--- a/master/fsm.c Tue Oct 17 14:37:46 2006 +0000
+++ b/master/fsm.c Tue Oct 17 14:50:04 2006 +0000
@@ -73,8 +73,9 @@
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 *);
@@ -92,6 +93,17 @@
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 *);
@@ -661,7 +673,7 @@
/*****************************************************************************/
/**
- Master state: STATES.
+ Master state: READ STATES.
Fetches the AL- and online state of a slave.
*/
@@ -832,7 +844,7 @@
/*****************************************************************************/
/**
- Master state: ADDRESS.
+ Master state: REWRITE ADDRESS.
Checks, if the new station address has been written to the slave.
*/
@@ -864,7 +876,7 @@
/*****************************************************************************/
/**
- Master state: SCAN.
+ Master state: SCAN SLAVES.
Executes the sub-statemachine for the scanning of a slave.
*/
@@ -911,7 +923,7 @@
/*****************************************************************************/
/**
- Master state: CONF.
+ Master state: CONFIGURE SLAVES.
Starts configuring a slave.
*/
@@ -930,7 +942,7 @@
/*****************************************************************************/
/**
- Master state: EEPROM.
+ Master state: WRITE EEPROM.
*/
void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
@@ -978,7 +990,7 @@
*****************************************************************************/
/**
- 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.
*/
@@ -997,7 +1009,7 @@
/*****************************************************************************/
/**
- Slave state: ADDRESS.
+ Slave scan state: ADDRESS.
*/
void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */)
@@ -1022,7 +1034,7 @@
/*****************************************************************************/
/**
- Slave state: STATE.
+ Slave scan state: STATE.
*/
void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */)
@@ -1054,7 +1066,7 @@
/*****************************************************************************/
/**
- Slave state: BASE.
+ Slave scan state: BASE.
*/
void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */)
@@ -1089,7 +1101,7 @@
/*****************************************************************************/
/**
- Slave state: DATALINK.
+ Slave scan state: DATALINK.
*/
void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */)
@@ -1127,7 +1139,7 @@
/*****************************************************************************/
/**
- Slave state: EEPROM_SIZE.
+ Slave scan state: EEPROM SIZE.
*/
void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
@@ -1187,7 +1199,7 @@
/*****************************************************************************/
/**
- Slave state: EEPROM_DATA.
+ Slave scan state: EEPROM DATA.
*/
void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
@@ -1301,11 +1313,12 @@
*****************************************************************************/
/**
- 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;
@@ -1320,9 +1333,17 @@
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;
}
@@ -1338,6 +1359,11 @@
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);
@@ -1361,7 +1387,7 @@
/*****************************************************************************/
/**
- Slave state: SYNC.
+ Slave configuration state: SYNC.
*/
void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */)
@@ -1387,7 +1413,7 @@
/*****************************************************************************/
/**
- Slave state: PREOP.
+ Slave configuration state: PREOP.
*/
void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
@@ -1408,19 +1434,91 @@
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
- return;
- }
-
- if (!slave->base_fmmu_count) { // skip FMMU configuration
- if (list_empty(&slave->sdo_confs)) { // skip SDO configuration
+
+ if (master->debug_level) {
+ EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position);
+ }
+
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) {
+ // 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;
@@ -1428,6 +1526,136 @@
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,
0x0600, EC_FMMU_SIZE * slave->base_fmmu_count);
@@ -1444,13 +1672,12 @@
/*****************************************************************************/
/**
- 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) {
@@ -1461,51 +1688,6 @@
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;
@@ -1516,11 +1698,14 @@
/*****************************************************************************/
/**
- 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) {
@@ -1532,8 +1717,17 @@
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;
}
@@ -1547,15 +1741,18 @@
/*****************************************************************************/
/**
- 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;
}
@@ -1563,6 +1760,12 @@
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
}
@@ -1571,7 +1774,7 @@
*****************************************************************************/
/**
- SII state: START_READING.
+ SII state: START READING.
Starts reading the slave information interface.
*/
@@ -1597,7 +1800,7 @@
/*****************************************************************************/
/**
- SII state: READ_CHECK.
+ SII state: READ CHECK.
Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
*/
@@ -1630,7 +1833,7 @@
/*****************************************************************************/
/**
- SII state: READ_FETCH.
+ SII state: READ FETCH.
Fetches the result of an SII-read datagram.
*/
@@ -1692,7 +1895,7 @@
/*****************************************************************************/
/**
- SII state: START_WRITING.
+ SII state: START WRITING.
Starts reading the slave information interface.
*/
@@ -1713,7 +1916,7 @@
/*****************************************************************************/
/**
- SII state: WRITE_CHECK.
+ SII state: WRITE CHECK.
*/
void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
@@ -1739,7 +1942,7 @@
/*****************************************************************************/
/**
- SII state: WRITE_CHECK2.
+ SII state: WRITE CHECK 2.
*/
void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
@@ -2057,11 +2260,640 @@
}
/******************************************************************************
+ * 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 */)
@@ -2101,7 +2933,7 @@
/*****************************************************************************/
/**
- CoE state: DOWN_REQUEST.
+ CoE state: DOWN REQUEST.
*/
void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */)
@@ -2126,7 +2958,7 @@
/*****************************************************************************/
/**
- CoE state: DOWN_CHECK.
+ CoE state: DOWN CHECK.
*/
void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
@@ -2164,7 +2996,7 @@
/*****************************************************************************/
/**
- CoE state: DOWN_RESPONSE.
+ CoE state: DOWN RESPONSE.
*/
void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)