diff -r 779a18d12e6c -r 63214beb641d master/fsm.c --- a/master/fsm.c Mon Oct 23 14:00:58 2006 +0000 +++ b/master/fsm.c Tue Oct 24 08:00:24 2006 +0000 @@ -80,35 +80,9 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *); void ec_fsm_slaveconf_op(ec_fsm_t *); -void ec_fsm_coe_dict_start(ec_fsm_t *); -void ec_fsm_coe_dict_request(ec_fsm_t *); -void ec_fsm_coe_dict_check(ec_fsm_t *); -void ec_fsm_coe_dict_response(ec_fsm_t *); -void ec_fsm_coe_dict_desc_request(ec_fsm_t *); -void ec_fsm_coe_dict_desc_check(ec_fsm_t *); -void ec_fsm_coe_dict_desc_response(ec_fsm_t *); -void ec_fsm_coe_dict_entry_request(ec_fsm_t *); -void ec_fsm_coe_dict_entry_check(ec_fsm_t *); -void ec_fsm_coe_dict_entry_response(ec_fsm_t *); - -void ec_fsm_coe_down_start(ec_fsm_t *); -void ec_fsm_coe_down_request(ec_fsm_t *); -void ec_fsm_coe_down_check(ec_fsm_t *); -void ec_fsm_coe_down_response(ec_fsm_t *); - -void ec_fsm_coe_up_start(ec_fsm_t *); -void ec_fsm_coe_up_request(ec_fsm_t *); -void ec_fsm_coe_up_check(ec_fsm_t *); -void ec_fsm_coe_up_response(ec_fsm_t *); -void ec_fsm_coe_up_seg_request(ec_fsm_t *); -void ec_fsm_coe_up_seg_check(ec_fsm_t *); -void ec_fsm_coe_up_seg_response(ec_fsm_t *); - void ec_fsm_end(ec_fsm_t *); void ec_fsm_error(ec_fsm_t *); -void ec_canopen_abort_msg(uint32_t); - /*****************************************************************************/ /** @@ -131,8 +105,10 @@ return -1; } + // init sub-state-machines ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram); ec_fsm_change_init(&fsm->fsm_change, &fsm->datagram); + ec_fsm_coe_init(&fsm->fsm_coe, &fsm->datagram); return 0; } @@ -145,8 +121,10 @@ void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */) { + // clear sub-state machines ec_fsm_sii_clear(&fsm->fsm_sii); ec_fsm_change_clear(&fsm->fsm_change); + ec_fsm_coe_clear(&fsm->fsm_coe); ec_datagram_clear(&fsm->datagram); } @@ -600,9 +578,9 @@ // start uploading SDO fsm->slave = slave; fsm->master_state = ec_fsm_master_sdo_request; - fsm->coe_request = request; - fsm->coe_state = ec_fsm_coe_up_start; - fsm->coe_state(fsm); // execute immediately + fsm->sdo_request = request; + ec_fsm_coe_upload(&fsm->fsm_coe, slave, request); + ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately return; } @@ -634,8 +612,8 @@ // start fetching SDO dictionary fsm->slave = slave; fsm->master_state = ec_fsm_master_sdodict; - fsm->coe_state = ec_fsm_coe_dict_start; - fsm->coe_state(fsm); // execute immediately + ec_fsm_coe_dictionary(&fsm->fsm_coe, slave); + ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately return; } @@ -1020,16 +998,14 @@ ec_slave_t *slave = fsm->slave; ec_master_t *master = fsm->master; - fsm->coe_state(fsm); // execute CoE state machine - - if (fsm->coe_state == ec_fsm_error) { + if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; + + if (!ec_fsm_coe_success(&fsm->fsm_coe)) { fsm->master_state = ec_fsm_master_start; fsm->master_state(fsm); // execute immediately return; } - if (fsm->coe_state != ec_fsm_end) return; - // SDO dictionary fetching finished if (master->debug_level) { @@ -1053,11 +1029,11 @@ void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */) { ec_master_t *master = fsm->master; - ec_sdo_request_t *request = fsm->coe_request; - - fsm->coe_state(fsm); // execute CoE state machine - - if (fsm->coe_state == ec_fsm_error) { + ec_sdo_request_t *request = fsm->sdo_request; + + if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; + + if (!ec_fsm_coe_success(&fsm->fsm_coe)) { request->return_code = -1; wake_up_interruptible(&master->sdo_wait_queue); fsm->master_state = ec_fsm_master_start; @@ -1065,8 +1041,6 @@ return; } - if (fsm->coe_state != ec_fsm_end) return; - // SDO dictionary fetching finished request->return_code = 1; @@ -1569,9 +1543,9 @@ // start SDO configuration fsm->slave_state = ec_fsm_slaveconf_sdoconf; - fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); - fsm->coe_state = ec_fsm_coe_down_start; - fsm->coe_state(fsm); // execute immediately + fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); + ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata); + ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately return; } @@ -1619,9 +1593,9 @@ // start SDO configuration fsm->slave_state = ec_fsm_slaveconf_sdoconf; - fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); - fsm->coe_state = ec_fsm_coe_down_start; - fsm->coe_state(fsm); // execute immediately + fsm->sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); + ec_fsm_coe_download(&fsm->fsm_coe, slave, fsm->sdodata); + ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately } /*****************************************************************************/ @@ -1632,22 +1606,20 @@ void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */) { - fsm->coe_state(fsm); // execute CoE state machine - - if (fsm->coe_state == ec_fsm_error) { + if (ec_fsm_coe_exec(&fsm->fsm_coe)) return; + + if (!ec_fsm_coe_success(&fsm->fsm_coe)) { fsm->slave->error_flag = 1; fsm->slave_state = ec_fsm_error; return; } - if (fsm->coe_state != ec_fsm_end) return; - // Another SDO to configure? - if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) { - fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next, - ec_sdo_data_t, list); - fsm->coe_state = ec_fsm_coe_down_start; - fsm->coe_state(fsm); // execute immediately + if (fsm->sdodata->list.next != &fsm->slave->sdo_confs) { + fsm->sdodata = list_entry(fsm->sdodata->list.next, + ec_sdo_data_t, list); + ec_fsm_coe_download(&fsm->fsm_coe, fsm->slave, fsm->sdodata); + ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately