etherlabmaster: comparison master/fsm.c

equal deleted inserted replaced

-:0eda82d1a8c1
+:bc4c852e1b93
 void ec_fsm_slavescan_eeprom_data(ec_fsm_t *);
 void ec_fsm_slaveconf_init(ec_fsm_t *);
 void ec_fsm_slaveconf_sync(ec_fsm_t *);
 void ec_fsm_slaveconf_preop(ec_fsm_t *);
+void ec_fsm_slaveconf_sdodict(ec_fsm_t *);
+void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
 void ec_fsm_slaveconf_fmmu(ec_fsm_t *);
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *);
 void ec_fsm_slaveconf_saveop(ec_fsm_t *);
 void ec_fsm_slaveconf_op(ec_fsm_t *);
 void ec_fsm_sii_start_reading(ec_fsm_t *);
 void ec_fsm_sii_read_check(ec_fsm_t *);
 void ec_fsm_change_check(ec_fsm_t *);
 void ec_fsm_change_status(ec_fsm_t *);
 void ec_fsm_change_code(ec_fsm_t *);
 void ec_fsm_change_ack(ec_fsm_t *);
 void ec_fsm_change_check_ack(ec_fsm_t *);
+void ec_fsm_coe_dict_start(ec_fsm_t *);
+void ec_fsm_coe_dict_request(ec_fsm_t *);
+void ec_fsm_coe_dict_check(ec_fsm_t *);
+void ec_fsm_coe_dict_response(ec_fsm_t *);
+void ec_fsm_coe_dict_desc_request(ec_fsm_t *);
+void ec_fsm_coe_dict_desc_check(ec_fsm_t *);
+void ec_fsm_coe_dict_desc_response(ec_fsm_t *);
+void ec_fsm_coe_dict_entry_request(ec_fsm_t *);
+void ec_fsm_coe_dict_entry_check(ec_fsm_t *);
+void ec_fsm_coe_dict_entry_response(ec_fsm_t *);
 void ec_fsm_coe_down_start(ec_fsm_t *);
 void ec_fsm_coe_down_request(ec_fsm_t *);
 void ec_fsm_coe_down_check(ec_fsm_t *);
 void ec_fsm_coe_down_response(ec_fsm_t *);
 }
 /*****************************************************************************/
 /**
-Master state: STATES.
+Master state: READ STATES.
 Fetches the AL- and online state of a slave.
 */
 void ec_fsm_master_read_states(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-Master state: ADDRESS.
+Master state: REWRITE ADDRESS.
 Checks, if the new station address has been written to the slave.
 */
 void ec_fsm_master_rewrite_addresses(ec_fsm_t *fsm
 /**< finite state machine */
 }
 /*****************************************************************************/
 /**
-Master state: SCAN.
+Master state: SCAN SLAVES.
 Executes the sub-statemachine for the scanning of a slave.
 */
 void ec_fsm_master_scan_slaves(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-Master state: CONF.
+Master state: CONFIGURE SLAVES.
 Starts configuring a slave.
 */
 void ec_fsm_master_configure_slave(ec_fsm_t *fsm
 /**< finite state machine */
 }
 /*****************************************************************************/
 /**
-Master state: EEPROM.
+Master state: WRITE EEPROM.
 */
 void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 /******************************************************************************
 *  slave scan state machine
 *****************************************************************************/
 /**
-Slave state: START_READING.
+Slave scan state: START.
 First state of the slave state machine. Writes the station address to the
 slave, according to its ring position.
 */
 void ec_fsm_slavescan_start(ec_fsm_t *fsm /**< finite state machine */)
 }
 /*****************************************************************************/
 /**
-Slave state: ADDRESS.
+Slave scan state: ADDRESS.
 */
 void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-Slave state: STATE.
+Slave scan state: STATE.
 */
 void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-Slave state: BASE.
+Slave scan state: BASE.
 */
 void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-Slave state: DATALINK.
+Slave scan state: DATALINK.
 */
 void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-Slave state: EEPROM_SIZE.
+Slave scan state: EEPROM SIZE.
 */
 void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 }
 /*****************************************************************************/
 /**
-Slave state: EEPROM_DATA.
+Slave scan state: EEPROM DATA.
 */
 void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 /******************************************************************************
 *  slave configuration state machine
 *****************************************************************************/
 /**
-Slave state: INIT.
