etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:440c43d56b33
+:5c2125247dde
 int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
 {
 return fsm->state == ec_fsm_coe_end;
 }
+/*****************************************************************************/
+/**
+*/
+int ec_fsm_coe_check_emergency(
+ec_fsm_coe_t *fsm, /**< Finite state machine */
+const uint8_t *data, /**< CoE mailbox data. */
+size_t size /**< CoE mailbox data size. */
+)
+{
+if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
+return 0;
+if (size < 10) {
+EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
+fsm->slave->ring_position);
+ec_print_data(data, size);
+return 1;
+}
+EC_INFO("CoE Emergency Request received from slave %u:\n",
+fsm->slave->ring_position);
+EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
+EC_READ_U16(data + 2), EC_READ_U8(data + 4));
+ec_print_data(data + 5, 5);
+return 1;
+}
 /******************************************************************************
 *  CoE dictionary state machine
 *****************************************************************************/
 /**
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE dictionary request datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE dictionary request failed on slave %i: ",
+EC_ERR("Reception of CoE dictionary request failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE mailbox check datagram failed on slave %i: ",
+EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo dictionary on slave %i.\n",
+EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE dictionary response datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE dictionary response failed on slave %i: ",
+EC_ERR("Reception of CoE dictionary response failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 fsm->state = ec_fsm_coe_error;
 return;
 }
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_dict_check;
+return;
+}
 if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
 (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %i!\n",
+EC_ERR("Sdo information error response at slave %u!\n",
 slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
 return;
 }
 if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
 (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
-EC_ERR("Invalid Sdo list response at slave %i!\n",
+EC_ERR("Invalid Sdo list response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
 for (i = 0; i < sdo_count; i++) {
 sdo_index = EC_READ_U16(data + 8 + i * 2);
 if (!sdo_index) {
 if (slave->master->debug_level)
-EC_WARN("Sdo dictionary of slave %i contains index 0x0000.\n",
+EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",
 slave->ring_position);
 continue;
 }
 if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE Sdo description request datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE Sdo description"
-" request failed on slave %i: ", slave->ring_position);
+" request failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->cycles_start = datagram->cycles_sent;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE mailbox check"
-" datagram failed on slave %i: ", slave->ring_position);
+" datagram failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo description on slave %i.\n",
+EC_ERR("Timeout while checking Sdo description on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE Sdo description response datagram from"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE Sdo description"
-" response failed on slave %i: ", slave->ring_position);
+" response failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!(data = ec_slave_mbox_fetch(slave, datagram,
 }
 if (mbox_prot != 0x03) { // CoE
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
+}
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_dict_desc_check;
+return;
 }
 if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %i while"
+EC_ERR("Sdo information error response at slave %u while"
 " fetching Sdo 0x%04X!\n", slave->ring_position,
 sdo->index);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
 (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
 EC_READ_U16(data + 6) != sdo->index) { // Sdo index
-EC_ERR("Invalid object description response at slave %i while"
+EC_ERR("Invalid object description response at slave %u while"
 " fetching Sdo 0x%04X!\n", slave->ring_position,
 sdo->index);
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (rec_size < 12) {
 EC_ERR("Invalid data size!\n");
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 sdo->subindices = EC_READ_U8(data + 10);
 sdo->object_code = EC_READ_U8(data + 11);
 }
 if (EC_READ_U8(data + 2) & 0x80) {
 EC_ERR("Fragment follows (not implemented)!\n");
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 // start fetching entries
 fsm->subindex = 0;
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE Sdo entry request datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE Sdo entry request failed on slave %i: ",
+EC_ERR("Reception of CoE Sdo entry request failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE mailbox check"
-" datagram failed on slave %i: ", slave->ring_position);
+" datagram failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo entry on slave %i.\n",
+EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE Sdo description response datagram from"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE Sdo description"
-" response failed on slave %i: ", slave->ring_position);
+" response failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!(data = ec_slave_mbox_fetch(slave, datagram,
 }
 if (mbox_prot != 0x03) { // CoE
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
+}
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_dict_entry_check;
+return;
 }
 if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %i while"
+EC_ERR("Sdo information error response at slave %u while"
 " fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
 sdo->index, fsm->subindex);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
 (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
 EC_READ_U16(data + 6) != sdo->index || // Sdo index
 EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
-EC_ERR("Invalid entry description response at slave %i while"
+EC_ERR("Invalid entry description response at slave %u while"
-" fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
+" fetching Sdo entry 0x%04X:%u!\n", slave->ring_position,
 sdo->index, fsm->subindex);
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (rec_size < 16) {
 EC_ERR("Invalid data size!\n");
