# HG changeset patch # User Florian Pose # Date 1161096604 0 # Node ID bc4c852e1b9312767b508761696298285c8b3fd4 # Parent 0eda82d1a8c16e5ca29c40b9537dad33fd992f72 Implemented fetching of SDO dictionary. diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/Kbuild --- a/master/Kbuild Tue Oct 17 14:37:46 2006 +0000 +++ b/master/Kbuild Tue Oct 17 14:50:04 2006 +0000 @@ -38,7 +38,7 @@ obj-m := ec_master.o ec_master-objs := module.o master.o device.o slave.o datagram.o \ - domain.o mailbox.o ethernet.o fsm.o xmldev.o + domain.o mailbox.o canopen.o ethernet.o fsm.o xmldev.o ifeq ($(EC_DBG_IF),1) ec_master-objs += debug.o diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/Makefile.am --- a/master/Makefile.am Tue Oct 17 14:37:46 2006 +0000 +++ b/master/Makefile.am Tue Oct 17 14:50:04 2006 +0000 @@ -37,6 +37,7 @@ EXTRA_DIST = \ Kbuild \ + canopen.c canopen.h \ datagram.c datagram.h \ debug.c debug.h \ device.c device.h \ diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/canopen.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/canopen.c Tue Oct 17 14:50:04 2006 +0000 @@ -0,0 +1,330 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + Canopen-over-EtherCAT functions. +*/ + +/*****************************************************************************/ + +#include + +#include "canopen.h" + +/*****************************************************************************/ + +ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *); +ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *, + char *); +void ec_sdo_clear(struct kobject *); +void ec_sdo_entry_clear(struct kobject *); + +/*****************************************************************************/ + +/** \cond */ + +EC_SYSFS_READ_ATTR(info); + +static struct attribute *sdo_def_attrs[] = { + &attr_info, + NULL, +}; + +static struct sysfs_ops sdo_sysfs_ops = { + .show = &ec_show_sdo_attribute, + .store = NULL +}; + +static struct kobj_type ktype_ec_sdo = { + .release = ec_sdo_clear, + .sysfs_ops = &sdo_sysfs_ops, + .default_attrs = sdo_def_attrs +}; + +static struct attribute *sdo_entry_def_attrs[] = { + &attr_info, + NULL, +}; + +static struct sysfs_ops sdo_entry_sysfs_ops = { + .show = &ec_show_sdo_entry_attribute, + .store = NULL +}; + +static struct kobj_type ktype_ec_sdo_entry = { + .release = ec_sdo_entry_clear, + .sysfs_ops = &sdo_entry_sysfs_ops, + .default_attrs = sdo_entry_def_attrs +}; + +/** \endcond */ + +/*****************************************************************************/ + +/** + SDO constructor. +*/ + +int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */ + uint16_t index, /**< SDO index */ + ec_slave_t *slave /**< parent slave */ + ) +{ + sdo->index = index; + sdo->object_code = 0x00; + sdo->name = NULL; + sdo->subindices = 0; + INIT_LIST_HEAD(&sdo->entries); + + // init kobject and add it to the hierarchy + memset(&sdo->kobj, 0x00, sizeof(struct kobject)); + kobject_init(&sdo->kobj); + sdo->kobj.ktype = &ktype_ec_sdo; + sdo->kobj.parent = &slave->kobj; + if (kobject_set_name(&sdo->kobj, "sdo%4X", sdo->index)) { + EC_ERR("Failed to set kobj name.\n"); + return -1; + } + + return 0; +} + +/*****************************************************************************/ + +/** + SDO destructor. +*/ + +void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */) +{ + ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj); + ec_sdo_entry_t *entry, *next; + + // free all entries + list_for_each_entry_safe(entry, next, &sdo->entries, list) { + list_del(&entry->list); + kobject_del(&entry->kobj); + kobject_put(&entry->kobj); + } + + if (sdo->name) kfree(sdo->name); + + kfree(sdo); +} + +/*****************************************************************************/ + +ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */ + char *buffer /**< target buffer */ + ) +{ + off_t off = 0; + + off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index); + off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : ""); + off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices); + + return off; +} + +/*****************************************************************************/ + +ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */ + struct attribute *attr, + char *buffer + ) +{ + ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj); + + if (attr == &attr_info) { + return ec_sdo_info(sdo, buffer); + } + + return 0; +} + +/*****************************************************************************/ + +/** + SDO entry constructor. +*/ + +int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */ + uint8_t subindex, /**< SDO entry subindex */ + ec_sdo_t *sdo /**< parent SDO */ + ) +{ + entry->subindex = subindex; + entry->data_type = 0x0000; + entry->bit_length = 0; + entry->description = NULL; + + // init kobject and add it to the hierarchy + memset(&entry->kobj, 0x00, sizeof(struct kobject)); + kobject_init(&entry->kobj); + entry->kobj.ktype = &ktype_ec_sdo_entry; + entry->kobj.parent = &sdo->kobj; + if (kobject_set_name(&entry->kobj, "entry%02X", entry->subindex)) { + EC_ERR("Failed to set kobj name.