fp@1732: /******************************************************************************
fp@1732:  *
fp@1732:  *  $Id$
fp@1732:  *
fp@1732:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1732:  *
fp@1732:  *  This file is part of the IgH EtherCAT Master.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1732:  *  and/or modify it under the terms of the GNU General Public License
fp@1732:  *  as published by the Free Software Foundation; either version 2 of the
fp@1732:  *  License, or (at your option) any later version.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1732:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1732:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1732:  *  GNU General Public License for more details.
fp@1732:  *
fp@1732:  *  You should have received a copy of the GNU General Public License
fp@1732:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1732:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1732:  *
fp@1732:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1732:  *  charge under condition of compatibility of product made by
fp@1732:  *  Licensee. People intending to distribute/sell products based on the
fp@1732:  *  code, have to sign an agreement to guarantee that products using
fp@1732:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1732:  *  EtherCAT specification (which are released themselves as an open
fp@1732:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1732:  *  Technology, IP and trade marks.
fp@1732:  *
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    \file
fp@1732:    EtherCAT CoE state machines.
fp@1732: */
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: #include "globals.h"
fp@1732: #include "master.h"
fp@1732: #include "mailbox.h"
fp@1732: #include "fsm_coe.h"
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_response(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *);
fp@1732: 
fp@1732: void ec_fsm_coe_down_start(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_down_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_down_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_down_response(ec_fsm_coe_t *);
fp@1732: 
fp@1732: void ec_fsm_coe_up_start(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_response(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *);
fp@1732: 
fp@1732: void ec_fsm_coe_end(ec_fsm_coe_t *);
fp@1732: void ec_fsm_coe_error(ec_fsm_coe_t *);
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SDO abort messages.
fp@1732:    The "abort SDO transfer request" supplies an abort code,
fp@1732:    which can be translated to clear text. This table does
fp@1732:    the mapping of the codes and messages.
fp@1732: */
fp@1732: 
fp@1732: const ec_code_msg_t sdo_abort_messages[] = {
fp@1732:     {0x05030000, "Toggle bit not changed"},
fp@1732:     {0x05040000, "SDO protocol timeout"},
fp@1732:     {0x05040001, "Client/Server command specifier not valid or unknown"},
fp@1732:     {0x05040005, "Out of memory"},
fp@1732:     {0x06010000, "Unsupported access to an object"},
fp@1732:     {0x06010001, "Attempt to read a write-only object"},
fp@1732:     {0x06010002, "Attempt to write a read-only object"},
fp@1732:     {0x06020000, "This object does not exist in the object directory"},
fp@1732:     {0x06040041, "The object cannot be mapped into the PDO"},
fp@1732:     {0x06040042, "The number and length of the objects to be mapped would"
fp@1732:      " exceed the PDO length"},
fp@1732:     {0x06040043, "General parameter incompatibility reason"},
fp@1732:     {0x06040047, "Gerneral internal incompatibility in device"},
fp@1732:     {0x06060000, "Access failure due to a hardware error"},
fp@1732:     {0x06070010, "Data type does not match, length of service parameter does"
fp@1732:      " not match"},
fp@1732:     {0x06070012, "Data type does not match, length of service parameter too"
fp@1732:      " high"},
fp@1732:     {0x06070013, "Data type does not match, length of service parameter too"
fp@1732:      " low"},
fp@1732:     {0x06090011, "Subindex does not exist"},
fp@1732:     {0x06090030, "Value range of parameter exceeded"},
fp@1732:     {0x06090031, "Value of parameter written too high"},
fp@1732:     {0x06090032, "Value of parameter written too low"},
fp@1732:     {0x06090036, "Maximum value is less than minimum value"},
fp@1732:     {0x08000000, "General error"},
fp@1732:     {0x08000020, "Data cannot be transferred or stored to the application"},
fp@1732:     {0x08000021, "Data cannot be transferred or stored to the application"
fp@1732:      " because of local control"},
fp@1732:     {0x08000022, "Data cannot be transferred or stored to the application"
fp@1732:      " because of the present device state"},
fp@1732:     {0x08000023, "Object dictionary dynamic generation fails or no object"
fp@1732:      " dictionary is present"},
fp@1732:     {}
fp@1732: };
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Outputs an SDO abort message.