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 data_size = rec_size - 16;
 if (!(entry = (ec_sdo_entry_t *)
 kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
 EC_ERR("Failed to allocate entry!\n");
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
 EC_ERR("Failed to init entry!\n");
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 entry->data_type = EC_READ_U16(data + 10);
 entry->bit_length = EC_READ_U16(data + 12);
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE download request datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE download request failed on slave %i: ",
+EC_ERR("Reception of CoE download request failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE mailbox check"
-" datagram failed on slave %i: ", slave->ring_position);
+" datagram failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo configuration on slave %i.\n",
+EC_ERR("Timeout while checking Sdo configuration on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE download response datagram from"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE download response failed on slave %i: ",
+EC_ERR("Reception of CoE download response failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 return;
 }
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_down_check;
+return;
+}
 if (rec_size < 6) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Received data is too small (%u bytes):\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
 if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Sdo download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
+EC_ERR("Sdo download 0x%04X:%X (%u bytes) aborted on slave %u.\n",
 request->index, request->subindex, request->data_size,
 slave->ring_position);
 if (rec_size < 10) {
 EC_ERR("Incomplete Abort command:\n");
 ec_print_data(data, rec_size);
 if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
 EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Sdo download 0x%04X:%X (%i bytes) failed:\n",
+EC_ERR("Sdo download 0x%04X:%X (%u bytes) failed:\n",
 request->index, request->subindex, request->data_size);
-EC_ERR("Invalid Sdo download response at slave %i!\n",
+EC_ERR("Invalid Sdo download response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE upload request for slave %i"
+EC_ERR("Failed to receive CoE upload request for slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE upload request failed on slave %i: ",
+EC_ERR("Reception of CoE upload request failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE mailbox check"
-" datagram failed on slave %i: ", slave->ring_position);
+" datagram failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo upload on slave %i.\n",
+EC_ERR("Timeout while checking Sdo upload on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE upload response datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE upload response failed on slave %i: ",
+EC_ERR("Reception of CoE upload response failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->state = ec_fsm_coe_error;
 EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 return;
 }
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_up_check;
+return;
+}
 if (rec_size < 3) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
 if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
-EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
+EC_ERR("Sdo upload 0x%04X:%X aborted on slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 if (rec_size >= 10)
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 else
 EC_ERR("No abort message.\n");
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Sdo upload 0x%04X:%X failed:\n",
 request->index, request->subindex);
-EC_ERR("Invalid Sdo upload response at slave %i!\n",
+EC_ERR("Invalid Sdo upload expedited response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return;
 }
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Sdo upload 0x%04X:%X failed:\n",
 request->index, request->subindex);
-EC_ERR("Invalid Sdo upload response at slave %i!\n",
+EC_ERR("Invalid Sdo normal upload response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return;
 }
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE upload segment request datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE upload segment"
-" request failed on slave %i: ", slave->ring_position);
+" request failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->cycles_start = datagram->cycles_sent;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return;
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
+EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
 " (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE mailbox check"
-" datagram failed on slave %i: ", slave->ring_position);
+" datagram failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 if (datagram->cycles_received
 - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while checking Sdo upload segment on slave %i.\n",
+EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n",
 slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Failed to receive CoE upload segment response datagram for"
-" slave %i (datagram state %i).\n",
+" slave %u (datagram state %i).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Reception of CoE upload segment"
-" response failed on slave %i: ", slave->ring_position);
+" response failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!(data = ec_slave_mbox_fetch(slave, datagram,
 }
 if (mbox_prot != 0x03) { // CoE
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
+}
+if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
+// check for CoE response again
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+fsm->retries = EC_FSM_RETRIES;
+fsm->state = ec_fsm_coe_up_seg_check;
+return;
 }
 if (rec_size < 10) {
 EC_ERR("Received currupted Sdo upload segment response!\n");
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
-EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
+EC_ERR("Sdo upload 0x%04X:%X aborted on slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
 EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
 EC_ERR("Sdo upload 0x%04X:%X failed:\n", request->index, request->subindex);
-EC_ERR("Invalid Sdo upload segment response at slave %i!\n",
+EC_ERR("Invalid Sdo upload segment response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
-	return;
+return;
 }
 last_segment = EC_READ_U8(data + 2) & 0x01;
 seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
 data_size = rec_size - 10;

changeset 895	5c2125247dde
parent 874	022f869ea40f
child 926	6bb33c6ec770