+Slave configuration state: INIT.
 */
 void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
 {
+ec_master_t *master = fsm->master;
 ec_slave_t *slave = fsm->slave;
 ec_datagram_t *datagram = &fsm->datagram;
 const ec_sii_sync_t *sync;
 fsm->change_state(fsm); // execute state change state machine
 return;
 }
 if (fsm->change_state != ec_fsm_end) return;
+if (master->debug_level) {
+EC_DBG("Slave %i is now in INIT.\n", slave->ring_position);
+}
 // slave is now in INIT
 if (slave->current_state == slave->requested_state) {
 fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
 return;
 }
 // check and reset CRC fault counters
 //ec_slave_check_crc(slave);
 fsm->slave_state = ec_fsm_slaveconf_preop;
 fsm->change_new = EC_SLAVE_STATE_PREOP;
 fsm->change_state = ec_fsm_change_start;
 fsm->change_state(fsm); // execute immediately
 return;
+}
+if (master->debug_level) {
+EC_DBG("Configuring sync managers of slave %i.\n",
+slave->ring_position);
 }
 // configure sync managers
 ec_datagram_npwr(datagram, slave->station_address, 0x0800,
 EC_SYNC_SIZE * slave->base_sync_count);
 }
 /*****************************************************************************/
 /**
-Slave state: SYNC.
+Slave configuration state: SYNC.
 */
 void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-Slave state: PREOP.
+Slave configuration state: PREOP.
 */
 void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_slave_t *slave = fsm->slave;
 }
 if (fsm->change_state != ec_fsm_end) return;
 // slave is now in PREOP
-if (slave->current_state == slave->requested_state) {
-fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
-return;
+EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
 }
-if (!slave->base_fmmu_count) { // skip FMMU configuration
+if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
-if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+// slave does not support CoE. skip dictionary fetching
+// and SDO configuration
+if (slave->current_state == slave->requested_state) {
+fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
+return;
+}
+if (!slave->base_fmmu_count) {
+// slave has no FMMUs. skip configuration and go to SAVEOP
 fsm->slave_state = ec_fsm_slaveconf_saveop;
 fsm->change_new = EC_SLAVE_STATE_SAVEOP;
 fsm->change_state = ec_fsm_change_start;
 fsm->change_state(fsm); // execute immediately
 return;
 }
+// configure FMMUs
+ec_datagram_npwr(datagram, slave->station_address,
+0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+for (j = 0; j < slave->fmmu_count; j++) {
+ec_fmmu_config(&slave->fmmus[j], slave,
+datagram->data + EC_FMMU_SIZE * j);
+}
+ec_master_queue_datagram(master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_fmmu;
+return;
+}
+if (!list_empty(&slave->sdo_dictionary)) {
+// SDO dictionary already fetched
+if (master->debug_level) {
+EC_DBG("SDO dictionary already present for slave %i.\n",
+slave->ring_position);
+}
+if (slave->current_state == slave->requested_state) {
+fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
+return;
+}
+if (list_empty(&slave->sdo_confs)) {
+// skip SDO configuration
+if (!slave->base_fmmu_count) {
+// slave has no FMMUs. skip configuration and go to SAVEOP
+fsm->slave_state = ec_fsm_slaveconf_saveop;
+fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+fsm->change_state = ec_fsm_change_start;
+fsm->change_state(fsm); // execute immediately
+return;
+}
+// configure FMMUs
+ec_datagram_npwr(datagram, slave->station_address,
+0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+for (j = 0; j < slave->fmmu_count; j++) {
+ec_fmmu_config(&slave->fmmus[j], slave,
+datagram->data + EC_FMMU_SIZE * j);
+}
+ec_master_queue_datagram(master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_fmmu;
+return;
+}
+// start SDO configuration
 fsm->slave_state = ec_fsm_slaveconf_sdoconf;
 fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
 fsm->coe_state = ec_fsm_coe_down_start;
 fsm->coe_state(fsm); // execute immediately
+return;
+}
+if (master->debug_level) {
+EC_DBG("Fetching SDO dictionary of slave %i.\n",
+slave->ring_position);
+}
+// start fetching SDO dictionary
+fsm->slave_state = ec_fsm_slaveconf_sdodict;
+fsm->coe_state = ec_fsm_coe_dict_start;
+fsm->coe_state(fsm); // execute immediately
+}
+/*****************************************************************************/
+/**
+Slave configuration state: SDODICT.
