--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe.c Tue Oct 24 08:00:24 2006 +0000
@@ -0,0 +1,1446 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT CoE state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
+void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_down_start(ec_fsm_coe_t *);
+void ec_fsm_coe_down_request(ec_fsm_coe_t *);
+void ec_fsm_coe_down_check(ec_fsm_coe_t *);
+void ec_fsm_coe_down_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_up_start(ec_fsm_coe_t *);
+void ec_fsm_coe_up_request(ec_fsm_coe_t *);
+void ec_fsm_coe_up_check(ec_fsm_coe_t *);
+void ec_fsm_coe_up_response(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
+void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
+
+void ec_fsm_coe_end(ec_fsm_coe_t *);
+void ec_fsm_coe_error(ec_fsm_coe_t *);
+
+/*****************************************************************************/
+
+/**
+ SDO abort messages.
+ The "abort SDO transfer request" supplies an abort code,
+ which can be translated to clear text. This table does
+ the mapping of the codes and messages.
+*/
+
+const ec_code_msg_t sdo_abort_messages[] = {
+ {0x05030000, "Toggle bit not changed"},
+ {0x05040000, "SDO protocol timeout"},
+ {0x05040001, "Client/Server command specifier not valid or unknown"},
+ {0x05040005, "Out of memory"},
+ {0x06010000, "Unsupported access to an object"},
+ {0x06010001, "Attempt to read a write-only object"},
+ {0x06010002, "Attempt to write a read-only object"},
+ {0x06020000, "This object does not exist in the object directory"},
+ {0x06040041, "The object cannot be mapped into the PDO"},
+ {0x06040042, "The number and length of the objects to be mapped would"
+ " exceed the PDO length"},
+ {0x06040043, "General parameter incompatibility reason"},
+ {0x06040047, "Gerneral internal incompatibility in device"},
+ {0x06060000, "Access failure due to a hardware error"},
+ {0x06070010, "Data type does not match, length of service parameter does"
+ " not match"},
+ {0x06070012, "Data type does not match, length of service parameter too"
+ " high"},
+ {0x06070013, "Data type does not match, length of service parameter too"
+ " low"},
+ {0x06090011, "Subindex does not exist"},
+ {0x06090030, "Value range of parameter exceeded"},
+ {0x06090031, "Value of parameter written too high"},
+ {0x06090032, "Value of parameter written too low"},
+ {0x06090036, "Maximum value is less than minimum value"},
+ {0x08000000, "General error"},
+ {0x08000020, "Data cannot be transferred or stored to the application"},
+ {0x08000021, "Data cannot be transferred or stored to the application"
+ " because of local control"},
+ {0x08000022, "Data cannot be transferred or stored to the application"
+ " because of the present device state"},
+ {0x08000023, "Object dictionary dynamic generation fails or no object"
+ " dictionary is present"},
+ {}
+};
+
+/*****************************************************************************/
+
+/**
+ Outputs an SDO abort message.
+*/
+
+void ec_canopen_abort_msg(uint32_t abort_code)
+{
+ const ec_code_msg_t *abort_msg;
+
+ for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
+ if (abort_msg->code == abort_code) {
+ EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+ abort_msg->code, abort_msg->message);
+ return;
+ }
+ }
+
+ EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+}
+
+/*****************************************************************************/
+
+/**
+ Constructor.
+*/
+
+void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
+ ec_datagram_t *datagram /**< datagram */
+ )
+{
+ fsm->state = NULL;
+ fsm->datagram = datagram;
+}
+
+/*****************************************************************************/
+
+/**
+ Destructor.
+*/
+
+void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Starts reading a slaves' SDO dictionary.
+*/
+
+void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
+ ec_slave_t *slave /**< EtherCAT slave */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_coe_dict_start;
+}
+
+/*****************************************************************************/
+
+/**
+ Starts to download an SDO to a slave.
+*/
+
+void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_sdo_data_t *sdodata /**< SDO data object */
+ )
+{
+ fsm->slave = slave;
+ fsm->sdodata = sdodata;
+ fsm->state = ec_fsm_coe_down_start;
+}
+
+/*****************************************************************************/
+
+/**
+ Starts to upload an SDO from a slave.
+*/
+
+void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */
+ ec_slave_t *slave, /**< EtherCAT slave */
+ ec_sdo_request_t *request /**< SDO request */
+ )
+{
+ fsm->slave = slave;
+ fsm->request = request;
+ fsm->state = ec_fsm_coe_up_start;
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the current state of the state machine.
+ \return false, if state machine has terminated
+*/
+
+int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ fsm->state(fsm);
+
+ return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Returns, if the state machine terminated with success.
+ \return non-zero if successful.
+*/
+
+int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
+{
+ return fsm->state == ec_fsm_coe_end;
+}
+
+/******************************************************************************
+ * CoE dictionary state machine
+ *****************************************************************************/
+
+/**
+ CoE state: DICT START.
