/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT CoE state machines.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "fsm_coe.h"
/*****************************************************************************/
/** Maximum time in ms to wait for responses when reading out the dictionary.
*/
#define EC_FSM_COE_DICT_TIMEOUT 1000
#define EC_COE_DOWN_REQ_HEADER_SIZE 10
#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
#define DEBUG_RETRIES 0
#define DEBUG_LONG 0
/*****************************************************************************/
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_down_seg_check(ec_fsm_coe_t *);
void ec_fsm_coe_down_seg_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;
}
/*****************************************************************************/
/** Check if the received data are a CoE emergency request.
*
* If the check is positive, the emergency request is output.
*
* \return The data were an emergency request.
*/
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 (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
EC_ERR("Slave %u does not support SDO information service!\n",
slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
if (IS_ERR(data)) {
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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->jiffies_start = datagram->jiffies_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while waiting for SDO dictionary list response "
"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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 (rec_size < 3) {
EC_ERR("Received corrupted SDO dictionary response (size %zu).\n",
rec_size);
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 %u!\n",
slave->ring_position);
if (rec_size < 10) {
EC_ERR("Incomplete SDO information error response:\n");
ec_print_data(data, rec_size);
} else {
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
if (fsm->slave->master->debug_level) {
EC_DBG("Invalid SDO list response at slave %u! Retrying...\n",
slave->ring_position);
ec_print_data(data, rec_size);
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
return;
}
if (rec_size < 8 || rec_size % 2) {
EC_ERR("Invalid data size %zu!\n", rec_size);
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->jiffies_start = datagram->jiffies_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);
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
if (IS_ERR(data)) {
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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->jiffies_start = datagram->jiffies_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while waiting for SDO 0x%04x object description "
"response on slave %u.\n", fsm->sdo->index,
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 (rec_size < 3) {
EC_ERR("Received corrupted SDO description response (size %zu).\n",
rec_size);
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 %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 (rec_size < 8) {
EC_ERR("Received corrupted SDO description response (size %zu).\n",
rec_size);
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
if (fsm->slave->master->debug_level) {
EC_DBG("Invalid object description response at slave %u while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
ec_print_data(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 (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;
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
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, 0x01); // value info (access rights only)
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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->jiffies_start = datagram->jiffies_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"
": ", slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while waiting for SDO entry 0x%04x:%x"
" description response on slave %u.\n",
fsm->sdo->index, fsm->subindex, 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;
u16 word;
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 (rec_size < 3) {
EC_ERR("Received corrupted SDO entry description response "
"(size %zu).\n", rec_size);
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 %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 (rec_size < 9) {
EC_ERR("Received corrupted SDO entry description response "
"(size %zu).\n", rec_size);
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
if (fsm->slave->master->debug_level) {
EC_DBG("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);
}
// 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 (rec_size < 16) {
EC_ERR("Invalid data size %zu!\n", rec_size);
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);
// read access rights
word = EC_READ_U16(data + 14);
entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1) & 0x0001;
entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2) & 0x0001;
entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4) & 0x0001;
entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5) & 0x0001;
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++;
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
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);
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
if (IS_ERR(data)) {
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;
uint8_t data_set_size;
if (fsm->slave->master->debug_level) {
char subidxstr[10];
if (request->complete_access) {
subidxstr[0] = 0x00;
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
EC_DBG("Downloading SDO 0x%04X%s to slave %u.\n",
request->index, subidxstr, 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->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_ERR("Mailbox too small!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (request->data_size <= 4) { // use expedited transfer type
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->remaining = 0;
data_set_size = 4 - request->data_size;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| data_set_size << 2
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5,
request->complete_access ? 0x00 : request->subindex);
memcpy(data + 6, request->data, request->data_size);
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
if (slave->master->debug_level) {
EC_DBG("Expedited download request:\n");
ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
}
}
else { // request->data_size > 4, use normal transfer type
size_t data_size,
max_data_size =
slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
required_data_size =
EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
if (max_data_size < required_data_size) {
// segmenting needed
data_size = max_data_size;
} else {
data_size = required_data_size;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->offset = 0;
fsm->remaining = request->data_size;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2,
0x1 // size indicator, normal
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5,