+*/
+void ec_fsm_slaveconf_sdodict(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_master_t *master = fsm->master;
+unsigned int j;
+fsm->coe_state(fsm); // execute CoE state machine
+if (fsm->coe_state == ec_fsm_error) {
+fsm->slave->error_flag = 1;
+fsm->slave_state = ec_fsm_error;
+return;
+}
+if (fsm->coe_state != ec_fsm_end) return;
+// SDO dictionary fetching finished
+if (master->debug_level) {
+EC_DBG("Finished fetching SDO dictionary of slave %i.\n",
+slave->ring_position);
+}
+if (slave->current_state == slave->requested_state) {
+fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
+return;
+}
+if (list_empty(&slave->sdo_confs)) {
+// skip SDO configuration
+if (!slave->base_fmmu_count) {
+// slave has no FMMUs. skip configuration.
+// set state to SAVEOP
+fsm->slave_state = ec_fsm_slaveconf_saveop;
+fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+fsm->change_state = ec_fsm_change_start;
+fsm->change_state(fsm); // execute immediately
+return;
+}
+// configure FMMUs
+ec_datagram_npwr(datagram, slave->station_address,
+0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
+memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
+for (j = 0; j < slave->fmmu_count; j++) {
+ec_fmmu_config(&slave->fmmus[j], slave,
+datagram->data + EC_FMMU_SIZE * j);
+}
+ec_master_queue_datagram(master, datagram);
+fsm->slave_state = ec_fsm_slaveconf_fmmu;
+return;
+}
+// start SDO configuration
+fsm->slave_state = ec_fsm_slaveconf_sdoconf;
+fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
+fsm->coe_state = ec_fsm_coe_down_start;
+fsm->coe_state(fsm); // execute immediately
+}
+/*****************************************************************************/
+/**
+Slave configuration state: SDOCONF.
+*/
+void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_slave_t *slave = fsm->slave;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_master_t *master = fsm->master;
+unsigned int j;
+fsm->coe_state(fsm); // execute CoE state machine
+if (fsm->coe_state == ec_fsm_error) {
+fsm->slave->error_flag = 1;
+fsm->slave_state = ec_fsm_error;
+return;
+}
+if (fsm->coe_state != ec_fsm_end) return;
+// Another SDO to configure?
+if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
+fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
+ec_sdo_data_t, list);
+fsm->coe_state = ec_fsm_coe_down_start;
+fsm->coe_state(fsm); // execute immediately
+return;
+}
+// All SDOs are now configured.
+if (!slave->base_fmmu_count) {
+// slave has no FMMUs. skip configuration.
+// set state to SAVEOP
+fsm->slave_state = ec_fsm_slaveconf_saveop;
+fsm->change_new = EC_SLAVE_STATE_SAVEOP;
+fsm->change_state = ec_fsm_change_start;
+fsm->change_state(fsm); // execute immediately
 return;
 }
 // configure FMMUs
 ec_datagram_npwr(datagram, slave->station_address,
 }
 /*****************************************************************************/
 /**
-Slave state: FMMU.
+Slave configuration state: FMMU.
 */
 void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
-ec_slave_t *slave = fsm->slave;
 if (datagram->state != EC_DATAGRAM_RECEIVED
 || datagram->working_counter != 1) {
 fsm->slave->error_flag = 1;
 fsm->slave_state = ec_fsm_error;
 EC_ERR("Failed to set FMMUs on slave %i.\n",
 fsm->slave->ring_position);
 return;
 }
-// No CoE configuration to be applied? Jump to SAVEOP state.
-if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
-// set state to SAVEOP
-fsm->slave_state = ec_fsm_slaveconf_saveop;
-fsm->change_new = EC_SLAVE_STATE_SAVEOP;
-fsm->change_state = ec_fsm_change_start;
-fsm->change_state(fsm); // execute immediately
-return;
-}
-fsm->slave_state = ec_fsm_slaveconf_sdoconf;
-fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list);
-fsm->coe_state = ec_fsm_coe_down_start;
-fsm->coe_state(fsm); // execute immediately
-}
-/*****************************************************************************/
-/**
-Slave state: SDOCONF.
