machine. */
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        ec_slave_t *slave, /**< EtherCAT slave. */
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        ec_sdo_request_t *request /**< Sdo request. */
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        )
436
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{
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    fsm->slave = slave;
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    fsm->request = request;
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    if (request->dir == EC_DIR_OUTPUT)
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        fsm->state = ec_fsm_coe_down_start;
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    else
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        fsm->state = ec_fsm_coe_up_start;
436
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_end;
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}
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895
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/*****************************************************************************/
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/**
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 */
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int ec_fsm_coe_check_emergency(
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        ec_fsm_coe_t *fsm, /**< Finite state machine */
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        const uint8_t *data, /**< CoE mailbox data. */
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        size_t size /**< CoE mailbox data size. */
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        )
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{
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    if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
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        return 0;
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    if (size < 10) {
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        EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
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                fsm->slave->ring_position);
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        ec_print_data(data, size);
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        return 1;
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    }
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    EC_INFO("CoE Emergency Request received from slave %u:\n",
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            fsm->slave->ring_position);
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    EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
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            EC_READ_U16(data + 2), EC_READ_U8(data + 4));
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    ec_print_data(data + 5, 5);
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    return 1;
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   258
}
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436
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/******************************************************************************
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 *  CoE dictionary state machine
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 *****************************************************************************/
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/**
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   CoE state: DICT START.
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*/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    uint8_t *data;
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834
0791aac03180 Separated SII data from slave.
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    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
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        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
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        fsm->state = ec_fsm_coe_error;
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        return;
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    }
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436
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    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
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        fsm->state = ec_fsm_coe_error;
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        return;
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   283
    }
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diff changeset
   284
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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diff changeset
   285
    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   286
    EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   287
    EC_WRITE_U8 (data + 3, 0x00);
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parents:
diff changeset
   288
    EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   289
    EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
436
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diff changeset
   290
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 501
diff changeset
   291
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
    fsm->state = ec_fsm_coe_dict_request;
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   293
}
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   294
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   295
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   296
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   297
/**
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   298
   CoE state: DICT REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   299
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
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parents:
diff changeset
   300
*/
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parents:
diff changeset
   301
63214beb641d Layed out CoE state machine.
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diff changeset
   302
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
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parents:
diff changeset
   303
{
63214beb641d Layed out CoE state machine.
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diff changeset
   304
    ec_datagram_t *datagram = fsm->datagram;
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parents:
diff changeset
   305
    ec_slave_t *slave = fsm->slave;
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parents:
diff changeset
   306
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   307
    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
   308
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   309
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   310
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   311
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   312
        EC_ERR("Failed to receive CoE dictionary request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   313
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   314
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   315
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   316
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   317
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   318
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   319
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   320
        EC_ERR("Reception of CoE dictionary request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   321
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   322
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   326
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
    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
   329
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
    fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
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
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
   CoE state: DICT CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
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
   340
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   344
    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
   345
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   346
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   347
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   348
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   349
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   350
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   351
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   352
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   353
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   354
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   355
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   356
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   357
        EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
               slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   359
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   364
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   365
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   366
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
            fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   368
            EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        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
   374
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
    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
   380
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
    fsm->state = ec_fsm_coe_dict_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
   CoE state: DICT RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   388
   \todo Timeout behavior
436
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
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
   392
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    size_t rec_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
    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
   398
    uint16_t sdo_index, fragments_left;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
    ec_sdo_t *sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   401
    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
   402
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   403
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   404
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   405
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   406
        EC_ERR("Failed to receive CoE dictionary response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   407
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   408
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   409
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   410
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   411
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   412
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   413
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   414
        EC_ERR("Reception of CoE dictionary response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   415
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   416
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    }
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
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   427
        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
   428
        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
   429
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   432
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   433
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   434
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   435
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   436
        fsm->state = ec_fsm_coe_dict_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   437
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   438
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   439
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   440
    if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   441
        EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   442
                rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   443
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   444
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   445
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   446
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   447
    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
        (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   449
        EC_ERR("Sdo information error response at slave %u!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
               slave->ring_position);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   451
        if (rec_size < 10) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   452
            EC_ERR("Incomplete Sdo information error response:\n");
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   453
            ec_print_data(data, rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   454
        } else {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   455
            ec_canopen_abort_msg(EC_READ_U32(data + 6));
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   456
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        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
   458
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   461
    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
        (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   463
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   464
            EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   465
                    slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   466
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   467
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   468
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   469
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   470
        fsm->state = ec_fsm_coe_dict_check;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   471
        return;
436
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
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   474
    if (rec_size < 8 || rec_size % 2) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   475
        EC_ERR("Invalid data size %u!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        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
   478
        return;
436
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
    sdo_count = (rec_size - 8) / 2;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
    for (i = 0; i < sdo_count; i++) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        sdo_index = EC_READ_U16(data + 8 + i * 2);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
        if (!sdo_index) {
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   486
            if (slave->master->debug_level)
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   487
                EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",
461
b9eda9235173 Print certain warnings only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 459
diff changeset
   488
                        slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
            continue;
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
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   492
        if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   493
            EC_ERR("Failed to allocate memory for Sdo!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
            return;
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
992
50a44cbd30af Removed kobjects from sdo and slave.