request->complete_access ? 0x00 : request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
request->data, segment_size);
fsm->offset += segment_size;
fsm->remaining -= segment_size;
}
if (slave->master->debug_level) {
EC_DBG("Normal download request:\n");
ec_print_data(data, data_size);
}
}
fsm->request->jiffies_sent = jiffies;
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;
unsigned long diff_ms;
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
return;
}
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
if (datagram->working_counter != 1) {
if (!datagram->working_counter) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u did not respond to SDO download request. "
"Retrying after %u ms...\n",
slave->ring_position, (u32) diff_ms);
}
#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download request for SDO 0x%04x:%x failed"
" with timeout after %u ms on slave %u: ",
fsm->request->index, fsm->request->subindex, (u32) diff_ms,
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
EC_WARN("SDO 0x%04x:%x download took %u ms on slave %u.\n",
fsm->request->index, fsm->request->subindex, (u32) diff_ms,
fsm->slave->ring_position);
}
#endif
fsm->jiffies_start = datagram->jiffies_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
" download response on slave %u.\n", (u32) diff_ms,
fsm->request->index, fsm->request->subindex,
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;
}
/*****************************************************************************/
void ec_fsm_coe_down_prepare_segment_request(
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;
size_t max_segment_size =
slave->configured_rx_mailbox_size
- EC_MBOX_HEADER_SIZE
- EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
size_t segment_size, data_size;
uint8_t last_segment, seg_data_size, *data;
if (fsm->remaining > max_segment_size) {
segment_size = max_segment_size;
last_segment = 0;
} else {
segment_size = fsm->remaining;
last_segment = 1;
}
if (segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
seg_data_size = 0x00;
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size;
} else {
seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size;
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
+ EC_COE_DOWN_SEG_MIN_DATA_SIZE;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
| (seg_data_size << 1)
| (fsm->toggle << 4)
| (0x00 << 5)); // Download segment request
memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
request->data + fsm->offset, segment_size);
if (segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size, 0x00,
EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size);
}
fsm->offset += segment_size;
fsm->remaining -= segment_size;
if (slave->master->debug_level) {
EC_DBG("Download segment request:\n");
ec_print_data(data, data_size);
}
fsm->state = ec_fsm_coe_down_seg_check;
}
/*****************************************************************************/
/**
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 are too small (%zu 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
char subidxstr[10];
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
request->index, subidxstr, request->data_size,
slave->ring_position);
if (rec_size < 10) {
EC_ERR("Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(fsm->request->abort_code);
}
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
if (slave->master->debug_level) {
EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
slave->ring_position);
ec_print_data(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 (fsm->remaining) { // more segments to download
fsm->toggle = 0;
ec_fsm_coe_down_prepare_segment_request(fsm);
} else {
fsm->state = ec_fsm_coe_end; // success
}
}
/*****************************************************************************/
/**
CoE state: DOWN SEG CHECK.
*/
void ec_fsm_coe_down_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE mailbox segment check"
" datagram failed on slave %u: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while waiting for SDO download segment response "
"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_seg_response;
}
/*****************************************************************************/
/**
CoE state: DOWN SEG RESPONSE.
\todo Timeout behavior
*/
void ec_fsm_coe_down_seg_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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 are too small (%zu 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
char subidxstr[10];
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
EC_ERR("SDO download 0x%04X%s (%zu bytes) aborted on slave %u.\n",
request->index, subidxstr, request->data_size,
slave->ring_position);
if (rec_size < 10) {
EC_ERR("Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(fsm->request->abort_code);
}
return;
}
if (EC_READ_U16(data) >> 12 != 0x3 ||
((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
if (slave->master->debug_level) {
EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
slave->ring_position);
ec_print_data(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_seg_check;
return;
}
if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
EC_ERR("Invalid toggle received during segmented download:\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
if (fsm->remaining) { // more segments to download
fsm->toggle = !fsm->toggle;
ec_fsm_coe_down_prepare_segment_request(fsm);
} else {
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;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
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->request->jiffies_sent = jiffies;
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;
unsigned long diff_ms;
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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
return;
}
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
if (datagram->working_counter != 1) {
if (!datagram->working_counter) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
if (fsm->slave->master->debug_level) {
EC_DBG("Slave %u did not respond to SDO upload request. "
"Retrying after %u ms...\n",
slave->ring_position, (u32) diff_ms);
}
#endif
// no response; send request datagram again
return;
}
}
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload request for SDO 0x%04x:%x failed"
" with timeout after %u ms on slave %u: ",
fsm->request->index, fsm->request->subindex, (u32) diff_ms,
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
#if DEBUG_LONG
if (diff_ms > 200) {
EC_WARN("SDO 0x%04x:%x upload took %u ms on slave %u.\n",
fsm->request->index, fsm->request->subindex, (u32) diff_ms,
fsm->slave->ring_position);
}
#endif
fsm->jiffies_start = datagram->jiffies_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout after %u ms while waiting for SDO 0x%04x:%x"
" upload response on slave %u.\n", (u32) diff_ms,
fsm->request->index, fsm->request->subindex,
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;
}
/*****************************************************************************/
/** Prepare an SDO upload segment request.