\n"); + return -1; + } + + return 0; +} + +/*****************************************************************************/ + +/** + SDO destructor. +*/ + +void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */) +{ + ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj); + + if (entry->description) kfree(entry->description); + + kfree(entry); +} + +/*****************************************************************************/ + +ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */ + char *buffer /**< target buffer */ + ) +{ + off_t off = 0; + + off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex); + off += sprintf(buffer + off, "Description: %s\n", + entry->description ? entry->description : ""); + off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type); + off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length); + + return off; +} + +/*****************************************************************************/ + +ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */ + struct attribute *attr, + char *buffer + ) +{ + ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj); + + if (attr == &attr_info) { + return ec_sdo_entry_info(entry, buffer); + } + + return 0; +} + +/*****************************************************************************/ + +#if 0 +int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */ + uint16_t sdo_index, /**< SDO index */ + uint8_t sdo_subindex, /**< SDO subindex */ + uint8_t *target, /**< memory for value */ + size_t *size /**< target memory size */ + ) +{ + uint8_t *data; + size_t rec_size, data_size; + uint32_t complete_size; + ec_datagram_t datagram; + + ec_datagram_init(&datagram); + + if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6))) + goto err; + + 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, sdo_subindex); + + if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) + goto err; + + 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, sdo_subindex, slave->ring_position); + ec_canopen_abort_msg(EC_READ_U32(data + 6)); + goto err; + } + + 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) != sdo_subindex) { // subindex + EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex); + EC_ERR("Invalid SDO upload response at slave %i!\n", + slave->ring_position); + ec_print_data(data, rec_size); + goto err; + } + + if (rec_size < 10) { + EC_ERR("Received currupted SDO upload response!\n"); + ec_print_data(data, rec_size); + goto err; + } + + if ((complete_size = EC_READ_U32(data + 6)) > *size) { + EC_ERR("SDO data does not fit into buffer (%i / %i)!\n", + complete_size, *size); + goto err; + } + + data_size = rec_size - 10; + + if (data_size != complete_size) { + EC_ERR("SDO data incomplete - Fragmenting not implemented.\n"); + goto err; + } + + memcpy(target, data + 10, data_size); + + ec_datagram_clear(&datagram); + return 0; + err: + ec_datagram_clear(&datagram); + return -1; +} +#endif + +/*****************************************************************************/ diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/canopen.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/canopen.h Tue Oct 17 14:50:04 2006 +0000 @@ -0,0 +1,108 @@ +/****************************************************************************** + * + * $Id$ + * + * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH + * + * This file is part of the IgH EtherCAT Master. + * + * The IgH EtherCAT Master is free software; you can redistribute it + * and/or modify it under the terms of the GNU General Public License + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * The IgH EtherCAT Master is distributed in the hope that it will be + * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with the IgH EtherCAT Master; if not, write to the Free Software + * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA + * + * The right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + EtherCAT CANopen structures. +*/ + +/*****************************************************************************/ + +#ifndef _EC_CANOPEN_H_ +#define _EC_CANOPEN_H_ + +#include +#include + +#include "globals.h" +#include "slave.h" + +/*****************************************************************************/ + +/** + CANopen SDO. +*/ + +typedef struct +{ + struct kobject kobj; /**< kobject */ + struct list_head list; /**< list item */ + uint16_t index; /**< SDO index */ + uint8_t object_code; /**< object code */ + char *name; /**< SDO name */ + uint8_t subindices; /**< subindices */ + struct list_head entries; /**< entry list */ +} +ec_sdo_t; + +/*****************************************************************************/ + +/** + CANopen SDO entry. +*/ + +typedef struct +{ + struct kobject kobj; /**< kobject */ + struct list_head list; /**< list item */ + uint8_t subindex; /**< entry subindex */ + uint16_t data_type; /**< entry data type */ + uint16_t bit_length; /**< entry length in bit */ + char *description; /**< entry description */ +} +ec_sdo_entry_t; + +/*****************************************************************************/ + +/** + CANopen SDO configuration data. +*/ + +typedef struct +{ + struct list_head list; /**< list item */ + uint16_t index; /**< SDO index */ + uint8_t subindex; /**< SDO subindex */ + uint8_t *data; /**< pointer to SDO data */ + size_t size; /**< size of SDO data */ +} +ec_sdo_data_t; + +/*****************************************************************************/ + +int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *); +int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *); + +/*****************************************************************************/ + +#endif diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/fsm.c --- a/master/fsm.c Tue Oct 17 14:37:46 2006 +0000 +++ b/master/fsm.c Tue Oct 17 14:50:04 2006 +0000 @@ -73,8 +73,9 @@ void ec_fsm_slaveconf_init(ec_fsm_t *); void ec_fsm_slaveconf_sync(ec_fsm_t *); void ec_fsm_slaveconf_preop(ec_fsm_t *); +void ec_fsm_slaveconf_sdodict(ec_fsm_t *); +void ec_fsm_slaveconf_sdoconf(ec_fsm_t *); void ec_fsm_slaveconf_fmmu(ec_fsm_t *); -void ec_fsm_slaveconf_sdoconf(ec_fsm_t *); void ec_fsm_slaveconf_saveop(ec_fsm_t *); void ec_fsm_slaveconf_op(ec_fsm_t *); @@ -92,6 +93,17 @@ void ec_fsm_change_ack(ec_fsm_t *); void ec_fsm_change_check_ack(ec_fsm_t *); +void ec_fsm_coe_dict_start(ec_fsm_t *); +void ec_fsm_coe_dict_request(ec_fsm_t *); +void ec_fsm_coe_dict_check(ec_fsm_t *); +void ec_fsm_coe_dict_response(ec_fsm_t *); +void ec_fsm_coe_dict_desc_request(ec_fsm_t *); +void ec_fsm_coe_dict_desc_check(ec_fsm_t *); +void ec_fsm_coe_dict_desc_response(ec_fsm_t *); +void ec_fsm_coe_dict_entry_request(ec_fsm_t *); +void ec_fsm_coe_dict_entry_check(ec_fsm_t *); +void ec_fsm_coe_dict_entry_response(ec_fsm_t *); + void ec_fsm_coe_down_start(ec_fsm_t *); void ec_fsm_coe_down_request(ec_fsm_t *); void ec_fsm_coe_down_check(ec_fsm_t *); @@ -661,7 +673,7 @@ /*****************************************************************************/ /** - Master state: STATES. + Master state: READ STATES. Fetches the AL- and online state of a slave. */ @@ -832,7 +844,7 @@ /*****************************************************************************/ /** - Master state: ADDRESS. + Master state: REWRITE ADDRESS. Checks, if the new station address has been written to the slave. */ @@ -864,7 +876,7 @@ /*****************************************************************************/ /** - Master state: SCAN. + Master state: SCAN SLAVES. Executes the sub-statemachine for the scanning of a slave. */ @@ -911,7 +923,7 @@ /*****************************************************************************/ /** - Master state: CONF. + Master state: CONFIGURE SLAVES. Starts configuring a slave. */ @@ -930,7 +942,7 @@ /*****************************************************************************/ /** - Master state: EEPROM. + Master state: WRITE EEPROM. */ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */) @@ -978,7 +990,7 @@ *****************************************************************************/ /** - Slave state: START_READING. + Slave scan state: START. First state of the slave state machine. Writes the station address to the slave, according to its ring position. */ @@ -997,7 +1009,7 @@ /*****************************************************************************/ /** - Slave state: ADDRESS. + Slave scan state: ADDRESS. */ void ec_fsm_slavescan_address(ec_fsm_t *fsm /**< finite state machine */) @@ -1022,7 +1034,7 @@ /*****************************************************************************/ /** - Slave state: STATE. + Slave scan state: STATE. */ void ec_fsm_slavescan_state(ec_fsm_t *fsm /**< finite state machine */) @@ -1054,7 +1066,7 @@ /*****************************************************************************/ /** - Slave state: BASE. + Slave scan state: BASE. */ void ec_fsm_slavescan_base(ec_fsm_t *fsm /**< finite state machine */) @@ -1089,7 +1101,7 @@ /*****************************************************************************/ /** - Slave state: DATALINK. + Slave scan state: DATALINK. */ void ec_fsm_slavescan_datalink(ec_fsm_t *fsm /**< finite state machine */) @@ -1127,7 +1139,7 @@ /*****************************************************************************/ /** - Slave state: EEPROM_SIZE. + Slave scan state: EEPROM SIZE. */ void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */) @@ -1187,7 +1199,7 @@ /*****************************************************************************/ /** - Slave state: EEPROM_DATA. + Slave scan state: EEPROM DATA. */ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */) @@ -1301,11 +1313,12 @@ *****************************************************************************/ /** - Slave state: INIT. + Slave configuration state: INIT. */ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */) { + ec_master_t *master = fsm->master; ec_slave_t *slave = fsm->slave; ec_datagram_t *datagram = &fsm->datagram; const ec_sii_sync_t *sync; @@ -1320,9 +1333,17 @@ if (fsm->change_state != ec_fsm_end) return; + if (master->debug_level) { + EC_DBG("Slave %i is now in INIT.\n", slave->ring_position); + } + // slave is now in INIT if (slave->current_state == slave->requested_state) { fsm->slave_state = ec_fsm_end; // successful + if (master->debug_level) { + EC_DBG("Finished configuration of slave %i.\n", + slave->ring_position); + } return; } @@ -1338,6 +1359,11 @@ return; } + if (master->debug_level) { + EC_DBG("Configuring sync managers of slave %i.\n", + slave->ring_position); + } + // configure sync managers ec_datagram_npwr(datagram, slave->station_address, 0x0800, EC_SYNC_SIZE * slave->base_sync_count); @@ -1361,7 +1387,7 @@ /*****************************************************************************/ /** - Slave state: SYNC. + Slave configuration state: SYNC. */ void ec_fsm_slaveconf_sync(ec_fsm_t *fsm /**< finite state machine */) @@ -1387,7 +1413,7 @@ /*****************************************************************************/ /** - Slave state: PREOP. + Slave configuration state: PREOP. */ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */) @@ -1408,19 +1434,91 @@ if (fsm->change_state != ec_fsm_end) return; // slave is now in PREOP - if (slave->current_state == slave->requested_state) { - fsm->slave_state = ec_fsm_end; // successful - return; - } - - if (!slave->base_fmmu_count) { // skip FMMU configuration - if (list_empty(&slave->sdo_confs)) { // skip SDO configuration + + if (master->debug_level) { + EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position); + } + + if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)) { + // slave does not support CoE. skip dictionary fetching + // and SDO configuration + + if (slave->current_state == slave->requested_state) { + fsm->slave_state = ec_fsm_end; // successful + if (master->debug_level) { + EC_DBG("Finished configuration of slave %i.