fp@1732: */
fp@1732: 
fp@1732: void ec_canopen_abort_msg(uint32_t abort_code)
fp@1732: {
fp@1732:     const ec_code_msg_t *abort_msg;
fp@1732: 
fp@1732:     for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
fp@1732:         if (abort_msg->code == abort_code) {
fp@1732:             EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
fp@1732:                    abort_msg->code, abort_msg->message);
fp@1732:             return;
fp@1732:         }
fp@1732:     }
fp@1732: 
fp@1732:     EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Constructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
fp@1732:                      ec_datagram_t *datagram /**< datagram */
fp@1732:                      )
fp@1732: {
fp@1732:     fsm->state = NULL;
fp@1732:     fsm->datagram = datagram;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Destructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Starts reading a slaves' SDO dictionary.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
fp@1732:                            ec_slave_t *slave /**< EtherCAT slave */
fp@1732:                            )
fp@1732: {
fp@1732:     fsm->slave = slave;
fp@1732:     fsm->state = ec_fsm_coe_dict_start;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Starts to download an SDO to a slave.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
fp@1732:                          ec_slave_t *slave, /**< EtherCAT slave */
fp@1732:                          ec_sdo_data_t *sdodata /**< SDO data object */
fp@1732:                          )
fp@1732: {
fp@1732:     fsm->slave = slave;
fp@1732:     fsm->sdodata = sdodata;
fp@1732:     fsm->state = ec_fsm_coe_down_start;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Starts to upload an SDO from a slave.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */
fp@1732:                        ec_slave_t *slave, /**< EtherCAT slave */
fp@1732:                        ec_sdo_request_t *request /**< SDO request */
fp@1732:                        )
fp@1732: {
fp@1732:     fsm->slave = slave;
fp@1732:     fsm->request = request;
fp@1732:     fsm->state = ec_fsm_coe_up_start;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Executes the current state of the state machine.
fp@1732:    \return false, if state machine has terminated
fp@1732: */
fp@1732: 
fp@1732: int ec_fsm_coe_exec(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     fsm->state(fsm);
fp@1732: 
fp@1732:     return fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Returns, if the state machine terminated with success.
fp@1732:    \return non-zero if successful.
fp@1732: */
fp@1732: 
fp@1732: int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
fp@1732: {
fp@1732:     return fsm->state == ec_fsm_coe_end;
fp@1732: }
fp@1732: 
fp@1732: /******************************************************************************
fp@1732:  *  CoE dictionary state machine
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT START.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     uint8_t *data;
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@1732:     EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
fp@1732:     EC_WRITE_U8 (data + 3, 0x00);
fp@1732:     EC_WRITE_U16(data + 4, 0x0000);
fp@1732:     EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
fp@1732: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_request;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE dictionary request datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE dictionary request failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1732:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check datagram failed on slave %i: ",
fp@1732:                slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size;
fp@1732:     unsigned int sdo_count, i;
fp@1732:     uint16_t sdo_index;
fp@1732:     ec_sdo_t *sdo;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE dictionary response datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE dictionary response failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@1732:         (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
fp@1732:         EC_ERR("SDO information error response at slave %i!\n",
fp@1732:                slave->ring_position);
fp@1732:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@1732:         (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
fp@1732:         EC_ERR("Invalid SDO list response at slave %i!\n",
fp@1732:                slave->ring_position);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 8) {
fp@1732:         EC_ERR("Invalid data size!\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     sdo_count = (rec_size - 8) / 2;
fp@1732: 
fp@1732:     for (i = 0; i < sdo_count; i++) {
fp@1732:         sdo_index = EC_READ_U16(data + 8 + i * 2);
fp@1732:         if (!sdo_index) {
fp@1732:             if (slave->master->debug_level)
fp@1732:                 EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
fp@1732:                         slave->ring_position);
fp@1732:             continue;
fp@1732:         }
fp@1732: 
fp@1732:         if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
fp@1732:             EC_ERR("Failed to allocate memory for SDO!\n");
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         if (ec_sdo_init(sdo, sdo_index, slave)) {
fp@1732:             EC_ERR("Failed to init SDO!\n");
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         list_add_tail(&sdo->list, &slave->sdo_dictionary);
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again.