*/
void ec_fsm_coe_up_prepare_segment_request(
ec_fsm_coe_t *fsm /**< Finite state machine */
)
{
uint8_t *data =
ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
if (IS_ERR(data)) {
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
memset(data + 3, 0x00, 7);
if (fsm->slave->master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 10);
}
}
/*****************************************************************************/
/**
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;
uint16_t rec_index;
uint8_t *data, mbox_prot, rec_subindex;
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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 < 6) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received currupted SDO upload response (%zu 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) {
request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(request->abort_code);
} else {
EC_ERR("No abort message.\n");
}
fsm->state = ec_fsm_coe_error;
return;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
EC_ERR("Received unknown response while uploading SDO 0x%04X:%02X"
" from slave %u.\n", request->index, request->subindex,
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
rec_index = EC_READ_U16(data + 3);
rec_subindex = EC_READ_U8(data + 5);
if (rec_index != request->index || rec_subindex != request->subindex) {
EC_ERR("Received upload response for wrong SDO (0x%04X:%02X,"
" requested: 0x%04X:%02X) from slave %u.\n",
rec_index, rec_subindex, request->index, request->subindex,
slave->ring_position);
ec_print_data(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;
}
// normal or expedited?
expedited = EC_READ_U8(data + 2) & 0x02;
if (expedited) {
size_specified = EC_READ_U8(data + 2) & 0x01;
if (size_specified) {
fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
} else {
fsm->complete_size = 4;
}
if (rec_size < 6 + fsm->complete_size) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Received corrupted SDO expedited upload"
" response (only %zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
if (ec_sdo_request_copy_data(request, data + 6, fsm->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 %zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
return;
}
data_size = rec_size - 10;
fsm->complete_size = EC_READ_U32(data + 6);
if (!fsm->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, fsm->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 < fsm->complete_size) {
if (master->debug_level)
EC_DBG("SDO data incomplete (%zu / %u). Segmenting...\n",
data_size, fsm->complete_size);
ec_fsm_coe_up_prepare_segment_request(fsm);
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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->jiffies_start = datagram->jiffies_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: ",
slave->ring_position);
ec_datagram_print_state(datagram);
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)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while waiting for SDO upload segment response "
"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
*/
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;
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: ", slave->ring_position);
ec_datagram_print_state(datagram);
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;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
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);
request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(request->abort_code);
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
if (fsm->slave->master->debug_level) {
EC_DBG("Invalid SDO upload segment response at slave %u!\n",
slave->ring_position);
ec_print_data(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;
}
data_size = rec_size - 3; /* Header of segment upload is smaller than
normal upload */
if (rec_size == 10) {
uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
data_size -= seg_size;
}
if (request->data_size + data_size > fsm->complete_size) {
EC_ERR("SDO upload 0x%04X:%02X failed on slave %u: Fragment"
" exceeding complete size!\n",
request->index, request->subindex, slave->ring_position);
fsm->state = ec_fsm_coe_error;
return;
}
memcpy(request->data + request->data_size, data + 3, data_size);
request->data_size += data_size;
last_segment = EC_READ_U8(data + 2) & 0x01;
if (!last_segment) {
fsm->toggle = !fsm->toggle;
ec_fsm_coe_up_prepare_segment_request(fsm);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
return;
}
if (request->data_size != fsm->complete_size) {
EC_WARN("SDO upload 0x%04X:%02X on slave %u: Assembled data"
" size (%zu) does not match complete size (%u)!\n",
request->index, request->subindex, slave->ring_position,
request->data_size, fsm->complete_size);
}
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 */)
{
}
/*****************************************************************************/