-*/
-void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */)
-{
-fsm->coe_state(fsm); // execute CoE state machine
-if (fsm->coe_state == ec_fsm_error) {
-fsm->slave->error_flag = 1;
-fsm->slave_state = ec_fsm_error;
-return;
-}
-if (fsm->coe_state != ec_fsm_end) return;
-// Another SDO to configure?
-if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) {
-fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next,
-ec_sdo_data_t, list);
-fsm->coe_state = ec_fsm_coe_down_start;
-fsm->coe_state(fsm); // execute immediately
-return;
-}
-// All SDOs are now configured.
 // set state to SAVEOP
 fsm->slave_state = ec_fsm_slaveconf_saveop;
 fsm->change_new = EC_SLAVE_STATE_SAVEOP;
 fsm->change_state = ec_fsm_change_start;
 fsm->change_state(fsm); // execute immediately
 }
 /*****************************************************************************/
 /**
-Slave state: SAVEOP.
+Slave configuration state: SAVEOP.
 */
 void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
 {
+ec_master_t *master = fsm->master;
+ec_slave_t *slave = fsm->slave;
 fsm->change_state(fsm); // execute state change state machine
 if (fsm->change_state == ec_fsm_error) {
 fsm->slave->error_flag = 1;
 fsm->slave_state = ec_fsm_error;
 }
 if (fsm->change_state != ec_fsm_end) return;
 // slave is now in SAVEOP
+if (master->debug_level) {
+EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+}
 if (fsm->slave->current_state == fsm->slave->requested_state) {
 fsm->slave_state = ec_fsm_end; // successful
+if (master->debug_level) {
+EC_DBG("Finished configuration of slave %i.\n",
+slave->ring_position);
+}
 return;
 }
 // set state to OP
 fsm->slave_state = ec_fsm_slaveconf_op;
 }
 /*****************************************************************************/
 /**
-Slave state: OP
+Slave configuration state: OP
 */
 void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
 {
+ec_master_t *master = fsm->master;
+ec_slave_t *slave = fsm->slave;
 fsm->change_state(fsm); // execute state change state machine
 if (fsm->change_state == ec_fsm_error) {
-fsm->slave->error_flag = 1;
+slave->error_flag = 1;
 fsm->slave_state = ec_fsm_error;
 return;
 }
 if (fsm->change_state != ec_fsm_end) return;
 // slave is now in OP
+if (master->debug_level) {
+EC_DBG("Slave %i is now in OP.\n", slave->ring_position);
+EC_DBG("Finished configuration of slave %i.\n", slave->ring_position);
+}
 fsm->slave_state = ec_fsm_end; // successful
 }
 /******************************************************************************
 *  SII state machine
 *****************************************************************************/
 /**
-SII state: START_READING.
+SII state: START READING.
 Starts reading the slave information interface.
 */
 void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-SII state: READ_CHECK.
+SII state: READ CHECK.
 Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
 */
 void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-SII state: READ_FETCH.
+SII state: READ FETCH.
 Fetches the result of an SII-read datagram.
 */
 void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-SII state: START_WRITING.
+SII state: START WRITING.
 Starts reading the slave information interface.
 */
 void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
 {
 }
 /*****************************************************************************/
 /**
-SII state: WRITE_CHECK.
+SII state: WRITE CHECK.
 */
 void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-SII state: WRITE_CHECK2.
+SII state: WRITE CHECK 2.
 */
 void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
 ec_master_queue_datagram(fsm->master, datagram);
 }
 /******************************************************************************
+*  CoE dictionary state machine
+*****************************************************************************/
+/**
+CoE state: DICT START.
+*/
+void ec_fsm_coe_dict_start(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+uint8_t *data;
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_request;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT REQUEST.
+*/
+void ec_fsm_coe_dict_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE dictionary request failed.\n");
+return;
+}
+fsm->coe_start = datagram->cycles_sent;
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_check;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT CHECK.
+*/
+void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+return;
+}
+if (!ec_slave_mbox_check(datagram)) {
+if (datagram->cycles_received
+- fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
+slave->ring_position);
+return;
+}
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+return;
+}
+// Fetch response
+ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_response;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT RESPONSE.