Florian Pose <fp@igh-essen.com>
parents: 991
diff changeset
   498
        ec_sdo_init(sdo, slave, sdo_index);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
        list_add_tail(&sdo->list, &slave->sdo_dictionary);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   502
    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
   503
    if (slave->master->debug_level && fragments_left) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   504
        EC_DBG("Sdo list fragments left: %u\n", fragments_left);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   505
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   506
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
   507
    if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   508
        fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
        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
   510
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
        fsm->state = ec_fsm_coe_dict_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
    if (list_empty(&slave->sdo_dictionary)) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   516
        // no Sdos in dictionary. finished.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
        fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   521
    // fetch Sdo descriptions
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
    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
   523
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
    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
   525
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
        return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   529
    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
    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
   531
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
    EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   533
    EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   535
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
    fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
   CoE state: DICT DESC REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   543
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
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
   547
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   551
    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
   552
        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
   553
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   554
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   555
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   556
        EC_ERR("Failed to receive CoE Sdo description request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   557
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   558
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   559
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   560
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   561
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   562
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   563
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   564
        EC_ERR("Reception of CoE Sdo description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   565
                " request failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   566
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   570
    fsm->jiffies_start = datagram->jiffies_sent;
436
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
    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
   573
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
    fsm->state = ec_fsm_coe_dict_desc_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
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
   CoE state: DICT DESC CHECK.
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
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
   584
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   585
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   588
    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
   589
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   590
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   591
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   592
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   593
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   594
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   595
                slave->ring_position, datagram->state);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   599
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   600
        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
   601
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   602
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   603
        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
   604
        return;
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
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   608
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   609
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   610
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
            fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   612
            EC_ERR("Timeout while checking Sdo description on slave %u.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
        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
   618
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   620
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   621
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   623
    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
   624
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
    fsm->state = ec_fsm_coe_dict_desc_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
   CoE state: DICT DESC RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   632
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
*/
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
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
   636
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
    size_t rec_size, name_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   644
    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
   645
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   646
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   647
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   648
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   649
        EC_ERR("Failed to receive CoE Sdo description response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   650
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   651
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   652
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   653
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   654
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   655
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   656
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   657
        EC_ERR("Reception of CoE Sdo description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   658
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   659
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   662
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   670
        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
   671
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   672
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   673
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   674
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   675
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   676
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   677
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   678
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   679
        fsm->state = ec_fsm_coe_dict_desc_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   680
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   681
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   683
    if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   684
        EC_ERR("Received corrupted Sdo description response (size %u).\n",
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   685
                rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   686
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   687
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   688
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   689
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   690
    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   692
        EC_ERR("Sdo information error response at slave %u while"
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   693
               " fetching Sdo 0x%04X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   694
               sdo->index);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   697
        return;
436
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
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   700
    if (rec_size < 8) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   701
        EC_ERR("Received corrupted Sdo description response (size %u).\n",
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   702
                rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   703
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   704
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   705
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   706
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   707
    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
        (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   709
        EC_READ_U16(data + 6) != sdo->index) { // Sdo index
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   710
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   711
            EC_DBG("Invalid object description response at slave %u while"
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   712
                    " fetching Sdo 0x%04X!\n", slave->ring_position,
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   713
                    sdo->index);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   714
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   715
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   716
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   717
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   718
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   719
        fsm->state = ec_fsm_coe_dict_desc_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   720
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   721
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   723
    if (rec_size < 12) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
        EC_ERR("Invalid data size!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   727
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
   730
    sdo->max_subindex = EC_READ_U8(data + 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
    sdo->object_code = EC_READ_U8(data + 11);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   733
    name_size = rec_size - 12;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
    if (name_size) {
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   735
        if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   736
            EC_ERR("Failed to allocate Sdo name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
            return;
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
        memcpy(sdo->name, data + 12, name_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
        sdo->name[name_size] = 0;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
    if (EC_READ_U8(data + 2) & 0x80) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
        EC_ERR("Fragment follows (not implemented)!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   748
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
    // start fetching entries
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
    fsm->subindex = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
    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
   756
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   760
    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
    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
   762
    EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   763
    EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   764
    EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   765
    EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   766
    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
   767
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   768
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   769
    fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   770
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   771
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   772
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   773
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   774
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   775
   CoE state: DICT ENTRY REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   776
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   777
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   778