\n", + slave->ring_position); + } + return; + } + + if (!slave->base_fmmu_count) { + // slave has no FMMUs. skip configuration and go to SAVEOP fsm->slave_state = ec_fsm_slaveconf_saveop; fsm->change_new = EC_SLAVE_STATE_SAVEOP; fsm->change_state = ec_fsm_change_start; fsm->change_state(fsm); // execute immediately return; } + + // configure FMMUs + ec_datagram_npwr(datagram, slave->station_address, + 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); + memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); + for (j = 0; j < slave->fmmu_count; j++) { + ec_fmmu_config(&slave->fmmus[j], slave, + datagram->data + EC_FMMU_SIZE * j); + } + + ec_master_queue_datagram(master, datagram); + fsm->slave_state = ec_fsm_slaveconf_fmmu; + return; + } + + if (!list_empty(&slave->sdo_dictionary)) { + // SDO dictionary already fetched + + if (master->debug_level) { + EC_DBG("SDO dictionary already present for slave %i.\n", + slave->ring_position); + } + + if (slave->current_state == slave->requested_state) { + fsm->slave_state = ec_fsm_end; // successful + if (master->debug_level) { + EC_DBG("Finished configuration of slave %i.\n", + slave->ring_position); + } + return; + } + + if (list_empty(&slave->sdo_confs)) { + // skip SDO configuration + + if (!slave->base_fmmu_count) { + // slave has no FMMUs. skip configuration and go to SAVEOP + fsm->slave_state = ec_fsm_slaveconf_saveop; + fsm->change_new = EC_SLAVE_STATE_SAVEOP; + fsm->change_state = ec_fsm_change_start; + fsm->change_state(fsm); // execute immediately + return; + } + + // configure FMMUs + ec_datagram_npwr(datagram, slave->station_address, + 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); + memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); + for (j = 0; j < slave->fmmu_count; j++) { + ec_fmmu_config(&slave->fmmus[j], slave, + datagram->data + EC_FMMU_SIZE * j); + } + + ec_master_queue_datagram(master, datagram); + fsm->slave_state = ec_fsm_slaveconf_fmmu; + return; + } + + // start SDO configuration fsm->slave_state = ec_fsm_slaveconf_sdoconf; fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); fsm->coe_state = ec_fsm_coe_down_start; @@ -1428,6 +1526,136 @@ return; } + if (master->debug_level) { + EC_DBG("Fetching SDO dictionary of slave %i.\n", + slave->ring_position); + } + + // start fetching SDO dictionary + fsm->slave_state = ec_fsm_slaveconf_sdodict; + fsm->coe_state = ec_fsm_coe_dict_start; + fsm->coe_state(fsm); // execute immediately +} + +/*****************************************************************************/ + +/** + Slave configuration state: SDODICT. +*/ + +void ec_fsm_slaveconf_sdodict(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_slave_t *slave = fsm->slave; + ec_datagram_t *datagram = &fsm->datagram; + ec_master_t *master = fsm->master; + unsigned int j; + + fsm->coe_state(fsm); // execute CoE state machine + + if (fsm->coe_state == ec_fsm_error) { + fsm->slave->error_flag = 1; + fsm->slave_state = ec_fsm_error; + return; + } + + if (fsm->coe_state != ec_fsm_end) return; + + // SDO dictionary fetching finished + + if (master->debug_level) { + EC_DBG("Finished fetching SDO dictionary of slave %i.\n", + slave->ring_position); + } + + if (slave->current_state == slave->requested_state) { + fsm->slave_state = ec_fsm_end; // successful + if (master->debug_level) { + EC_DBG("Finished configuration of slave %i.\n", + slave->ring_position); + } + return; + } + + if (list_empty(&slave->sdo_confs)) { + // skip SDO configuration + + if (!slave->base_fmmu_count) { + // slave has no FMMUs. skip configuration. + + // set state to SAVEOP + fsm->slave_state = ec_fsm_slaveconf_saveop; + fsm->change_new = EC_SLAVE_STATE_SAVEOP; + fsm->change_state = ec_fsm_change_start; + fsm->change_state(fsm); // execute immediately + return; + } + + // configure FMMUs + ec_datagram_npwr(datagram, slave->station_address, + 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); + memset(datagram->data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count); + for (j = 0; j < slave->fmmu_count; j++) { + ec_fmmu_config(&slave->fmmus[j], slave, + datagram->data + EC_FMMU_SIZE * j); + } + + ec_master_queue_datagram(master, datagram); + fsm->slave_state = ec_fsm_slaveconf_fmmu; + return; + } + + // start SDO configuration + fsm->slave_state = ec_fsm_slaveconf_sdoconf; + fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); + fsm->coe_state = ec_fsm_coe_down_start; + fsm->coe_state(fsm); // execute immediately +} + +/*****************************************************************************/ + +/** + Slave configuration state: SDOCONF. +*/ + +void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_slave_t *slave = fsm->slave; + ec_datagram_t *datagram = &fsm->datagram; + ec_master_t *master = fsm->master; + unsigned int j; + + fsm->coe_state(fsm); // execute CoE state machine + + if (fsm->coe_state == ec_fsm_error) { + fsm->slave->error_flag = 1; + fsm->slave_state = ec_fsm_error; + return; + } + + if (fsm->coe_state != ec_fsm_end) return; + + // Another SDO to configure? + if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) { + fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next, + ec_sdo_data_t, list); + fsm->coe_state = ec_fsm_coe_down_start; + fsm->coe_state(fsm); // execute immediately + return; + } + + // All SDOs are now configured. + + if (!slave->base_fmmu_count) { + // slave has no FMMUs. skip configuration. + + // set state to SAVEOP + fsm->slave_state = ec_fsm_slaveconf_saveop; + fsm->change_new = EC_SLAVE_STATE_SAVEOP; + fsm->change_state = ec_fsm_change_start; + fsm->change_state(fsm); // execute immediately + return; + } + // configure FMMUs ec_datagram_npwr(datagram, slave->station_address, 0x0600, EC_FMMU_SIZE * slave->base_fmmu_count); @@ -1444,13 +1672,12 @@ /*****************************************************************************/ /** - Slave state: FMMU. + Slave configuration state: FMMU. */ void ec_fsm_slaveconf_fmmu(ec_fsm_t *fsm /**< finite state machine */) { ec_datagram_t *datagram = &fsm->datagram; - ec_slave_t *slave = fsm->slave; if (datagram->state != EC_DATAGRAM_RECEIVED || datagram->working_counter != 1) { @@ -1461,51 +1688,6 @@ return; } - // No CoE configuration to be applied? Jump to SAVEOP state. - if (list_empty(&slave->sdo_confs)) { // skip SDO configuration - // set state to SAVEOP - fsm->slave_state = ec_fsm_slaveconf_saveop; - fsm->change_new = EC_SLAVE_STATE_SAVEOP; - fsm->change_state = ec_fsm_change_start; - fsm->change_state(fsm); // execute immediately - return; - } - - fsm->slave_state = ec_fsm_slaveconf_sdoconf; - fsm->coe_sdodata = list_entry(slave->sdo_confs.next, ec_sdo_data_t, list); - fsm->coe_state = ec_fsm_coe_down_start; - fsm->coe_state(fsm); // execute immediately -} - -/*****************************************************************************/ - -/** - Slave state: SDOCONF. -*/ - -void ec_fsm_slaveconf_sdoconf(ec_fsm_t *fsm /**< finite state machine */) -{ - fsm->coe_state(fsm); // execute CoE state machine - - if (fsm->coe_state == ec_fsm_error) { - fsm->slave->error_flag = 1; - fsm->slave_state = ec_fsm_error; - return; - } - - if (fsm->coe_state != ec_fsm_end) return; - - // Another SDO to configure? - if (fsm->coe_sdodata->list.next != &fsm->slave->sdo_confs) { - fsm->coe_sdodata = list_entry(fsm->coe_sdodata->list.next, - ec_sdo_data_t, list); - fsm->coe_state = ec_fsm_coe_down_start; - fsm->coe_state(fsm); // execute immediately - return; - } - - // All SDOs are now configured. - // set state to SAVEOP fsm->slave_state = ec_fsm_slaveconf_saveop; fsm->change_new = EC_SLAVE_STATE_SAVEOP; @@ -1516,11 +1698,14 @@ /*****************************************************************************/ /** - Slave state: SAVEOP. + Slave configuration state: SAVEOP. */ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */) { + ec_master_t *master = fsm->master; + ec_slave_t *slave = fsm->slave; + fsm->change_state(fsm); // execute state change state machine if (fsm->change_state == ec_fsm_error) { @@ -1532,8 +1717,17 @@ if (fsm->change_state != ec_fsm_end) return; // slave is now in SAVEOP + + if (master->debug_level) { + EC_DBG("Slave %i is now in PREOP.\n", slave->ring_position); + } + if (fsm->slave->current_state == fsm->slave->requested_state) { fsm->slave_state = ec_fsm_end; // successful + if (master->debug_level) { + EC_DBG("Finished configuration of slave %i.\n", + slave->ring_position); + } return; } @@ -1547,15 +1741,18 @@ /*****************************************************************************/ /** - Slave state: OP + Slave configuration state: OP */ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */) { + ec_master_t *master = fsm->master; + ec_slave_t *slave = fsm->slave; + fsm->change_state(fsm); // execute state change state machine if (fsm->change_state == ec_fsm_error) { - fsm->slave->error_flag = 1; + slave->error_flag = 1; fsm->slave_state = ec_fsm_error; return; } @@ -1563,6 +1760,12 @@ if (fsm->change_state != ec_fsm_end) return; // slave is now in OP + + if (master->debug_level) { + EC_DBG("Slave %i is now in OP.\n", slave->ring_position); + EC_DBG("Finished configuration of slave %i.\n", slave->ring_position); + } + fsm->slave_state = ec_fsm_end; // successful } @@ -1571,7 +1774,7 @@ *****************************************************************************/ /** - SII state: START_READING. + SII state: START READING. Starts reading the slave information interface. */ @@ -1597,7 +1800,7 @@ /*****************************************************************************/ /** - SII state: READ_CHECK. + SII state: READ CHECK. Checks, if the SII-read-datagram has been sent and issues a fetch datagram. */ @@ -1630,7 +1833,7 @@ /*****************************************************************************/ /** - SII state: READ_FETCH. + SII state: READ FETCH. Fetches the result of an SII-read datagram. */ @@ -1692,7 +1895,7 @@ /*****************************************************************************/ /** - SII state: START_WRITING. + SII state: START WRITING. Starts reading the slave information interface. */ @@ -1713,7 +1916,7 @@ /*****************************************************************************/ /** - SII state: WRITE_CHECK. + SII state: WRITE CHECK. */ void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */) @@ -1739,7 +1942,7 @@ /*****************************************************************************/ /** - SII state: WRITE_CHECK2. + SII state: WRITE CHECK 2. */ void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */) @@ -2057,11 +2260,640 @@ } /****************************************************************************** + * CoE dictionary state machine + *****************************************************************************/ + +/** + CoE state: DICT START. +*/ + +void ec_fsm_coe_dict_start(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + uint8_t *data; + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs! + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_request; +} + +/*****************************************************************************/ + +/** + CoE state: DICT REQUEST. +*/ + +void ec_fsm_coe_dict_request(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE dictionary request failed.