return; } @@ -1729,1257 +1701,6 @@ } /****************************************************************************** - * CoE dictionary state machine - *****************************************************************************/ - -/** - CoE state: DICT START. -*/ - -void ec_fsm_coe_dict_start(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - uint8_t *data; - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x8 << 12); // SDO information - EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request - EC_WRITE_U8 (data + 3, 0x00); - EC_WRITE_U16(data + 4, 0x0000); - EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs! - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_request; -} - -/*****************************************************************************/ - -/** - CoE state: DICT REQUEST. -*/ - -void ec_fsm_coe_dict_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE dictionary request failed on slave %i.\n", - slave->ring_position); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_check; -} - -/*****************************************************************************/ - -/** - CoE state: DICT CHECK. -*/ - -void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n", - slave->ring_position); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO dictionary on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_response; -} - -/*****************************************************************************/ - -/** - CoE state: DICT RESPONSE. -*/ - -void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - uint8_t *data, mbox_prot; - size_t rec_size; - unsigned int sdo_count, i; - uint16_t sdo_index; - ec_sdo_t *sdo; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE dictionary response failed on slave %i.\n", - slave->ring_position); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information - (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response - EC_ERR("SDO information error response at slave %i!\n", - slave->ring_position); - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information - (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response - EC_ERR("Invalid SDO list response at slave %i!\n", - slave->ring_position); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 8) { - EC_ERR("Invalid data size!\n"); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - sdo_count = (rec_size - 8) / 2; - - for (i = 0; i < sdo_count; i++) { - sdo_index = EC_READ_U16(data + 8 + i * 2); - if (!sdo_index) { - EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n", - slave->ring_position); - continue; - } - - if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) { - EC_ERR("Failed to allocate memory for SDO!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - if (ec_sdo_init(sdo, sdo_index, slave)) { - EC_ERR("Failed to init SDO!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - if (kobject_add(&sdo->kobj)) { - EC_ERR("Failed to add kobject.\n"); - kobject_put(&sdo->kobj); // free - fsm->coe_state = ec_fsm_error; - return; - } - - list_add_tail(&sdo->list, &slave->sdo_dictionary); - } - - if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again. - fsm->coe_start = datagram->cycles_sent; - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_check; - return; - } - - if (list_empty(&slave->sdo_dictionary)) { - // no SDOs in dictionary. finished. - fsm->coe_state = ec_fsm_end; // success - return; - } - - // fetch SDO descriptions - fsm->coe_sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list); - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x8 << 12); // SDO information - EC_WRITE_U8 (data + 2, 0x03); // Get object description request - EC_WRITE_U8 (data + 3, 0x00); - EC_WRITE_U16(data + 4, 0x0000); - EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_desc_request; -} - -/*****************************************************************************/ - -/** - CoE state: DICT DESC REQUEST. -*/ - -void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE SDO description" - " request failed on slave %i.\n", slave->ring_position); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_desc_check; -} - -/*****************************************************************************/ - -/** - CoE state: DICT DESC CHECK. -*/ - -void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n", - slave->ring_position); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO description on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_desc_response; -} - -/*****************************************************************************/ - -/** - CoE state: DICT DESC RESPONSE. -*/ - -void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - ec_sdo_t *sdo = fsm->coe_sdo; - uint8_t *data, mbox_prot; - size_t rec_size, name_size; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE SDO description" - "response failed on slave %i.\n", slave->ring_position); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information - (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response - EC_ERR("SDO information error response at slave %i while" - " fetching SDO 0x%04X!\n", slave->ring_position, - sdo->index); - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information - (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response - EC_READ_U16(data + 6) != sdo->index) { // SDO index - EC_ERR("Invalid object description response at slave %i while" - " fetching SDO 0x%04X!\n", slave->ring_position, - sdo->index); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 12) { - EC_ERR("Invalid data size!