+*/
+void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+uint8_t *data, mbox_prot;
+size_t rec_size;
+unsigned int sdo_count, i;
+uint16_t sdo_index;
+ec_sdo_t *sdo;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE dictionary response failed.\n");
+return;
+}
+if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+if (mbox_prot != 0x03) { // CoE
+EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+fsm->coe_state = ec_fsm_error;
+	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",
+slave->ring_position);
+ec_canopen_abort_msg(EC_READ_U32(data + 6));
+fsm->coe_state = ec_fsm_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",
+slave->ring_position);
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+if (rec_size < 8) {
+EC_ERR("Invalid data size!\n");
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+sdo_count = (rec_size - 8) / 2;
+if (master->debug_level) {
+EC_DBG("Fetching %i SDOs.\n", sdo_count);
+}
+for (i = 0; i < sdo_count; i++) {
+sdo_index = EC_READ_U16(data + 8 + i * 2);
+if (!sdo_index) {
+// sometimes index is 0... ???
+if (master->debug_level) {
+EC_DBG("Received SDO with index 0x0000.\n");
+}
+continue;
+}
+if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
+EC_ERR("Failed to allocate memory for SDO!\n");
+fsm->coe_state = ec_fsm_error;
+return;
+}
+if (ec_sdo_init(sdo, sdo_index, slave)) {
+EC_ERR("Failed to init SDO!\n");
+fsm->coe_state = ec_fsm_error;
+return;
+}
+if (kobject_add(&sdo->kobj)) {
+EC_ERR("Failed to add kobject.\n");
+kobject_put(&sdo->kobj); // free
+fsm->coe_state = ec_fsm_error;
+return;
+}
+list_add_tail(&sdo->list, &slave->sdo_dictionary);
+}
+if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
+fsm->coe_start = datagram->cycles_sent;
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_check;
+return;
+}
+if (list_empty(&slave->sdo_dictionary)) {
+// no SDOs in dictionary. finished.
+fsm->coe_state = ec_fsm_end; // success
+return;
+}
+// fetch SDO descriptions
+fsm->coe_sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_desc_request;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT DESC REQUEST.
+*/
+void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE SDO description request failed.\n");
+return;
+}
+fsm->coe_start = datagram->cycles_sent;
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_desc_check;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT DESC CHECK.
+*/
+void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+return;
+}
+if (!ec_slave_mbox_check(datagram)) {
+if (datagram->cycles_received
+- fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Timeout while checking SDO description on slave %i.\n",
+slave->ring_position);
+return;
+}
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+return;
+}
+// Fetch response
+ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_desc_response;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT DESC RESPONSE.
+*/
+void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+ec_sdo_t *sdo = fsm->coe_sdo;
+uint8_t *data, mbox_prot;
+size_t rec_size, name_size;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE SDO description response failed.\n");
+return;
+}
+if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+if (mbox_prot != 0x03) { // CoE
+EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+fsm->coe_state = ec_fsm_error;
+	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"
+" fetching SDO 0x%04X!\n", slave->ring_position,
+sdo->index);
+ec_canopen_abort_msg(EC_READ_U32(data + 6));
+fsm->coe_state = ec_fsm_error;
+	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"
+" fetching SDO 0x%04X!\n", slave->ring_position,
+sdo->index);
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+if (rec_size < 12) {
+EC_ERR("Invalid data size!\n");
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+sdo->subindices = EC_READ_U8(data + 10);
+sdo->object_code = EC_READ_U8(data + 11);
+name_size = rec_size - 12;
+if (name_size) {
+if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
+EC_ERR("Failed to allocate SDO name!\n");
+fsm->coe_state = ec_fsm_error;
+return;
+}
+memcpy(sdo->name, data + 12, name_size);
+sdo->name[name_size] = 0;
+}
+if (EC_READ_U8(data + 2) & 0x80) {
+EC_ERR("Fragment follows (not implemented)!\n");
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+if (!sdo->subindices) { // no entries
+// another SDO description to fetch?
+if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) {
+fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list);
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_desc_request;
+return;
+}
+if (master->debug_level) {
+EC_DBG("Finished fetching SDO descriptions.\n");
+}
+fsm->coe_state = ec_fsm_end;
+return;
+}
+fsm->coe_subindex = 1;
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, sdo->index); // SDO index
+EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
+EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_entry_request;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT ENTRY REQUEST.
+*/
+void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE SDO entry request failed.\n");
+return;
+}
+fsm->coe_start = datagram->cycles_sent;
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_entry_check;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT ENTRY CHECK.
