/******************************************************************************
*
* $Id$
*
* 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 transfer an Sdo to/from a slave.
*/
void ec_fsm_coe_transfer(
ec_fsm_coe_t *fsm, /**< State machine. */
ec_slave_t *slave, /**< EtherCAT slave. */
ec_sdo_request_t *request /**< Sdo request. */
)
{
fsm->slave = slave;
fsm->request = request;
if (request->dir == EC_DIR_OUTPUT)
fsm->state = ec_fsm_coe_down_start;
else
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;
}
/*****************************************************************************/
/**
*/
int ec_fsm_coe_check_emergency(
ec_fsm_coe_t *fsm, /**< Finite state machine */
const uint8_t *data, /**< CoE mailbox data. */
size_t size /**< CoE mailbox data size. */
)
{
if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
return 0;
if (size < 10) {
EC_WARN("Received incomplete CoE Emergency request from slave %u:\n",
fsm->slave->ring_position);
ec_print_data(data, size);
return 1;
}
EC_INFO("CoE Emergency Request received from slave %u:\n",
fsm->slave->ring_position);
EC_INFO("Error code 0x%04X, Error register 0x%02X, data:\n",
EC_READ_U16(data + 2), EC_READ_U8(data + 4));
ec_print_data(data + 5, 5);
return 1;
}
/******************************************************************************
* CoE dictionary state machine
*****************************************************************************/
/**
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 (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
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!
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_request;
}
/*****************************************************************************/
/**
CoE state: DICT REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE dictionary request datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE dictionary request failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check datagram failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_response;
}
/*****************************************************************************/
/**
CoE state: DICT RESPONSE.
\todo Timeout behavior
*/
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, fragments_left;
ec_sdo_t *sdo;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE dictionary response datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE dictionary response failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
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_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("Sdo information error response at slave %u!\n",
slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
EC_ERR("Invalid Sdo list response at slave %u!\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) {
if (slave->master->debug_level)
EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",
slave->ring_position);
continue;
}
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Sdo!\n");
fsm->state = ec_fsm_coe_error;
return;
}
ec_sdo_init(sdo, slave, sdo_index);
list_add_tail(&sdo->list, &slave->sdo_dictionary);
}
fragments_left = EC_READ_U16(data + 4);
if (slave->master->debug_level && fragments_left) {
EC_DBG("Sdo list fragments left: %u\n", fragments_left);
}
if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_request;
}
/*****************************************************************************/
/**
CoE state: DICT DESC REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE Sdo description request datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE Sdo description"
" request failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo description on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_response;
}
/*****************************************************************************/
/**
CoE state: DICT DESC RESPONSE.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE Sdo description response datagram from"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE Sdo description"
" response failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
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_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_check;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("Sdo information error response at slave %u while"
" fetching Sdo 0x%04X!\n", slave->ring_position,
sdo->index);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
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 %u while"
" fetching Sdo 0x%04X!\n", slave->ring_position,
sdo->index);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
if (rec_size < 12) {
EC_ERR("Invalid data size!\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
sdo->max_subindex = 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_KERNEL))) {
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)
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_request;
}
/*****************************************************************************/
/**
CoE state: DICT ENTRY REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE Sdo entry request datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE Sdo entry request failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_response;
}
/*****************************************************************************/
/**
CoE state: DICT ENTRY RESPONSE.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE Sdo description response datagram from"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE Sdo description"
" response failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
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_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_check;
return;
}
if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("Sdo information error response at slave %u while"
" fetching Sdo entry 0x%04X:%02X!\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 %u while"
" fetching Sdo entry 0x%04X:%02X!\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_KERNEL))) {
EC_ERR("Failed to allocate entry!\n");
fsm->state = ec_fsm_coe_error;
return;
}
ec_sdo_entry_init(entry, sdo, fsm->subindex);
entry->data_type = EC_READ_U16(data + 10);
entry->bit_length = EC_READ_U16(data + 12);
if (data_size) {
uint8_t *desc;
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate Sdo entry name!\n");
fsm->state = ec_fsm_coe_error;
return;
}
memcpy(desc, data + 16, data_size);
desc[data_size] = 0;
entry->description = desc;
}
list_add_tail(&entry->list, &sdo->entries);
if (fsm->subindex < sdo->max_subindex) {
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)
fsm->retries = EC_FSM_RETRIES;
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
fsm->retries = EC_FSM_RETRIES;
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_request_t *request = fsm->request;
uint8_t *data;
if (fsm->slave->master->debug_level) {
EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
request->index, request->subindex, slave->ring_position);
ec_print_data(request->data, request->data_size);
}
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_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,
request->data_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, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
memcpy(data + 10, request->data, request->data_size);
if (slave->master->debug_level) {
EC_DBG("Download request:\n");
ec_print_data(data, 10 + request->data_size);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_request;
}
/*****************************************************************************/
/**
CoE state: DOWN REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE download request datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download request failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo configuration on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_response;
}
/*****************************************************************************/
/**
CoE state: DOWN RESPONSE.