+*/
+
+void ec_fsm_coe_dict_start(ec_fsm_coe_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->state = ec_fsm_coe_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->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT REQUEST.
+*/
+
+void ec_fsm_coe_dict_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE dictionary request failed on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT CHECK.
+*/
+
+void ec_fsm_coe_dict_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+ slave->ring_position);
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT RESPONSE.
+*/
+
+void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ 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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE dictionary response failed on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_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->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",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (rec_size < 8) {
+ EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ sdo_count = (rec_size - 8) / 2;
+
+ for (i = 0; i < sdo_count; i++) {
+ sdo_index = EC_READ_U16(data + 8 + i * 2);
+ if (!sdo_index) {
+ EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
+ slave->ring_position);
+ continue;
+ }
+
+ if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate memory for SDO!\n");
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (ec_sdo_init(sdo, sdo_index, slave)) {
+ EC_ERR("Failed to init SDO!\n");
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (kobject_add(&sdo->kobj)) {
+ EC_ERR("Failed to add kobject.\n");
+ kobject_put(&sdo->kobj); // free
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ list_add_tail(&sdo->list, &slave->sdo_dictionary);
+ }
+
+ if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
+ fsm->cycles_start = datagram->cycles_sent;
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_check;
+ return;
+ }
+
+ if (list_empty(&slave->sdo_dictionary)) {
+ // no SDOs in dictionary. finished.
+ fsm->state = ec_fsm_coe_end; // success
+ return;
+ }
+
+ // fetch SDO descriptions
+ fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+ fsm->state = ec_fsm_coe_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->sdo->index); // SDO index
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_desc_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT DESC REQUEST.
+*/
+
+void ec_fsm_coe_dict_desc_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE SDO description"
+ " request failed on slave %i.\n", slave->ring_position);
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_desc_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT DESC CHECK.
+*/
+
+void ec_fsm_coe_dict_desc_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+ slave->ring_position);
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_desc_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT DESC RESPONSE.
+*/
+
+void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
+ /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_sdo_t *sdo = fsm->sdo;
+ uint8_t *data, mbox_prot;
+ size_t rec_size, name_size;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE SDO description"
+ "response failed on slave %i.\n", slave->ring_position);
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_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->state = ec_fsm_coe_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->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (rec_size < 12) {
+ EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_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->state = ec_fsm_coe_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->state = ec_fsm_coe_error;
+ return;
+ }
+
+ // start fetching entries
+
+ fsm->subindex = 0;
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+ fsm->state = ec_fsm_coe_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->subindex); // SDO subindex
+ EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_entry_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT ENTRY REQUEST.
+*/
+
+void ec_fsm_coe_dict_entry_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_entry_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT ENTRY CHECK.
+*/
+
+void ec_fsm_coe_dict_entry_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n",
+ slave->ring_position);
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_entry_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DICT ENTRY RESPONSE.
+*/
+
+void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
+ /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_sdo_t *sdo = fsm->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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE SDO description"
+ " response failed on slave %i.\n", slave->ring_position);
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_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->subindex);
+ 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) != 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"
+ " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+ sdo->index, fsm->subindex);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (rec_size < 16) {
+ EC_ERR("Invalid data size!\n");
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_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->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
+ EC_ERR("Failed to init entry!\n");
+ fsm->state = ec_fsm_coe_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->state = ec_fsm_coe_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->state = ec_fsm_coe_error;
+ return;
+ }
+
+ list_add_tail(&entry->list, &sdo->entries);
+
+ if (fsm->subindex < sdo->subindices) {
+ fsm->subindex++;
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+ fsm->state = ec_fsm_coe_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->subindex); // SDO subindex
+ EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_entry_request;
+ return;
+ }
+
+ // another SDO description to fetch?
+ if (fsm->sdo->list.next != &slave->sdo_dictionary) {
+ fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
+ fsm->state = ec_fsm_coe_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->sdo->index); // SDO index
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_dict_desc_request;
+ return;
+ }
+
+ fsm->state = ec_fsm_coe_end;
+}
+
+/******************************************************************************
+ * CoE state machine
+ *****************************************************************************/
+
+/**
+ CoE state: DOWN START.
+*/
+
+void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_sdo_data_t *sdodata = fsm->sdodata;
+ uint8_t *data;
+
+ EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n",
+ sdodata->index, sdodata->subindex, slave->ring_position);
+
+ if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
+ EC_ERR("SDO fragmenting not supported yet!\n");
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+ sdodata->size + 10))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (0x1 // size specified
+ | 0x1 << 5)); // Download request
+ EC_WRITE_U16(data + 3, sdodata->index);
+ EC_WRITE_U8 (data + 5, sdodata->subindex);
+ EC_WRITE_U32(data + 6, sdodata->size);
+ memcpy(data + 10, sdodata->data, sdodata->size);
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_down_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DOWN REQUEST.