\n"); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - sdo->subindices = EC_READ_U8(data + 10); - sdo->object_code = EC_READ_U8(data + 11); - - name_size = rec_size - 12; - if (name_size) { - if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) { - EC_ERR("Failed to allocate SDO name!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - memcpy(sdo->name, data + 12, name_size); - sdo->name[name_size] = 0; - } - - if (EC_READ_U8(data + 2) & 0x80) { - EC_ERR("Fragment follows (not implemented)!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - // start fetching entries - - fsm->coe_subindex = 0; - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x8 << 12); // SDO information - EC_WRITE_U8 (data + 2, 0x05); // Get entry description request - EC_WRITE_U8 (data + 3, 0x00); - EC_WRITE_U16(data + 4, 0x0000); - EC_WRITE_U16(data + 6, sdo->index); // SDO index - EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex - EC_WRITE_U8 (data + 9, 0x00); // value info (no values) - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_entry_request; -} - -/*****************************************************************************/ - -/** - CoE state: DICT ENTRY REQUEST. -*/ - -void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE SDO entry request failed on slave %i.\n", - slave->ring_position); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_entry_check; -} - -/*****************************************************************************/ - -/** - CoE state: DICT ENTRY CHECK. -*/ - -void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed on slave %i.\n", - slave->ring_position); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO entry on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_entry_response; -} - -/*****************************************************************************/ - -/** - CoE state: DICT ENTRY RESPONSE. -*/ - -void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - ec_sdo_t *sdo = fsm->coe_sdo; - uint8_t *data, mbox_prot; - size_t rec_size, data_size; - ec_sdo_entry_t *entry; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE SDO description" - " response failed on slave %i.\n", slave->ring_position); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information - (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response - EC_ERR("SDO information error response at slave %i while" - " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, - sdo->index, fsm->coe_subindex); - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information - (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response - EC_READ_U16(data + 6) != sdo->index || // SDO index - EC_READ_U8(data + 8) != fsm->coe_subindex) { // SDO subindex - EC_ERR("Invalid entry description response at slave %i while" - " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, - sdo->index, fsm->coe_subindex); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 16) { - EC_ERR("Invalid data size!\n"); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - data_size = rec_size - 16; - - if (!(entry = (ec_sdo_entry_t *) - kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) { - EC_ERR("Failed to allocate entry!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - if (ec_sdo_entry_init(entry, fsm->coe_subindex, sdo)) { - EC_ERR("Failed to init entry!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - entry->data_type = EC_READ_U16(data + 10); - entry->bit_length = EC_READ_U16(data + 12); - - if (data_size) { - if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) { - EC_ERR("Failed to allocate SDO entry name!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - memcpy(entry->description, data + 16, data_size); - entry->description[data_size] = 0; - } - - if (kobject_add(&entry->kobj)) { - EC_ERR("Failed to add kobject.\n"); - kobject_put(&entry->kobj); // free - fsm->coe_state = ec_fsm_error; - return; - } - - list_add_tail(&entry->list, &sdo->entries); - - if (fsm->coe_subindex < sdo->subindices) { - fsm->coe_subindex++; - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x8 << 12); // SDO information - EC_WRITE_U8 (data + 2, 0x05); // Get entry description request - EC_WRITE_U8 (data + 3, 0x00); - EC_WRITE_U16(data + 4, 0x0000); - EC_WRITE_U16(data + 6, sdo->index); // SDO index - EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex - EC_WRITE_U8 (data + 9, 0x00); // value info (no values) - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_entry_request; - return; - } - - // another SDO description to fetch? - if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) { - fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list); - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x8 << 12); // SDO information - EC_WRITE_U8 (data + 2, 0x03); // Get object description request - EC_WRITE_U8 (data + 3, 0x00); - EC_WRITE_U16(data + 4, 0x0000); - EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_dict_desc_request; - return; - } - - fsm->coe_state = ec_fsm_end; -} - -/****************************************************************************** - * CoE state machine - *****************************************************************************/ - -/** - CoE state: DOWN START. -*/ - -void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - ec_sdo_data_t *sdodata = fsm->coe_sdodata; - uint8_t *data; - - EC_INFO("Downloading SDO 0x%04X:%i to slave %i.\n", - sdodata->index, sdodata->subindex, slave->ring_position); - - if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) { - EC_ERR("SDO fragmenting not supported yet!