\todo Timeout behavior
*/
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_request_t *request = fsm->request;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE download response datagram from"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download response failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
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
fsm->state = ec_fsm_coe_error;
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_check;
return;
}
if (slave->master->debug_level) {
EC_DBG("Download response:\n");
ec_print_data(data, rec_size);
}
if (rec_size < 6) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received data is too small (%u bytes):\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
fsm->state = ec_fsm_coe_error;
EC_ERR("Sdo download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
request->index, request->subindex, request->data_size,
slave->ring_position);
if (rec_size < 10) {
EC_ERR("Incomplete Abort command:\n");
ec_print_data(data, rec_size);
}
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) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
fsm->state = ec_fsm_coe_error;
EC_ERR("Sdo download 0x%04X:%02X (%u bytes) failed:\n",
request->index, request->subindex, request->data_size);
EC_ERR("Invalid Sdo download response at slave %u!\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;
uint8_t *data;
if (master->debug_level)
EC_DBG("Uploading Sdo 0x%04X:%02X from slave %u.\n",
request->index, request->subindex, slave->ring_position);
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
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, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
memset(data + 6, 0x00, 4);
if (master->debug_level) {
EC_DBG("Upload request:\n");
ec_print_data(data, 10);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_request;
}
/*****************************************************************************/
/**
CoE state: UP REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE upload request for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload request failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram from slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_response;
}
/*****************************************************************************/
/**
CoE state: UP RESPONSE.
\todo Timeout behavior
*/
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;
uint32_t complete_size;
unsigned int expedited, size_specified;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE upload response datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload response failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
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
fsm->state = ec_fsm_coe_error;
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
}
if (rec_size < 3) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
request->index, request->subindex, slave->ring_position);
if (rec_size >= 10)
ec_canopen_abort_msg(EC_READ_U32(data + 6));
else
EC_ERR("No abort message.\n");
fsm->state = ec_fsm_coe_error;
return;
}
// normal or expedited?
expedited = EC_READ_U8(data + 2) & 0x02;
if (expedited) {
if (rec_size < 7) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted Sdo expedited upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
fsm->state = ec_fsm_coe_error;
EC_ERR("Sdo upload 0x%04X:%02X failed:\n",
request->index, request->subindex);
EC_ERR("Invalid Sdo upload expedited response at slave %u!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return;
}
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;
}
if (rec_size < 6 + complete_size) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted Sdo expedited upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (ec_sdo_request_copy_data(request, data + 6, complete_size)) {
fsm->state = ec_fsm_coe_error;
return;
}
} else { // normal
if (rec_size < 10) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted Sdo normal upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
fsm->state = ec_fsm_coe_error;
EC_ERR("Sdo upload 0x%04X:%02X failed:\n",
request->index, request->subindex);
EC_ERR("Invalid Sdo normal upload response at slave %u!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return;
}
data_size = rec_size - 10;
complete_size = EC_READ_U32(data + 6);
if (!complete_size) {
fsm->state = ec_fsm_coe_error;
EC_ERR("No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
if (ec_sdo_request_alloc(request, complete_size)) {
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->toggle = 0;
if (data_size < complete_size) {
EC_WARN("Sdo data incomplete (%u / %u).\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);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
return;
}
}
if (master->debug_level) {
EC_DBG("Uploaded data:\n");
ec_print_data(request->data, request->data_size);
}
fsm->state = ec_fsm_coe_end; // success
}
/*****************************************************************************/
/**
CoE state: UP REQUEST.
\todo Timeout behavior
*/
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_TIMED_OUT && fsm->retries--)
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE upload segment request datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload segment"
" request failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
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_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE mailbox check datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n",
slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_response;
}
/*****************************************************************************/
/**
CoE state: UP RESPONSE.
\todo Timeout behavior
\todo Check for \a data_size exceeding \a complete_size.
*/
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;
uint32_t seg_size;
unsigned int last_segment;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Failed to receive CoE upload segment response datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload segment"
" response failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
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_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_check;
return;
}
if (rec_size < 10) {
EC_ERR("Received currupted Sdo upload segment response!\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
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:%02X aborted on slave %u.\n",
request->index, request->subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
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:%02X failed:\n", request->index, request->subindex);
EC_ERR("Invalid Sdo upload segment response at slave %u!\n",
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
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 (%u / %u)"
" - Fragmenting not implemented.\n",
data_size, seg_size);
}
memcpy(request->data + request->data_size, data + 10, data_size);
request->data_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);
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
return;
}
if (master->debug_level) {
EC_DBG("Uploaded data:\n");
ec_print_data(request->data, request->data_size);
}
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 */)
{
}
/*****************************************************************************/