fp@1732:         fsm->cycles_start = datagram->cycles_sent;
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         fsm->state = ec_fsm_coe_dict_check;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (list_empty(&slave->sdo_dictionary)) {
fp@1732:         // no SDOs in dictionary. finished.
fp@1732:         fsm->state = ec_fsm_coe_end; // success
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // fetch SDO descriptions
fp@1732:     fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@1732:     EC_WRITE_U8 (data + 2, 0x03); // Get object description request
fp@1732:     EC_WRITE_U8 (data + 3, 0x00);
fp@1732:     EC_WRITE_U16(data + 4, 0x0000);
fp@1732:     EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
fp@1732: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_desc_request;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT DESC REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: check for response first?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE SDO description request datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE SDO description"
fp@1745:                 " request failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1732:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_desc_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT DESC CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                 slave->ring_position, datagram->state);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check"
fp@1745:                 " datagram failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO description on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_desc_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT DESC RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
fp@1732:                                    /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_sdo_t *sdo = fsm->sdo;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size, name_size;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE SDO description response datagram from"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE SDO description"
fp@1745:                 " response failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@1732:         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
fp@1732:         EC_ERR("SDO information error response at slave %i while"
fp@1732:                " fetching SDO 0x%04X!\n", slave->ring_position,
fp@1732:                sdo->index);
fp@1732:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@1732:         (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
fp@1732:         EC_READ_U16(data + 6) != sdo->index) { // SDO index
fp@1732:         EC_ERR("Invalid object description response at slave %i while"
fp@1732:                " fetching SDO 0x%04X!\n", slave->ring_position,
fp@1732:                sdo->index);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 12) {
fp@1732:         EC_ERR("Invalid data size!\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     sdo->subindices = EC_READ_U8(data + 10);
fp@1732:     sdo->object_code = EC_READ_U8(data + 11);
fp@1732: 
fp@1732:     name_size = rec_size - 12;
fp@1732:     if (name_size) {
fp@1732:         if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
fp@1732:             EC_ERR("Failed to allocate SDO name!\n");
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         memcpy(sdo->name, data + 12, name_size);
fp@1732:         sdo->name[name_size] = 0;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U8(data + 2) & 0x80) {
fp@1732:         EC_ERR("Fragment follows (not implemented)!\n");
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     // start fetching entries
fp@1732: 
fp@1732:     fsm->subindex = 0;
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@1732:     EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
fp@1732:     EC_WRITE_U8 (data + 3, 0x00);
fp@1732:     EC_WRITE_U16(data + 4, 0x0000);
fp@1732:     EC_WRITE_U16(data + 6, sdo->index); // SDO index
fp@1732:     EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
fp@1732:     EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fp@1732: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_entry_request;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT ENTRY REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
fp@1732:                                    /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: check for response first?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE SDO entry request datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE SDO entry request failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1739:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_entry_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT ENTRY CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
fp@1732:                                  /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check"
fp@1745:                 " datagram failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO entry on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_dict_entry_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DICT ENTRY RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
fp@1732:                                     /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_sdo_t *sdo = fsm->sdo;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size, data_size;
fp@1732:     ec_sdo_entry_t *entry;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE SDO description response datagram from"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE SDO description"
fp@1745:                 " response failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
fp@1732:         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
fp@1732:         EC_ERR("SDO information error response at slave %i while"
fp@1732:                " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
fp@1732:                sdo->index, fsm->subindex);
fp@1732:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
fp@1732:         (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
fp@1732:         EC_READ_U16(data + 6) != sdo->index || // SDO index
fp@1732:         EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
fp@1732:         EC_ERR("Invalid entry description response at slave %i while"
fp@1732:                " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
fp@1732:                sdo->index, fsm->subindex);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 16) {
fp@1732:         EC_ERR("Invalid data size!\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     data_size = rec_size - 16;
fp@1732: 
fp@1732:     if (!(entry = (ec_sdo_entry_t *)
fp@1732:           kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) {
fp@1732:         EC_ERR("Failed to allocate entry!\n");
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (ec_sdo_entry_init(entry, fsm->subindex, sdo)) {
fp@1732:         EC_ERR("Failed to init entry!\n");
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     entry->data_type = EC_READ_U16(data + 10);
fp@1732:     entry->bit_length = EC_READ_U16(data + 12);
fp@1732: 
fp@1732:     if (data_size) {
fp@1732:         uint8_t *desc;
fp@1732:         if (!(desc = kmalloc(data_size + 1, GFP_ATOMIC))) {
fp@1732:             EC_ERR("Failed to allocate SDO entry name!\n");
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732:         memcpy(desc, data + 16, data_size);
fp@1732:         desc[data_size] = 0;
fp@1732:         entry->description = desc;
fp@1732:     }
fp@1732: 
fp@1732:     list_add_tail(&entry->list, &sdo->entries);
fp@1732: 
fp@1732:     if (fsm->subindex < sdo->subindices) {
fp@1732:         fsm->subindex++;
fp@1732: 
fp@1732:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@1732:         EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
fp@1732:         EC_WRITE_U8 (data + 3, 0x00);
fp@1732:         EC_WRITE_U16(data + 4, 0x0000);
fp@1732:         EC_WRITE_U16(data + 6, sdo->index); // SDO index
fp@1732:         EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
fp@1732:         EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fp@1732: 
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         fsm->state = ec_fsm_coe_dict_entry_request;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // another SDO description to fetch?