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   779
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
   780
                                   /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   781
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   782
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   783
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   784
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   785
    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
   786
        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
   787
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   788
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   789
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   790
        EC_ERR("Failed to receive CoE Sdo entry request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   791
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   792
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   793
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   794
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   795
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   796
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   797
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   798
        EC_ERR("Reception of CoE Sdo entry request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   799
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   800
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   801
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   802
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   803
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   804
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   805
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   806
    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
   807
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   808
    fsm->state = ec_fsm_coe_dict_entry_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   809
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   810
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   811
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   812
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   813
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   814
   CoE state: DICT ENTRY CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   815
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   816
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   817
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
   818
                                 /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   819
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   820
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   821
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   822
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   823
    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
   824
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   825
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   826
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   827
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   828
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   829
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   830
               slave->ring_position, datagram->state);
436
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
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   834
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   835
        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
   836
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   837
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   838
        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
   839
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   840
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   841
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   842
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   843
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
   844
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   845
        if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   846
            fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   847
            EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   848
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   849
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   850
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   851
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   852
        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
   853
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   854
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   855
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   856
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   857
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   858
    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
   859
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   860
    fsm->state = ec_fsm_coe_dict_entry_response;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   864
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   865
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   866
   CoE state: DICT ENTRY RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   867
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   868
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   869
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   870
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
   871
                                    /**< finite state machine */)
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   872
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   873
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   874
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   875
    ec_sdo_t *sdo = fsm->sdo;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   876
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   877
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   878
    ec_sdo_entry_t *entry;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   879
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   880
    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
   881
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   882
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   883
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   884
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   885
        EC_ERR("Failed to receive CoE Sdo description response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
   886
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   887
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   888
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   889
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   890
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   891
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
   892
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   893
        EC_ERR("Reception of CoE Sdo description"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   894
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   895
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   896
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   899
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   900
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   901
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   902
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   903
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   904
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   905
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   906
        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
   907
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   908
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   909
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   910
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   911
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   912
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   913
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   914
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   915
        fsm->state = ec_fsm_coe_dict_entry_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   916
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   917
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   918
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   919
    if (rec_size < 3) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   920
        EC_ERR("Received corrupted Sdo entry description response "
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   921
                "(size %u).\n", rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   922
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   923
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   924
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   925
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   926
    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   927
        (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   928
        EC_ERR("Sdo information error response at slave %u while"
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
   929
               " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   930
               sdo->index, fsm->subindex);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   931
        ec_canopen_abort_msg(EC_READ_U32(data + 6));
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   932
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   933
        return;
436
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
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   936
    if (rec_size < 9) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   937
        EC_ERR("Received corrupted Sdo entry description response "
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   938
                "(size %u).\n", rec_size);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   939
        fsm->state = ec_fsm_coe_error;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   940
        return;
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   941
    }
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   942
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   943
    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   944
        (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   945
        EC_READ_U16(data + 6) != sdo->index || // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   946
        EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   947
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   948
            EC_DBG("Invalid entry description response at slave %u while"
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   949
                    " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   950
                    sdo->index, fsm->subindex);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   951
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   952
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   953
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   954
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   955
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
   956
        fsm->state = ec_fsm_coe_dict_entry_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   957
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   958
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   959
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   960
    if (rec_size < 16) {
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
   961
        EC_ERR("Invalid data size %u!\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   962
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   963
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   964
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   965
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   966
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   967
    data_size = rec_size - 16;
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
    if (!(entry = (ec_sdo_entry_t *)
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   970
          kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   971
        EC_ERR("Failed to allocate entry!\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   972
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
   973
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   974
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   975
991
2548ca639b1f Removed kobject from sdo entry.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   976
    ec_sdo_entry_init(entry, sdo, fsm->subindex);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   977
    entry->data_type = EC_READ_U16(data + 10);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   978
    entry->bit_length = EC_READ_U16(data + 12);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   979
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   980
    if (data_size) {
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   981
        uint8_t *desc;
998
05a24788f3b2 Replaced a few GFP_ATOMIC allocations with GFP_KERNEL ones.