+*/
+
+void ec_fsm_coe_down_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE download request failed.\n");
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_down_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DOWN CHECK.
+*/
+
+void ec_fsm_coe_down_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_down_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: DOWN RESPONSE.
+*/
+
+void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ uint8_t *data, mbox_prot;
+ size_t rec_size;
+ ec_sdo_data_t *sdodata = fsm->sdodata;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE download response failed.\n");
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (rec_size < 6) {
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Received data is too small (%i 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",
+ sdodata->index, sdodata->subindex, sdodata->size,
+ slave->ring_position);
+ if (rec_size < 10) {
+ EC_ERR("Incomplete Abort command:\n");
+ ec_print_data(data, rec_size);
+ }
+ else
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
+ EC_READ_U16(data + 3) != sdodata->index || // index
+ EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
+ sdodata->index, sdodata->subindex, sdodata->size);
+ EC_ERR("Invalid SDO download response at slave %i!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ return;
+ }
+
+ fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP START.
+*/
+
+void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_sdo_request_t *request = fsm->request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint8_t *data;
+
+ EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
+ sdo->index, entry->subindex, slave->ring_position);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
+ EC_WRITE_U16(data + 3, sdo->index);
+ EC_WRITE_U8 (data + 5, entry->subindex);
+
+ if (master->debug_level) {
+ EC_DBG("Upload request:\n");
+ ec_print_data(data, 6);
+ }
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE upload request failed.\n");
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ uint8_t *data, mbox_prot;
+ size_t rec_size, data_size;
+ ec_sdo_request_t *request = fsm->request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint32_t complete_size;
+ unsigned int expedited, size_specified;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE upload response failed.\n");
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Upload response:\n");
+ ec_print_data(data, rec_size);
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (rec_size < 10) {
+ EC_ERR("Received currupted SDO upload response!\n");
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ 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",
+ sdo->index, entry->subindex, 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 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
+ EC_READ_U16(data + 3) != sdo->index || // index
+ EC_READ_U8 (data + 5) != entry->subindex) { // subindex
+ EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+ EC_ERR("Invalid SDO upload response at slave %i!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ data_size = rec_size - 10;
+ expedited = EC_READ_U8(data + 2) & 0x02;
+
+ if (expedited) {
+ EC_WARN("Received expedited response upon normal request!\n");
+
+ size_specified = EC_READ_U8(data + 2) & 0x01;
+ if (size_specified) {
+ complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
+ }
+ else {
+ complete_size = 4;
+ }
+ }
+ else {
+ complete_size = EC_READ_U32(data + 6);
+ }
+
+ if (request->data) {
+ kfree(request->data);
+ request->data = NULL;
+ }
+ request->size = 0;
+
+ if (complete_size) {
+ if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+ request->data[complete_size] = 0x00; // just to be sure...
+ }
+
+ if (expedited) {
+ memcpy(request->data, data + 6, complete_size);
+ request->size = complete_size;
+ }
+ else {
+ memcpy(request->data, data + 10, data_size);
+ request->size = data_size;
+ fsm->toggle = 0;
+
+ if (data_size < complete_size) {
+ EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
+ | 0x3 << 5)); // upload segment request
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment request:\n");
+ ec_print_data(data, 3);
+ }
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_seg_request;
+ return;
+ }
+ }
+
+ fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_seg_request(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE upload segment request failed.\n");
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_seg_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_seg_check(ec_fsm_coe_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->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ 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",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_seg_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ uint8_t *data, mbox_prot;
+ size_t rec_size, data_size;
+ ec_sdo_request_t *request = fsm->request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint32_t seg_size;
+ unsigned int last_segment;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Reception of CoE upload segment response failed.\n");
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment response:\n");
+ ec_print_data(data, rec_size);
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->state = ec_fsm_coe_error;
+ 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;
+ }
+
+ 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",
+ sdo->index, entry->subindex, 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 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
+ EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+ EC_ERR("Invalid SDO upload segment response at slave %i!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ last_segment = EC_READ_U8(data + 2) & 0x01;
+ seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
+ data_size = rec_size - 10;
+
+ if (data_size != seg_size) {
+ EC_WARN("SDO segment data invalid (%i / %i)"
+ " - Fragmenting not implemented.\n",
+ data_size, seg_size);
+ }
+
+ memcpy(request->data + request->size, data + 10, data_size);
+ request->size += data_size;
+
+ if (!last_segment) {
+ fsm->toggle = !fsm->toggle;
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+ fsm->state = ec_fsm_coe_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
+ | 0x3 << 5)); // upload segment request
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment request:\n");
+ ec_print_data(data, 3);
+ }
+
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_coe_up_seg_request;
+ return;
+ }
+
+ fsm->state = ec_fsm_coe_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+ State: ERROR.
+*/
+
+void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State: END.
+*/
+
+void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/