fp@1732:     if (fsm->sdo->list.next != &slave->sdo_dictionary) {
fp@1732:         fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
fp@1732: 
fp@1732:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         EC_WRITE_U16(data, 0x8 << 12); // SDO information
fp@1732:         EC_WRITE_U8 (data + 2, 0x03); // Get object description request
fp@1732:         EC_WRITE_U8 (data + 3, 0x00);
fp@1732:         EC_WRITE_U16(data + 4, 0x0000);
fp@1732:         EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
fp@1732: 
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         fsm->state = ec_fsm_coe_dict_desc_request;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->state = ec_fsm_coe_end;
fp@1732: }
fp@1732: 
fp@1732: /******************************************************************************
fp@1732:  *  CoE state machine
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DOWN START.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_sdo_data_t *sdodata = fsm->sdodata;
fp@1732:     uint8_t *data;
fp@1732: 
fp@1732:     if (fsm->slave->master->debug_level)
fp@1732:         EC_DBG("Downloading SDO 0x%04X:%i to slave %i.\n",
fp@1732:                sdodata->index, sdodata->subindex, slave->ring_position);
fp@1732: 
fp@1732:     if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
fp@1732:         EC_ERR("SDO fragmenting not supported yet!\n");
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
fp@1732:                                             sdodata->size + 10))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@1732:     EC_WRITE_U8 (data + 2, (0x1 // size specified
fp@1732:                             | 0x1 << 5)); // Download request
fp@1732:     EC_WRITE_U16(data + 3, sdodata->index);
fp@1732:     EC_WRITE_U8 (data + 5, sdodata->subindex);
fp@1732:     EC_WRITE_U32(data + 6, sdodata->size);
fp@1732:     memcpy(data + 10, sdodata->data, sdodata->size);
fp@1732: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_down_request;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DOWN REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: check for response first?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE download request datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE download request failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1732:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_down_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DOWN CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check"
fp@1745:                 " datagram failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_down_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: DOWN RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size;
fp@1732:     ec_sdo_data_t *sdodata = fsm->sdodata;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE download response datagram from"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE download response failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 6) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         EC_ERR("Received data is too small (%i bytes):\n", rec_size);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@1732:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
fp@1732:                sdodata->index, sdodata->subindex, sdodata->size,
fp@1732:                slave->ring_position);
fp@1732:         if (rec_size < 10) {
fp@1732:             EC_ERR("Incomplete Abort command:\n");
fp@1732:             ec_print_data(data, rec_size);
fp@1732:         }
fp@1732:         else
fp@1732:             ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@1732:         EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
fp@1732:         EC_READ_U16(data + 3) != sdodata->index || // index
fp@1732:         EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
fp@1732:                sdodata->index, sdodata->subindex, sdodata->size);
fp@1732:         EC_ERR("Invalid SDO download response at slave %i!\n",
fp@1732:                slave->ring_position);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->state = ec_fsm_coe_end; // success
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP START.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_master_t *master = slave->master;
fp@1732:     ec_sdo_request_t *request = fsm->request;
fp@1732:     ec_sdo_entry_t *entry = request->entry;
fp@1732:     uint8_t *data;
fp@1732: 
fp@1732:     if (master->debug_level)
fp@1732:         EC_DBG("Uploading SDO 0x%04X:%i from slave %i.\n",
fp@1746:                entry->sdo->index, entry->subindex, slave->ring_position);
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@1732:     EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
fp@1746:     EC_WRITE_U16(data + 3, entry->sdo->index);
fp@1732:     EC_WRITE_U8 (data + 5, entry->subindex);
fp@1732:     memset(data + 6, 0x00, 4);
fp@1732: 
fp@1732:     if (master->debug_level) {
fp@1732:         EC_DBG("Upload request:\n");
fp@1732:         ec_print_data(data, 10);
fp@1732:     }
fp@1732: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_up_request;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: check for response first?