\n"); + return; + } + + fsm->coe_start = datagram->cycles_sent; + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_check; +} + +/*****************************************************************************/ + +/** + CoE state: DICT CHECK. +*/ + +void ec_fsm_coe_dict_check(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE mailbox check datagram failed.\n"); + return; + } + + if (!ec_slave_mbox_check(datagram)) { + if (datagram->cycles_received + - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Timeout while checking SDO dictionary on slave %i.\n", + slave->ring_position); + return; + } + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + return; + } + + // Fetch response + ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_response; +} + +/*****************************************************************************/ + +/** + CoE state: DICT RESPONSE. +*/ + +void ec_fsm_coe_dict_response(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_master_t *master = fsm->master; + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + uint8_t *data, mbox_prot; + size_t rec_size; + unsigned int sdo_count, i; + uint16_t sdo_index; + ec_sdo_t *sdo; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE dictionary response failed.\n"); + return; + } + + if (!(data = ec_slave_mbox_fetch(slave, datagram, + &mbox_prot, &rec_size))) { + fsm->coe_state = ec_fsm_error; + return; + } + + if (mbox_prot != 0x03) { // CoE + EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information + (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response + EC_ERR("SDO information error response at slave %i!\n", + slave->ring_position); + ec_canopen_abort_msg(EC_READ_U32(data + 6)); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information + (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response + EC_ERR("Invalid SDO list response at slave %i!\n", + slave->ring_position); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + if (rec_size < 8) { + EC_ERR("Invalid data size!\n"); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + sdo_count = (rec_size - 8) / 2; + + if (master->debug_level) { + EC_DBG("Fetching %i SDOs.\n", sdo_count); + } + + for (i = 0; i < sdo_count; i++) { + sdo_index = EC_READ_U16(data + 8 + i * 2); + if (!sdo_index) { + // sometimes index is 0... ??? + if (master->debug_level) { + EC_DBG("Received SDO with index 0x0000.\n"); + } + continue; + } + + if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) { + EC_ERR("Failed to allocate memory for SDO!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + if (ec_sdo_init(sdo, sdo_index, slave)) { + EC_ERR("Failed to init SDO!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + if (kobject_add(&sdo->kobj)) { + EC_ERR("Failed to add kobject.\n"); + kobject_put(&sdo->kobj); // free + fsm->coe_state = ec_fsm_error; + return; + } + + list_add_tail(&sdo->list, &slave->sdo_dictionary); + } + + if (EC_READ_U8(data + 2) & 0x80) { // more messages waiting. check again. + fsm->coe_start = datagram->cycles_sent; + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_check; + return; + } + + if (list_empty(&slave->sdo_dictionary)) { + // no SDOs in dictionary. finished. + fsm->coe_state = ec_fsm_end; // success + return; + } + + // fetch SDO descriptions + fsm->coe_sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list); + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x03); // Get object description request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_desc_request; +} + +/*****************************************************************************/ + +/** + CoE state: DICT DESC REQUEST. +*/ + +void ec_fsm_coe_dict_desc_request(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE SDO description request failed.\n"); + return; + } + + fsm->coe_start = datagram->cycles_sent; + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_desc_check; +} + +/*****************************************************************************/ + +/** + CoE state: DICT DESC CHECK. +*/ + +void ec_fsm_coe_dict_desc_check(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE mailbox check datagram failed.\n"); + return; + } + + if (!ec_slave_mbox_check(datagram)) { + if (datagram->cycles_received + - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Timeout while checking SDO description on slave %i.\n", + slave->ring_position); + return; + } + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + return; + } + + // Fetch response + ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_desc_response; +} + +/*****************************************************************************/ + +/** + CoE state: DICT DESC RESPONSE. +*/ + +void ec_fsm_coe_dict_desc_response(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_master_t *master = fsm->master; + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + ec_sdo_t *sdo = fsm->coe_sdo; + uint8_t *data, mbox_prot; + size_t rec_size, name_size; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE SDO description response failed.\n"); + return; + } + + if (!