Florian Pose <fp@igh-essen.com>
parents: 992
diff changeset
   982
        if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
   983
            EC_ERR("Failed to allocate Sdo entry name!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   984
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   985
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   986
        }
484
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   987
        memcpy(desc, data + 16, data_size);
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   988
        desc[data_size] = 0;
9fde4a17b820 kobject_add() in constructors.
Florian Pose <fp@igh-essen.com>
parents: 476
diff changeset
   989
        entry->description = desc;
436
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   992
    list_add_tail(&entry->list, &sdo->entries);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   993
962
ea83a7aab57a Renamed subindices to max_subindex.
Florian Pose <fp@igh-essen.com>
parents: 926
diff changeset
   994
    if (fsm->subindex < sdo->max_subindex) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   995
        fsm->subindex++;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   996
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   997
        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
   998
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   999
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1000
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1001
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1002
        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1003
        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
  1004
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1005
        EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1006
        EC_WRITE_U16(data + 6, sdo->index); // Sdo index
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1007
        EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1008
        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
  1009
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1010
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1011
        fsm->state = ec_fsm_coe_dict_entry_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1012
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1013
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1014
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1015
    // another Sdo description to fetch?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1016
    if (fsm->sdo->list.next != &slave->sdo_dictionary) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1017
        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
  1018
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1019
        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
  1020
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1021
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1022
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1023
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1024
        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1025
        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
  1026
        EC_WRITE_U8 (data + 3, 0x00);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1027
        EC_WRITE_U16(data + 4, 0x0000);
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1028
        EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1029
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1030
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1031
        fsm->state = ec_fsm_coe_dict_desc_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1032
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1033
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1034
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1035
    fsm->state = ec_fsm_coe_end;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1036
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1037
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1038
/******************************************************************************
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1039
 *  CoE state machine
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1040
 *****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1041
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1042
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1043
   CoE state: DOWN START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1044
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1045
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1046
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
  1047
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1048
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1049
    ec_slave_t *slave = fsm->slave;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1050
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1051
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1052
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1053
    if (fsm->slave->master->debug_level) {
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
  1054
        EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1055
               request->index, request->subindex, slave->ring_position);
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1056
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1057
    }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1058
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1059
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1060
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1061
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1062
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1063
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1064
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1065
    if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1066
        EC_ERR("Sdo fragmenting not supported yet!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1067
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1068
        return;
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
    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1072
                                            request->data_size + 10))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1073
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1074
        return;
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
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1077
    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1078
    EC_WRITE_U8 (data + 2, (0x1 // size specified
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1079
                            | 0x1 << 5)); // Download request
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1080
    EC_WRITE_U16(data + 3, request->index);
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1081
    EC_WRITE_U8 (data + 5, request->subindex);
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1082
    EC_WRITE_U32(data + 6, request->data_size);
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1083
    memcpy(data + 10, request->data, request->data_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1084
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1085
    if (slave->master->debug_level) {
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1086
        EC_DBG("Download request:\n");
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1087
        ec_print_data(data, 10 + request->data_size);
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1088
    }
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1089
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1090
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1091
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1092
    fsm->state = ec_fsm_coe_down_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1093
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1094
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1095
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1096
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1097
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1098
   CoE state: DOWN REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1099
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1100
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1101
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1102
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
  1103
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1104
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1105
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1106
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1107
    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
  1108
        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
  1109
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1110
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1111
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1112
        EC_ERR("Failed to receive CoE download request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1113
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1114
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1115
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1116
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1117
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1118
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1119
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1120
            unsigned long diff_ms =
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1121
                (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1122
            if (diff_ms < fsm->request->response_timeout) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1123
                if (fsm->slave->master->debug_level) {
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1124
                    EC_DBG("Slave %u did not respond to Sdo download request. "
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1125
                            "Retrying after %u ms...\n",
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1126
                            slave->ring_position, (u32) diff_ms);
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1127
                    // no response; send request datagram again
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1128
                    return;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1129
                }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1130
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1131
        }
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1132
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1133
        EC_ERR("Reception of CoE download request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1134
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1135
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1136
        return;
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
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1139
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1140
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1141
    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
  1142
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1143
    fsm->state = ec_fsm_coe_down_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1144
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1145
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1146
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1147
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1148
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1149
   CoE state: DOWN CHECK.