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE upload request for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE upload request failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1732:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_up_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check"
fp@1745:                 " datagram failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO upload on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_up_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_master_t *master = slave->master;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size, data_size;
fp@1732:     ec_sdo_request_t *request = fsm->request;
fp@1732:     ec_sdo_entry_t *entry = request->entry;
fp@1732:     uint32_t complete_size;
fp@1732:     unsigned int expedited, size_specified;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE upload response datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE upload response failed on slave %i: ",
fp@1745:                 slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (master->debug_level) {
fp@1732:         EC_DBG("Upload response:\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 10) {
fp@1732:         EC_ERR("Received currupted SDO upload response!\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@1732:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@1732:         EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
fp@1746:                entry->sdo->index, entry->subindex, slave->ring_position);
fp@1732:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@1732:         EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
fp@1746:         EC_READ_U16(data + 3) != entry->sdo->index || // index
fp@1732:         EC_READ_U8 (data + 5) != entry->subindex) { // subindex
fp@1746:         EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
fp@1732:         EC_ERR("Invalid SDO upload response at slave %i!\n",
fp@1732:                slave->ring_position);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     data_size = rec_size - 10;
fp@1732:     expedited = EC_READ_U8(data + 2) & 0x02;
fp@1732: 
fp@1732:     if (expedited) {
fp@1732:         size_specified = EC_READ_U8(data + 2) & 0x01;
fp@1732:         if (size_specified) {
fp@1732:             complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
fp@1732:         }
fp@1732:         else {
fp@1732:             complete_size = 4;
fp@1732:         }
fp@1732:     }
fp@1732:     else {
fp@1732:         complete_size = EC_READ_U32(data + 6);
fp@1732:     }
fp@1732: 
fp@1732:     if (request->data) {
fp@1732:         kfree(request->data);
fp@1732:         request->data = NULL;
fp@1732:     }
fp@1732:     request->size = 0;
fp@1732: 
fp@1732:     if (complete_size) {
fp@1732:         if (!(request->data = (uint8_t *)
fp@1732:               kmalloc(complete_size + 1, GFP_ATOMIC))) {
fp@1732:             EC_ERR("Failed to allocate %i bytes of SDO data!\n",
fp@1732:                    complete_size);
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732:         request->data[complete_size] = 0x00; // just to be sure...
fp@1732:     }
fp@1732: 
fp@1732:     if (expedited) {
fp@1732:         memcpy(request->data, data + 6, complete_size);
fp@1732:         request->size = complete_size;
fp@1732:     }
fp@1732:     else {
fp@1732:         memcpy(request->data, data + 10, data_size);
fp@1732:         request->size = data_size;
fp@1732:         fsm->toggle = 0;
fp@1732: 
fp@1732:         if (data_size < complete_size) {
fp@1732:             EC_WARN("SDO data incomplete (%i / %i).\n",
fp@1732:                     data_size, complete_size);
fp@1732: 
fp@1732:             if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
fp@1732:                                                     0x03, 3))) {
fp@1732:                 fsm->state = ec_fsm_coe_error;
fp@1732:                 return;
fp@1732:             }
fp@1732: 
fp@1732:             EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@1732:             EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
fp@1732:                                     | 0x3 << 5)); // upload segment request
fp@1732: 
fp@1732:             if (master->debug_level) {
fp@1732:                 EC_DBG("Upload segment request:\n");
fp@1732:                 ec_print_data(data, 3);
fp@1732:             }
fp@1732: 
fp@1739:             fsm->retries = EC_FSM_RETRIES;
fp@1732:             fsm->state = ec_fsm_coe_up_seg_request;
fp@1732:             return;
fp@1732:         }
fp@1732:     }
fp@1732: 
fp@1732:     fsm->state = ec_fsm_coe_end; // success
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP REQUEST.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: check for response first?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE upload segment request datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE upload segment"
fp@1745:                 " request failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732: 
fp@1732:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_up_seg_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP CHECK.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1744: 
fp@1744:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1744:         fsm->state = ec_fsm_coe_error;
fp@1744:         EC_ERR("Failed to receive CoE mailbox check datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE mailbox check"
fp@1745:                 " datagram failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!ec_slave_mbox_check(datagram)) {
fp@1732:         if (datagram->cycles_received
fp@1732:             - fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
fp@1732:                    slave->ring_position);
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // Fetch response
fp@1732:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1732:     fsm->state = ec_fsm_coe_up_seg_response;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    CoE state: UP RESPONSE.