(data = ec_slave_mbox_fetch(slave, datagram, + &mbox_prot, &rec_size))) { + fsm->coe_state = ec_fsm_error; + return; + } + + if (mbox_prot != 0x03) { // CoE + EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information + (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response + EC_ERR("SDO information error response at slave %i while" + " fetching SDO 0x%04X!\n", slave->ring_position, + sdo->index); + ec_canopen_abort_msg(EC_READ_U32(data + 6)); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information + (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response + EC_READ_U16(data + 6) != sdo->index) { // SDO index + EC_ERR("Invalid object description response at slave %i while" + " fetching SDO 0x%04X!\n", slave->ring_position, + sdo->index); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + if (rec_size < 12) { + EC_ERR("Invalid data size!\n"); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + sdo->subindices = EC_READ_U8(data + 10); + sdo->object_code = EC_READ_U8(data + 11); + + name_size = rec_size - 12; + if (name_size) { + if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) { + EC_ERR("Failed to allocate SDO name!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + memcpy(sdo->name, data + 12, name_size); + sdo->name[name_size] = 0; + } + + if (EC_READ_U8(data + 2) & 0x80) { + EC_ERR("Fragment follows (not implemented)!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + if (!sdo->subindices) { // no entries + // another SDO description to fetch? + if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) { + fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list); + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x03); // Get object description request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_desc_request; + return; + } + + if (master->debug_level) { + EC_DBG("Finished fetching SDO descriptions.\n"); + } + + fsm->coe_state = ec_fsm_end; + return; + } + + fsm->coe_subindex = 1; + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x05); // Get entry description request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, sdo->index); // SDO index + EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex + EC_WRITE_U8 (data + 9, 0x00); // value info (no values) + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_entry_request; +} + +/*****************************************************************************/ + +/** + CoE state: DICT ENTRY REQUEST. +*/ + +void ec_fsm_coe_dict_entry_request(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE SDO entry request failed.\n"); + return; + } + + fsm->coe_start = datagram->cycles_sent; + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_entry_check; +} + +/*****************************************************************************/ + +/** + CoE state: DICT ENTRY CHECK. +*/ + +void ec_fsm_coe_dict_entry_check(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE mailbox check datagram failed.\n"); + return; + } + + if (!ec_slave_mbox_check(datagram)) { + if (datagram->cycles_received + - fsm->coe_start >= (cycles_t) 100 * cpu_khz) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Timeout while checking SDO entry on slave %i.\n", + slave->ring_position); + return; + } + + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + return; + } + + // Fetch response + ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_entry_response; +} + +/*****************************************************************************/ + +/** + CoE state: DICT ENTRY RESPONSE. +*/ + +void ec_fsm_coe_dict_entry_response(ec_fsm_t *fsm /**< finite state machine */) +{ + ec_master_t *master = fsm->master; + ec_datagram_t *datagram = &fsm->datagram; + ec_slave_t *slave = fsm->slave; + ec_sdo_t *sdo = fsm->coe_sdo; + uint8_t *data, mbox_prot; + size_t rec_size, data_size; + ec_sdo_entry_t *entry; + + if (datagram->state != EC_DATAGRAM_RECEIVED + || datagram->working_counter != 1) { + fsm->coe_state = ec_fsm_error; + EC_ERR("Reception of CoE SDO description response failed.\n"); + return; + } + + if (!(data = ec_slave_mbox_fetch(slave, datagram, + &mbox_prot, &rec_size))) { + fsm->coe_state = ec_fsm_error; + return; + } + + if (mbox_prot != 0x03) { // CoE + EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information + (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response + EC_ERR("SDO information error response at slave %i while" + " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, + sdo->index, fsm->coe_subindex); + ec_canopen_abort_msg(EC_READ_U32(data + 6)); + fsm->coe_state = ec_fsm_error; + return; + } + + if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information + (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response + EC_READ_U16(data + 6) != sdo->index || // SDO index + EC_READ_U8(data + 8) != fsm->coe_subindex) { // SDO subindex + EC_ERR("Invalid entry description response at slave %i while" + " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, + sdo->index, fsm->coe_subindex); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + if (rec_size < 16) { + EC_ERR("Invalid data size!\n"); + ec_print_data(data, rec_size); + fsm->coe_state = ec_fsm_error; + return; + } + + data_size = rec_size - 16; + + if (!(entry = (ec_sdo_entry_t *) + kmalloc(sizeof(ec_sdo_entry_t), GFP_ATOMIC))) { + EC_ERR("Failed to allocate entry!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + if (ec_sdo_entry_init(entry, fsm->coe_subindex, sdo)) { + EC_ERR("Failed to init entry!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + + entry->data_type = EC_READ_U16(data + 10); + entry->bit_length = EC_READ_U16(data + 12); + + if (data_size) { + if (!