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1152
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
  1153
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1154
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1155
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1156
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1157
    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
  1158
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1159
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1160
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1161
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1162
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1163
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1164
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1165
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1166
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1167
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1168
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1169
        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
  1170
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1171
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1172
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1173
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1174
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1175
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1176
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1177
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1178
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1179
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1180
            fsm->state = ec_fsm_coe_error;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1181
            EC_ERR("Timeout while waiting for Sdo download response on "
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1182
                    "slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1183
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1184
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1185
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1186
        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
  1187
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1188
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1189
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1190
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1191
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1192
    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
  1193
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1194
    fsm->state = ec_fsm_coe_down_response;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1197
/*****************************************************************************/
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
   CoE state: DOWN RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1201
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1202
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1203
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1204
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
  1205
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1206
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1207
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1208
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1209
    size_t rec_size;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1210
    ec_sdo_request_t *request = fsm->request;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1211
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1212
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1213
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1214
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1215
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1216
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1217
        EC_ERR("Failed to receive CoE download response datagram from"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1218
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1219
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1220
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1221
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1222
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1223
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1224
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1225
        EC_ERR("Reception of CoE download response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1226
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1227
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1228
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1229
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1230
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1231
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1232
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1233
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1234
        return;
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
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1238
        fsm->state = ec_fsm_coe_error;
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1239
        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1240
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1241
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1242
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1243
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1244
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1245
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1246
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1247
        fsm->state = ec_fsm_coe_down_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1248
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1249
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1250
975
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1251
    if (slave->master->debug_level) {
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1252
        EC_DBG("Download response:\n");
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1253
        ec_print_data(data, rec_size);
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1254
    }
dae04112bcc7 Added debugging for sdo download.
Florian Pose <fp@igh-essen.com>
parents: 962
diff changeset
  1255
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1256
    if (rec_size < 6) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1257
        fsm->state = ec_fsm_coe_error;
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1258
        EC_ERR("Received data are too small (%u bytes):\n", rec_size);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1259
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1260
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1261
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1262
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1263
    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1264
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1265
        fsm->state = ec_fsm_coe_error;
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
  1266
        EC_ERR("Sdo download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1267
               request->index, request->subindex, request->data_size,
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1268
               slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1269
        if (rec_size < 10) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1270
            EC_ERR("Incomplete Abort command:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1271
            ec_print_data(data, rec_size);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1272
        } else {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1273
            fsm->request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1274
            ec_canopen_abort_msg(fsm->request->abort_code);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1275
        }
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1276
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1277
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1278
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1279
    if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1280
        EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1281
        EC_READ_U16(data + 3) != request->index || // index
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1282
        EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1283
        if (slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1284
            EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1285
                    slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1286
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1287
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1288
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1289
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1290
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1291
        fsm->state = ec_fsm_coe_down_check;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1292
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1293
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1294
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1295
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1296
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1297
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1298
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1299
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1300
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1301
   CoE state: UP START.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1302
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1303
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1304
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
  1305
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1306
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1307
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1308
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1309
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1310
    uint8_t *data;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1311
459
f0da52cf6b5b Print certain logs only at debug_level.
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
  1312
    if (master->debug_level)
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
  1313
        EC_DBG("Uploading Sdo 0x%04X:%02X from slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1314
               request->index, request->subindex, slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1315
834
0791aac03180 Separated SII data from slave.
Florian Pose <fp@igh-essen.com>
parents: 831
diff changeset
  1316
    if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
825
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1317
        EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1318
        fsm->state = ec_fsm_coe_error;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1319
        return;
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1320
    }
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
  1321
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1322
    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
  1323
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1324
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1325
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1326
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1327
    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1328
    EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1329
    EC_WRITE_U16(data + 3, request->index);
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1330
    EC_WRITE_U8 (data + 5, request->subindex);
476
fd7c0ee645f8 Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.
Florian Pose <fp@igh-essen.com>
parents: 461
diff changeset
  1331
    memset(data + 6, 0x00, 4);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1332
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1333
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1334
        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
  1335
        ec_print_data(data, 10);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1336
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1337
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1338
    fsm->request->jiffies_sent = jiffies;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1339
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1340
    fsm->state = ec_fsm_coe_up_request;
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
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1344
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1345
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1346
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1347
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1348
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1349
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1350
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
  1351
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1352
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1353
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1354
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1355
    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
  1356
        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
  1357
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1358
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1359
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1360
        EC_ERR("Failed to receive CoE upload request for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1361
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1362
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1363
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1364
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1365
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1366
    if (datagram->working_counter != 1) {
1035
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1367
        if (!datagram->working_counter) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1368
            unsigned long diff_ms =
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1369
                (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1370
            if (diff_ms < fsm->request->response_timeout) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1371
                if (fsm->slave->master->debug_level) {
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1372
                    EC_DBG("Slave %u did no respond to Sdo upload request. "
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1373
                            "Retrying after %u ms...\n",
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1374
                            slave->ring_position, (u32) diff_ms);
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1375
                    // no response; send request datagram again
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1376
                    return;
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1377
                }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1378
            }
7fafc1a7451e Added response timeout to sdo_request; removed timout from fsm_coe_map.