\n"); - fsm->coe_state = ec_fsm_error; - return; - } - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, - sdodata->size + 10))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x2 << 12); // SDO request - EC_WRITE_U8 (data + 2, (0x1 // size specified - | 0x1 << 5)); // Download request - EC_WRITE_U16(data + 3, sdodata->index); - EC_WRITE_U8 (data + 5, sdodata->subindex); - EC_WRITE_U32(data + 6, sdodata->size); - memcpy(data + 10, sdodata->data, sdodata->size); - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_down_request; -} - -/*****************************************************************************/ - -/** - CoE state: DOWN REQUEST. -*/ - -void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE download request failed.\n"); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_down_check; -} - -/*****************************************************************************/ - -/** - CoE state: DOWN CHECK. -*/ - -void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed.\n"); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO configuration on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_down_response; -} - -/*****************************************************************************/ - -/** - CoE state: DOWN RESPONSE. -*/ - -void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - uint8_t *data, mbox_prot; - size_t rec_size; - ec_sdo_data_t *sdodata = fsm->coe_sdodata; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE download response failed.\n"); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 6) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Received data is too small (%i bytes):\n", rec_size); - ec_print_data(data, rec_size); - return; - } - - if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request - EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request - fsm->coe_state = ec_fsm_error; - EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n", - sdodata->index, sdodata->subindex, sdodata->size, - slave->ring_position); - if (rec_size < 10) { - EC_ERR("Incomplete Abort command:\n"); - ec_print_data(data, rec_size); - } - else - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - return; - } - - if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response - EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response - EC_READ_U16(data + 3) != sdodata->index || // index - EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex - fsm->coe_state = ec_fsm_error; - EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n", - sdodata->index, sdodata->subindex, sdodata->size); - EC_ERR("Invalid SDO download response at slave %i!\n", - slave->ring_position); - ec_print_data(data, rec_size); - return; - } - - fsm->coe_state = ec_fsm_end; // success -} - -/*****************************************************************************/ - -/** - CoE state: UP START. -*/ - -void ec_fsm_coe_up_start(ec_fsm_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->coe_request; - ec_sdo_t *sdo = request->sdo; - ec_sdo_entry_t *entry = request->entry; - uint8_t *data; - - EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n", - sdo->index, entry->subindex, slave->ring_position); - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x2 << 12); // SDO request - EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request - EC_WRITE_U16(data + 3, sdo->index); - EC_WRITE_U8 (data + 5, entry->subindex); - - if (master->debug_level) { - EC_DBG("Upload request:\n"); - ec_print_data(data, 6); - } - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_request; -} - -/*****************************************************************************/ - -/** - CoE state: UP REQUEST. -*/ - -void ec_fsm_coe_up_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE upload request failed.\n"); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_check; -} - -/*****************************************************************************/ - -/** - CoE state: UP CHECK. -*/ - -void ec_fsm_coe_up_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed.\n"); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO upload on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_response; -} - -/*****************************************************************************/ - -/** - CoE state: UP RESPONSE. -*/ - -void ec_fsm_coe_up_response(ec_fsm_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->coe_request; - ec_sdo_t *sdo = request->sdo; - ec_sdo_entry_t *entry = request->entry; - uint32_t complete_size; - unsigned int expedited, size_specified; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE upload response failed.\n"); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (master->debug_level) { - EC_DBG("Upload response:\n"); - ec_print_data(data, rec_size); - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 10) { - EC_ERR("Received currupted SDO upload response!\n"); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request - EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request - EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", - sdo->index, entry->subindex, slave->ring_position); - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response - EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response - EC_READ_U16(data + 3) != sdo->index || // index - EC_READ_U8 (data + 5) != entry->subindex) { // subindex - EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex); - EC_ERR("Invalid SDO upload response at slave %i!