fp@1739:    \todo Timeout behavior
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732:     ec_slave_t *slave = fsm->slave;
fp@1732:     ec_master_t *master = slave->master;
fp@1732:     uint8_t *data, mbox_prot;
fp@1732:     size_t rec_size, data_size;
fp@1732:     ec_sdo_request_t *request = fsm->request;
fp@1732:     ec_sdo_entry_t *entry = request->entry;
fp@1732:     uint32_t seg_size;
fp@1732:     unsigned int last_segment;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return; // FIXME: request again?
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1739:         EC_ERR("Failed to receive CoE upload segment response datagram for"
fp@1744:                " slave %i (datagram state %i).\n",
fp@1744:                slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1739:         fsm->state = ec_fsm_coe_error;
fp@1745:         EC_ERR("Reception of CoE upload segment"
fp@1745:                 " response failed on slave %i: ", slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (!(data = ec_slave_mbox_fetch(slave, datagram,
fp@1732: 				     &mbox_prot, &rec_size))) {
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (master->debug_level) {
fp@1732:         EC_DBG("Upload segment response:\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:     }
fp@1732: 
fp@1732:     if (mbox_prot != 0x03) { // CoE
fp@1732:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (rec_size < 10) {
fp@1732:         EC_ERR("Received currupted SDO upload segment response!\n");
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
fp@1732:         EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
fp@1732:         EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
fp@1746:                entry->sdo->index, entry->subindex, slave->ring_position);
fp@1732:         ec_canopen_abort_msg(EC_READ_U32(data + 6));
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
fp@1732:         EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
fp@1746:         EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
fp@1732:         EC_ERR("Invalid SDO upload segment response at slave %i!\n",
fp@1732:                slave->ring_position);
fp@1732:         ec_print_data(data, rec_size);
fp@1732:         fsm->state = ec_fsm_coe_error;
fp@1732: 	return;
fp@1732:     }
fp@1732: 
fp@1732:     last_segment = EC_READ_U8(data + 2) & 0x01;
fp@1732:     seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
fp@1732:     data_size = rec_size - 10;
fp@1732: 
fp@1732:     if (data_size != seg_size) {
fp@1732:         EC_WARN("SDO segment data invalid (%i / %i)"
fp@1732:                 " - Fragmenting not implemented.\n",
fp@1732:                 data_size, seg_size);
fp@1732:     }
fp@1732: 
fp@1732:     memcpy(request->data + request->size, data + 10, data_size);
fp@1732:     request->size += data_size;
fp@1732: 
fp@1732:     if (!last_segment) {
fp@1732:         fsm->toggle = !fsm->toggle;
fp@1732: 
fp@1732:         if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
fp@1732:             fsm->state = ec_fsm_coe_error;
fp@1732:             return;
fp@1732:         }
fp@1732: 
fp@1732:         EC_WRITE_U16(data, 0x2 << 12); // SDO request
fp@1732:         EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
fp@1732:                                 | 0x3 << 5)); // upload segment request
fp@1732: 
fp@1732:         if (master->debug_level) {
fp@1732:             EC_DBG("Upload segment request:\n");
fp@1732:             ec_print_data(data, 3);
fp@1732:         }
fp@1732: 
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         fsm->state = ec_fsm_coe_up_seg_request;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->state = ec_fsm_coe_end; // success
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    State: ERROR.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_error(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    State: END.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_coe_end(ec_fsm_coe_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/