Florian Pose <fp@igh-essen.com>
parents: 998
diff changeset
  1379
        }
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1380
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1381
        EC_ERR("Reception of CoE upload request failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1382
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1383
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1384
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1385
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1386
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1387
    fsm->jiffies_start = datagram->jiffies_sent;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1388
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1389
    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
  1390
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1391
    fsm->state = ec_fsm_coe_up_check;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1392
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1393
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1394
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1395
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1396
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1397
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1398
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1399
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1400
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
  1401
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1402
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1403
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1404
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1405
    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
  1406
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1407
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1408
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1409
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1410
        EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1411
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1412
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1413
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1414
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1415
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1416
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1417
        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
  1418
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1419
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1420
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1421
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1422
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1423
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1424
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1425
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1426
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1043
2abea4233a6d Response timeout for checking Sdo upload.
Florian Pose <fp@igh-essen.com>
parents: 1038
diff changeset
  1427
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1428
            fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1429
            EC_ERR("Timeout while checking Sdo upload on slave %u.\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1430
                   slave->ring_position);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1431
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1432
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1433
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1434
        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
  1435
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1436
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1437
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1438
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1439
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1440
    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
  1441
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1442
    fsm->state = ec_fsm_coe_up_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1443
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1444
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1445
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1446
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1447
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1448
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1449
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1450
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1451
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1452
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
  1453
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1454
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1455
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1456
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1457
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1458
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1459
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1460
    uint32_t complete_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1461
    unsigned int expedited, size_specified;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1462
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1463
    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
  1464
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1465
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1466
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1467
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1468
        EC_ERR("Failed to receive CoE upload response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1469
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1470
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1471
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1472
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1473
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1474
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1475
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1476
        EC_ERR("Reception of CoE upload response failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1477
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1478
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1479
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1480
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1481
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1482
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1483
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1484
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1485
        return;
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
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1488
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1489
        EC_DBG("Upload response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1490
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1491
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1492
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1493
    if (mbox_prot != 0x03) { // CoE
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1494
        fsm->state = ec_fsm_coe_error;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1495
        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1496
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1497
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1498
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1499
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1500
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1501
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1502
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1503
        fsm->state = ec_fsm_coe_up_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1504
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1505
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1506
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1507
    if (rec_size < 3) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1508
        fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1509
        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
  1510
        ec_print_data(data, rec_size);
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1511
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1512
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1513
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1514
    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1515
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
  1516
        EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1517
               request->index, request->subindex, slave->ring_position);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1518
        if (rec_size >= 10) {
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1519
            request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1520
            ec_canopen_abort_msg(request->abort_code);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1521
        } else {
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1522
            EC_ERR("No abort message.\n");
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1523
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1524
        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
  1525
        return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1526
    }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1527
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1528
    // normal or expedited?
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1529
    expedited = EC_READ_U8(data + 2) & 0x02;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1530
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1531
    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
  1532
        if (rec_size < 7) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1533
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1534
            EC_ERR("Received currupted Sdo expedited upload"
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1535
                    " 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
  1536
            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
  1537
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1538
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1539
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1540
        if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1541
                EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1542
                EC_READ_U16(data + 3) != request->index || // index
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1543
                EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1544
            if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1545
                EC_DBG("Invalid Sdo upload expedited response at slave %u!\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1546
                        slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1547
                ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1548
            }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1549
            // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1550
            ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1551
            fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1552
            fsm->state = ec_fsm_coe_up_check;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1553
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1554
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1555
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1556
        size_specified = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1557
        if (size_specified) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1558
            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
  1559
        } else {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1560
            complete_size = 4;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1561
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1562
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1563
        if (rec_size < 6 + complete_size) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1564
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1565
            EC_ERR("Received currupted Sdo expedited upload"
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1566
                    " 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
  1567
            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
  1568
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1569
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1570
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1571
        if (ec_sdo_request_copy_data(request, data + 6, complete_size)) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1572
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1573
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1574
        }
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1575
    } else { // normal
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1576
        if (rec_size < 10) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1577
            fsm->state = ec_fsm_coe_error;
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1578
            EC_ERR("Received currupted Sdo normal upload"
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1579
                    " 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
  1580
            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
  1581
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1582
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1583
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1584
        if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1585
                EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1586
                EC_READ_U16(data + 3) != request->index || // index
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1587
                EC_READ_U8 (data + 5) != request->subindex) { // subindex
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1588
            if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1589
                EC_DBG("Invalid Sdo normal upload response at slave %u!\n",
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1590
                        slave->ring_position);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1591
                ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1592
            }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1593
            // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1594
            ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1595
            fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1596
            fsm->state = ec_fsm_coe_up_check;
769
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1597
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1598
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1599
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1600
        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
  1601
        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
  1602
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1603
        if (!complete_size) {
860
ba5c38f0bb30 Minor change: Moved state assign to beginning.