+*/
+void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+return;
+}
+if (!ec_slave_mbox_check(datagram)) {
+if (datagram->cycles_received
+- fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Timeout while checking SDO entry on slave %i.\n",
+slave->ring_position);
+return;
+}
+ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+return;
+}
+// Fetch response
+ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_entry_response;
+}
+/*****************************************************************************/
+/**
+CoE state: DICT ENTRY RESPONSE.
+*/
+void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */)
+{
+ec_master_t *master = fsm->master;
+ec_datagram_t *datagram = &fsm->datagram;
+ec_slave_t *slave = fsm->slave;
+ec_sdo_t *sdo = fsm->coe_sdo;
+uint8_t *data, mbox_prot;
+size_t rec_size, data_size;
+ec_sdo_entry_t *entry;
+if (datagram->state != EC_DATAGRAM_RECEIVED
+|| datagram->working_counter != 1) {
+fsm->coe_state = ec_fsm_error;
+EC_ERR("Reception of CoE SDO description response failed.\n");
+return;
+}
+if (!(data = ec_slave_mbox_fetch(slave, datagram,
+				     &mbox_prot, &rec_size))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+if (mbox_prot != 0x03) { // CoE
+EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+fsm->coe_state = ec_fsm_error;
+	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"
+" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+sdo->index, fsm->coe_subindex);
+ec_canopen_abort_msg(EC_READ_U32(data + 6));
+fsm->coe_state = ec_fsm_error;
+	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->coe_subindex) { // SDO subindex
+EC_ERR("Invalid entry description response at slave %i while"
+" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+sdo->index, fsm->coe_subindex);
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+if (rec_size < 16) {
+EC_ERR("Invalid data size!\n");
+ec_print_data(data, rec_size);
+fsm->coe_state = ec_fsm_error;
+	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->coe_state = ec_fsm_error;
+	return;
+}
+if (ec_sdo_entry_init(entry, fsm->coe_subindex, sdo)) {
+EC_ERR("Failed to init entry!\n");
+fsm->coe_state = ec_fsm_error;
+	return;
+}
+entry->data_type = EC_READ_U16(data + 10);
+entry->bit_length = EC_READ_U16(data + 12);
+if (data_size) {
+if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) {
+EC_ERR("Failed to allocate SDO entry name!\n");
+fsm->coe_state = ec_fsm_error;
+return;
+}
+memcpy(entry->description, data + 16, data_size);
+entry->description[data_size] = 0;
+}
+if (kobject_add(&entry->kobj)) {
+EC_ERR("Failed to add kobject.\n");
+kobject_put(&entry->kobj); // free
+fsm->coe_state = ec_fsm_error;
+return;
+}
+list_add_tail(&entry->list, &sdo->entries);
+if (fsm->coe_subindex < sdo->subindices) {
+fsm->coe_subindex++;
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, sdo->index); // SDO index
+EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex
+EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_entry_request;
+return;
+}
+// another SDO description to fetch?
+if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) {
+fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list);
+if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+fsm->coe_state = ec_fsm_error;
+return;
+}
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
+EC_WRITE_U8 (data + 2, 0x03); // Get object description request
+EC_WRITE_U8 (data + 3, 0x00);
+EC_WRITE_U16(data + 4, 0x0000);
+EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index
+ec_master_queue_datagram(fsm->master, datagram);
+fsm->coe_state = ec_fsm_coe_dict_desc_request;
+return;
+}
+if (master->debug_level) {
+EC_DBG("Finished fetching SDO descriptions.\n");
+}
+fsm->coe_state = ec_fsm_end;
+}
+/******************************************************************************
 *  CoE state machine
 *****************************************************************************/
 /**
-CoE state: DOWN_START.
+CoE state: DOWN START.
 */
 void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-CoE state: DOWN_REQUEST.
+CoE state: DOWN REQUEST.
 */
 void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-CoE state: DOWN_CHECK.
+CoE state: DOWN CHECK.
 */
 void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;
 }
 /*****************************************************************************/
 /**
-CoE state: DOWN_RESPONSE.
+CoE state: DOWN RESPONSE.
 */
 void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = &fsm->datagram;

changeset 409	bc4c852e1b93
parent 407	b73c9f7be5a1
child 411	42d239bab6ae