\n", - slave->ring_position); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - data_size = rec_size - 10; - expedited = EC_READ_U8(data + 2) & 0x02; - - if (expedited) { - EC_WARN("Received expedited response upon normal request!\n"); - - size_specified = EC_READ_U8(data + 2) & 0x01; - if (size_specified) { - complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2); - } - else { - complete_size = 4; - } - } - else { - complete_size = EC_READ_U32(data + 6); - } - - if (request->data) { - kfree(request->data); - request->data = NULL; - } - request->size = 0; - - if (complete_size) { - if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) { - EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size); - fsm->coe_state = ec_fsm_error; - return; - } - request->data[complete_size] = 0x00; // just to be sure... - } - - if (expedited) { - memcpy(request->data, data + 6, complete_size); - request->size = complete_size; - } - else { - memcpy(request->data, data + 10, data_size); - request->size = data_size; - fsm->coe_toggle = 0; - - if (data_size < complete_size) { - EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size); - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x2 << 12); // SDO request - EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle - | 0x3 << 5)); // upload segment request - - if (master->debug_level) { - EC_DBG("Upload segment request:\n"); - ec_print_data(data, 3); - } - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_seg_request; - return; - } - } - - fsm->coe_state = ec_fsm_end; // success -} - -/*****************************************************************************/ - -/** - CoE state: UP REQUEST. -*/ - -void ec_fsm_coe_up_seg_request(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE upload segment request failed.\n"); - return; - } - - fsm->coe_start = datagram->cycles_sent; - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_seg_check; -} - -/*****************************************************************************/ - -/** - CoE state: UP CHECK. -*/ - -void ec_fsm_coe_up_seg_check(ec_fsm_t *fsm /**< finite state machine */) -{ - ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE mailbox check datagram failed.\n"); - return; - } - - if (!ec_slave_mbox_check(datagram)) { - if (datagram->cycles_received - - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Timeout while checking SDO upload segment on slave %i.\n", - slave->ring_position); - return; - } - - ec_slave_mbox_prepare_check(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - return; - } - - // Fetch response - ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_seg_response; -} - -/*****************************************************************************/ - -/** - CoE state: UP RESPONSE. -*/ - -void ec_fsm_coe_up_seg_response(ec_fsm_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->coe_request; - ec_sdo_t *sdo = request->sdo; - ec_sdo_entry_t *entry = request->entry; - uint32_t seg_size; - unsigned int last_segment; - - if (datagram->state != EC_DATAGRAM_RECEIVED - || datagram->working_counter != 1) { - fsm->coe_state = ec_fsm_error; - EC_ERR("Reception of CoE upload segment response failed.\n"); - return; - } - - if (!(data = ec_slave_mbox_fetch(slave, datagram, - &mbox_prot, &rec_size))) { - fsm->coe_state = ec_fsm_error; - return; - } - - if (master->debug_level) { - EC_DBG("Upload segment response:\n"); - ec_print_data(data, rec_size); - } - - if (mbox_prot != 0x03) { // CoE - EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); - fsm->coe_state = ec_fsm_error; - return; - } - - if (rec_size < 10) { - EC_ERR("Received currupted SDO upload segment response!\n"); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request - EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request - EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", - sdo->index, entry->subindex, slave->ring_position); - ec_canopen_abort_msg(EC_READ_U32(data + 6)); - fsm->coe_state = ec_fsm_error; - return; - } - - if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response - EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response - EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex); - EC_ERR("Invalid SDO upload segment response at slave %i!\n", - slave->ring_position); - ec_print_data(data, rec_size); - fsm->coe_state = ec_fsm_error; - return; - } - - last_segment = EC_READ_U8(data + 2) & 0x01; - seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1; - data_size = rec_size - 10; - - if (data_size != seg_size) { - EC_WARN("SDO segment data invalid (%i / %i)" - " - Fragmenting not implemented.\n", - data_size, seg_size); - } - - memcpy(request->data + request->size, data + 10, data_size); - request->size += data_size; - - if (!last_segment) { - fsm->coe_toggle = !fsm->coe_toggle; - - if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) { - fsm->coe_state = ec_fsm_error; - return; - } - - EC_WRITE_U16(data, 0x2 << 12); // SDO request - EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle - | 0x3 << 5)); // upload segment request - - if (master->debug_level) { - EC_DBG("Upload segment request:\n"); - ec_print_data(data, 3); - } - - ec_master_queue_datagram(fsm->master, datagram); - fsm->coe_state = ec_fsm_coe_up_seg_request; - return; - } - - fsm->coe_state = ec_fsm_end; // success -} - -/*****************************************************************************/ - -/** - 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); -} - -/****************************************************************************** * Common state functions *****************************************************************************/