Florian Pose <fp@igh-essen.com>
parents: 859
diff changeset
  1604
            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
  1605
            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
  1606
            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
  1607
            return;
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1608
        }
2195c2ea37b4 Fixed normal/expedited bug at CoE upload; more robust behaviour, when
Florian Pose <fp@igh-essen.com>
parents: 739
diff changeset
  1609
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1610
        if (ec_sdo_request_alloc(request, complete_size)) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1611
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1612
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1613
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1614
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1615
        if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1616
            fsm->state = ec_fsm_coe_error;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1617
            return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1618
        }
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1619
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1620
        fsm->toggle = 0;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1621
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1622
        if (data_size < complete_size) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1623
            EC_WARN("Sdo data incomplete (%u / %u).\n",
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1624
                    data_size, complete_size);
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1625
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1626
            if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1627
                                                    0x03, 3))) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1628
                fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1629
                return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1630
            }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1631
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1632
            EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1633
            EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1634
                                    | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1635
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1636
            if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1637
                EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1638
                ec_print_data(data, 3);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1639
            }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1640
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1641
            fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1642
            fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1643
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1644
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1645
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1646
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1647
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1648
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1649
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1650
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1651
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1652
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1653
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1654
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1655
/*****************************************************************************/
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
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1658
   CoE state: UP REQUEST.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1659
   \todo Timeout behavior
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1660
*/
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
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
  1663
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1664
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1665
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1666
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1667
    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
  1668
        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
  1669
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1670
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1671
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1672
        EC_ERR("Failed to receive CoE upload segment request datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1673
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1674
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1675
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1676
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1677
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1678
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1679
        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
  1680
        EC_ERR("Reception of CoE upload segment"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1681
                " request failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1682
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1683
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1684
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1685
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1686
    fsm->jiffies_start = datagram->jiffies_sent;
436
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
    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
  1689
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1690
    fsm->state = ec_fsm_coe_up_seg_check;
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
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
   CoE state: UP CHECK.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1697
*/
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
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
  1700
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1701
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1702
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1703
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1704
    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
  1705
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1706
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1707
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1708
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1709
        EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1710
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1711
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1712
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1713
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1714
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1715
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1716
        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
  1717
        EC_ERR("Reception of CoE mailbox check"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1718
                " datagram failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1719
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1720
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1721
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1722
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1723
    if (!ec_slave_mbox_check(datagram)) {
1038
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1724
        unsigned long diff_ms =
7ca4103ba170 Use jiffies instead of cycles in CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 1037
diff changeset
  1725
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1726
        if (diff_ms >= fsm->request->response_timeout) {
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1727
            fsm->state = ec_fsm_coe_error;
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1728
            EC_ERR("Timeout while waiting for Sdo upload segment response "
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1729
                    "on slave %u.\n", slave->ring_position);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1730
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1731
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1732
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1733
        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
  1734
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1735
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1736
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1737
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1738
    // Fetch response
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1739
    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
  1740
    fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1741
    fsm->state = ec_fsm_coe_up_seg_response;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1742
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1743
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1744
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1745
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1746
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1747
   CoE state: UP RESPONSE.
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1748
   \todo Timeout behavior
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1749
   \todo Check for \a data_size exceeding \a complete_size.
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1750
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1751
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1752
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
  1753
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1754
    ec_datagram_t *datagram = fsm->datagram;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1755
    ec_slave_t *slave = fsm->slave;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1756
    ec_master_t *master = slave->master;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1757
    uint8_t *data, mbox_prot;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1758
    size_t rec_size, data_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1759
    ec_sdo_request_t *request = fsm->request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1760
    uint32_t seg_size;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1761
    unsigned int last_segment;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1762
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
  1763
    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
  1764
        return; // FIXME: request again?