(entry->description = kmalloc(data_size + 1, GFP_ATOMIC))) { + EC_ERR("Failed to allocate SDO entry name!\n"); + fsm->coe_state = ec_fsm_error; + return; + } + memcpy(entry->description, data + 16, data_size); + entry->description[data_size] = 0; + } + + if (kobject_add(&entry->kobj)) { + EC_ERR("Failed to add kobject.\n"); + kobject_put(&entry->kobj); // free + fsm->coe_state = ec_fsm_error; + return; + } + + list_add_tail(&entry->list, &sdo->entries); + + if (fsm->coe_subindex < sdo->subindices) { + fsm->coe_subindex++; + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x05); // Get entry description request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, sdo->index); // SDO index + EC_WRITE_U8 (data + 8, fsm->coe_subindex); // SDO subindex + EC_WRITE_U8 (data + 9, 0x00); // value info (no values) + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_entry_request; + return; + } + + // another SDO description to fetch? + if (fsm->coe_sdo->list.next != &slave->sdo_dictionary) { + fsm->coe_sdo = list_entry(fsm->coe_sdo->list.next, ec_sdo_t, list); + + if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) { + fsm->coe_state = ec_fsm_error; + return; + } + + EC_WRITE_U16(data, 0x8 << 12); // SDO information + EC_WRITE_U8 (data + 2, 0x03); // Get object description request + EC_WRITE_U8 (data + 3, 0x00); + EC_WRITE_U16(data + 4, 0x0000); + EC_WRITE_U16(data + 6, fsm->coe_sdo->index); // SDO index + + ec_master_queue_datagram(fsm->master, datagram); + fsm->coe_state = ec_fsm_coe_dict_desc_request; + return; + } + + if (master->debug_level) { + EC_DBG("Finished fetching SDO descriptions.\n"); + } + + fsm->coe_state = ec_fsm_end; +} + +/****************************************************************************** * CoE state machine *****************************************************************************/ /** - CoE state: DOWN_START. + CoE state: DOWN START. */ void ec_fsm_coe_down_start(ec_fsm_t *fsm /**< finite state machine */) @@ -2101,7 +2933,7 @@ /*****************************************************************************/ /** - CoE state: DOWN_REQUEST. + CoE state: DOWN REQUEST. */ void ec_fsm_coe_down_request(ec_fsm_t *fsm /**< finite state machine */) @@ -2126,7 +2958,7 @@ /*****************************************************************************/ /** - CoE state: DOWN_CHECK. + CoE state: DOWN CHECK. */ void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */) @@ -2164,7 +2996,7 @@ /*****************************************************************************/ /** - CoE state: DOWN_RESPONSE. + CoE state: DOWN RESPONSE. */ void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */) diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/fsm.h --- a/master/fsm.h Tue Oct 17 14:37:46 2006 +0000 +++ b/master/fsm.h Tue Oct 17 14:50:04 2006 +0000 @@ -45,6 +45,7 @@ #include "../include/ecrt.h" #include "datagram.h" #include "slave.h" +#include "canopen.h" /*****************************************************************************/ @@ -82,6 +83,8 @@ void (*coe_state)(ec_fsm_t *); /**< CoE state function */ ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */ cycles_t coe_start; /**< CoE timestamp */ + ec_sdo_t *coe_sdo; /**< current SDO */ + uint8_t coe_subindex; /**< current subindex */ }; /*****************************************************************************/ diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/slave.c --- a/master/slave.c Tue Oct 17 14:37:46 2006 +0000 +++ b/master/slave.c Tue Oct 17 14:50:04 2006 +0000 @@ -182,7 +182,6 @@ ec_sii_pdo_t *pdo, *next_pdo; ec_sii_pdo_entry_t *entry, *next_ent; ec_sdo_t *sdo, *next_sdo; - ec_sdo_entry_t *en, *next_en; ec_sdo_data_t *sdodata, *next_sdodata; slave = container_of(kobj, ec_slave_t, kobj); @@ -222,14 +221,8 @@ // free all SDOs list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) { list_del(&sdo->list); - if (sdo->name) kfree(sdo->name); - - // free all SDO entries - list_for_each_entry_safe(en, next_en, &sdo->entries, list) { - list_del(&en->list); - kfree(en); - } - kfree(sdo); + kobject_del(&sdo->kobj); + kobject_put(&sdo->kobj); } // free all SDO configurations diff -r 0eda82d1a8c1 -r bc4c852e1b93 master/slave.h --- a/master/slave.h Tue Oct 17 14:37:46 2006 +0000 +++ b/master/slave.h Tue Oct 17 14:50:04 2006 +0000 @@ -168,50 +168,6 @@ /*****************************************************************************/ /** - CANopen SDO. -*/ - -typedef struct -{ - struct list_head list; /**< list item */ - uint16_t index; /**< SDO index */ - uint8_t object_code; /**< object code */ - char *name; /**< SDO name */ - struct list_head entries; /**< entry list */ -} -ec_sdo_t; - -/*****************************************************************************/ - -/** - CANopen SDO entry. -*/ - -typedef struct -{ - struct list_head list; /**< list item */ - uint8_t subindex; /**< entry subindex */ - uint16_t data_type; /**< entry data type */ - uint16_t bit_length; /**< entry length in bit */ - char *name; /**< entry name */ -} -ec_sdo_entry_t; - -/*****************************************************************************/ - -typedef struct -{ - struct list_head list; /**< list item */ - uint16_t index; /**< SDO index */ - uint8_t subindex; /**< SDO subindex */ - uint8_t *data; /**< pointer to SDO data */ - size_t size; /**< size of SDO data */ -} -ec_sdo_data_t; - -/*****************************************************************************/ - -/** FMMU configuration. */