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1765
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1766
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1767
        fsm->state = ec_fsm_coe_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1768
        EC_ERR("Failed to receive CoE upload segment response datagram for"
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1769
               " slave %u (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
  1770
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1771
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1772
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1773
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1774
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1775
        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
  1776
        EC_ERR("Reception of CoE upload segment"
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1777
                " response failed on slave %u: ", slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
  1778
        ec_datagram_print_wc_error(datagram);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1779
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1780
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1781
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1782
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1783
				     &mbox_prot, &rec_size))) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1784
        fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1785
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1786
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1787
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1788
    if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1789
        EC_DBG("Upload segment response:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1790
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1791
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1792
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1793
    if (mbox_prot != 0x03) { // CoE
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
  1794
        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
  1795
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1796
        return;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1797
    }
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1798
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1799
    if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1800
        // check for CoE response again
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1801
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1802
        fsm->retries = EC_FSM_RETRIES;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1803
        fsm->state = ec_fsm_coe_up_seg_check;
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1804
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1805
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1806
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1807
    if (rec_size < 10) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1808
        EC_ERR("Received currupted Sdo upload segment response!\n");
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1809
        ec_print_data(data, rec_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1810
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1811
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1812
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1813
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1814
    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1815
        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 895
diff changeset
  1816
        EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 825
diff changeset
  1817
               request->index, request->subindex, slave->ring_position);
1037
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1818
        request->abort_code = EC_READ_U32(data + 6);
59f191c9185b Store abort code in sdo request; output it in user space; added some
Florian Pose <fp@igh-essen.com>
parents: 1035
diff changeset
  1819
        ec_canopen_abort_msg(request->abort_code);
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1820
        fsm->state = ec_fsm_coe_error;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1821
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1822
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1823
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1824
    if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1825
        EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1826
        if (fsm->slave->master->debug_level) {
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1827
            EC_DBG("Invalid Sdo upload segment response at slave %u!\n",
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1828
               slave->ring_position);
1053
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1829
            ec_print_data(data, rec_size);
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1830
        }
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1831
        // check for CoE response again
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1832
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1833
        fsm->retries = EC_FSM_RETRIES;
0cb9604cbaa7 Central CoE timeouts; retry on CoE response mismatch.
Florian Pose <fp@igh-essen.com>
parents: 1043
diff changeset
  1834
        fsm->state = ec_fsm_coe_up_seg_check;
895
5c2125247dde Check for emergency requests during CoE transfers.
Florian Pose <fp@igh-essen.com>
parents: 874
diff changeset
  1835
        return;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1836
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1837
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1838
    last_segment = EC_READ_U8(data + 2) & 0x01;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1839
    seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1840
    data_size = rec_size - 10;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1841
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1842
    if (data_size != seg_size) {
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 975
diff changeset
  1843
        EC_WARN("Sdo segment data invalid (%u / %u)"
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1844
                " - Fragmenting not implemented.\n",
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1845
                data_size, seg_size);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1846
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1847
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1848
    memcpy(request->data + request->data_size, data + 10, data_size);
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents: 834
diff changeset
  1849
    request->data_size += data_size;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1850
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1851
    if (!last_segment) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1852
        fsm->toggle = !fsm->toggle;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1853
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1854
        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
  1855
            fsm->state = ec_fsm_coe_error;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1856
            return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1857
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1858
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 769
diff changeset
  1859
        EC_WRITE_U16(data, 0x2 << 12); // Sdo request
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1860
        EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1861
                                | 0x3 << 5)); // upload segment request
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1862
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1863
        if (master->debug_level) {
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1864
            EC_DBG("Upload segment request:\n");
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1865
            ec_print_data(data, 3);
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1866
        }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1867
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 501
diff changeset
  1868
        fsm->retries = EC_FSM_RETRIES;
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1869
        fsm->state = ec_fsm_coe_up_seg_request;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1870
        return;
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1871
    }
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1872
874
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1873
    if (master->debug_level) {
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1874
        EC_DBG("Uploaded data:\n");
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1875
        ec_print_data(request->data, request->data_size);
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1876
    }
022f869ea40f Added CoE debugging.
Florian Pose <fp@igh-essen.com>
parents: 860
diff changeset
  1877
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1878
    fsm->state = ec_fsm_coe_end; // success
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1879
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1880
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1881
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1882
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1883
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1884
   State: ERROR.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1885
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1886
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1887
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
  1888
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1889
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1890
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1891
/*****************************************************************************/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1892
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1893
/**
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1894
   State: END.
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1895
*/
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1896
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1897
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
  1898
{
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1899
}
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1900
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
  1901
/*****************************************************************************/