2538 lines
80 KiB
C
2538 lines
80 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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/** \file
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* EtherCAT CoE state machines.
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*/
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/****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_coe.h"
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#include "slave_config.h"
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/****************************************************************************/
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/** Maximum time in ms to wait for responses when reading out the dictionary.
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*/
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#define EC_FSM_COE_DICT_TIMEOUT 1000
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/** CoE download request header size.
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*/
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#define EC_COE_DOWN_REQ_HEADER_SIZE 10
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/** CoE download segment request header size.
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*/
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#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
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/** Minimum size of download segment.
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*/
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#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
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/** Enable debug output for CoE retries.
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*/
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#define DEBUG_RETRIES 0
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/** Enable warning output if transfers take too long.
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*/
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#define DEBUG_LONG 0
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/****************************************************************************/
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// prototypes for private methods
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void ec_canopen_abort_msg(const ec_slave_t *, uint32_t);
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int ec_fsm_coe_check_emergency(const ec_fsm_coe_t *, const uint8_t *, size_t);
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int ec_fsm_coe_prepare_dict(ec_fsm_coe_t *, ec_datagram_t *);
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int ec_fsm_coe_dict_prepare_desc(ec_fsm_coe_t *, ec_datagram_t *);
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int ec_fsm_coe_dict_prepare_entry(ec_fsm_coe_t *, ec_datagram_t *);
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int ec_fsm_coe_prepare_down_start(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_prepare_segment_request(ec_fsm_coe_t *, ec_datagram_t *);
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int ec_fsm_coe_prepare_up(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_prepare_segment_request(ec_fsm_coe_t *, ec_datagram_t *);
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/****************************************************************************/
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void ec_fsm_coe_dict_start(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_start(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_down_seg_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_start(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_end(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_error(ec_fsm_coe_t *, ec_datagram_t *);
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/****************************************************************************/
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/** SDO abort messages.
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*
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* The "abort SDO transfer request" supplies an abort code, which can be
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* translated to clear text. This table does the mapping of the codes and
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* messages.
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*/
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const ec_code_msg_t sdo_abort_messages[] = {
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{0x05030000, "Toggle bit not changed"},
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{0x05040000, "SDO protocol timeout"},
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{0x05040001, "Client/Server command specifier not valid or unknown"},
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{0x05040005, "Out of memory"},
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{0x06010000, "Unsupported access to an object"},
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{0x06010001, "Attempt to read a write-only object"},
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{0x06010002, "Attempt to write a read-only object"},
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{0x06020000, "This object does not exist in the object directory"},
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{0x06040041, "The object cannot be mapped into the PDO"},
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{0x06040042, "The number and length of the objects to be mapped would"
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" exceed the PDO length"},
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{0x06040043, "General parameter incompatibility reason"},
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{0x06040047, "Gerneral internal incompatibility in device"},
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{0x06060000, "Access failure due to a hardware error"},
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{0x06070010, "Data type does not match, length of service parameter does"
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" not match"},
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{0x06070012, "Data type does not match, length of service parameter too"
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" high"},
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{0x06070013, "Data type does not match, length of service parameter too"
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" low"},
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{0x06090011, "Subindex does not exist"},
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{0x06090030, "Value range of parameter exceeded"},
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{0x06090031, "Value of parameter written too high"},
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{0x06090032, "Value of parameter written too low"},
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{0x06090036, "Maximum value is less than minimum value"},
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{0x08000000, "General error"},
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{0x08000020, "Data cannot be transferred or stored to the application"},
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{0x08000021, "Data cannot be transferred or stored to the application"
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" because of local control"},
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{0x08000022, "Data cannot be transferred or stored to the application"
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" because of the present device state"},
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{0x08000023, "Object dictionary dynamic generation fails or no object"
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" dictionary is present"},
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{}
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};
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/****************************************************************************/
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/** Outputs an SDO abort message.
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*/
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void ec_canopen_abort_msg(
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const ec_slave_t *slave, /**< Slave. */
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uint32_t abort_code /**< Abort code to search for. */
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)
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{
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const ec_code_msg_t *abort_msg;
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for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
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if (abort_msg->code == abort_code) {
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EC_SLAVE_ERR(slave, "SDO abort message 0x%08X: \"%s\".\n",
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abort_msg->code, abort_msg->message);
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return;
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}
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}
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EC_SLAVE_ERR(slave, "Unknown SDO abort code 0x%08X.\n", abort_code);
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}
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/****************************************************************************/
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/** Constructor.
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*/
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void ec_fsm_coe_init(
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ec_fsm_coe_t *fsm /**< Finite state machine */
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)
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{
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fsm->state = NULL;
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fsm->datagram = NULL;
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}
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/****************************************************************************/
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/** Destructor.
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*/
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void ec_fsm_coe_clear(
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ec_fsm_coe_t *fsm /**< Finite state machine */
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)
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{
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}
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/****************************************************************************/
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/** Starts reading a slaves' SDO dictionary.
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*/
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void ec_fsm_coe_dictionary(
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ec_fsm_coe_t *fsm, /**< Finite state machine */
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ec_slave_t *slave /**< EtherCAT slave */
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)
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{
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fsm->slave = slave;
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fsm->state = ec_fsm_coe_dict_start;
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}
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/****************************************************************************/
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/** Starts to transfer an SDO to/from a slave.
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*/
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void ec_fsm_coe_transfer(
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ec_fsm_coe_t *fsm, /**< State machine. */
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ec_slave_t *slave, /**< EtherCAT slave. */
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ec_sdo_request_t *request /**< SDO request. */
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)
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{
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fsm->slave = slave;
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fsm->request = request;
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if (request->dir == EC_DIR_OUTPUT) {
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fsm->state = ec_fsm_coe_down_start;
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}
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else {
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fsm->state = ec_fsm_coe_up_start;
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}
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}
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/****************************************************************************/
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/** Executes the current state of the state machine.
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*
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* \return 1 if the datagram was used, else 0.
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*/
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int ec_fsm_coe_exec(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
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int datagram_used = 0;
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if (fsm->datagram &&
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(fsm->datagram->state == EC_DATAGRAM_INIT ||
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fsm->datagram->state == EC_DATAGRAM_QUEUED ||
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fsm->datagram->state == EC_DATAGRAM_SENT)) {
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// datagram not received yet
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return datagram_used;
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}
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fsm->state(fsm, datagram);
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datagram_used =
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fsm->state != ec_fsm_coe_end && fsm->state != ec_fsm_coe_error;
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if (datagram_used) {
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fsm->datagram = datagram;
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} else {
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fsm->datagram = NULL;
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}
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return datagram_used;
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}
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/****************************************************************************/
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/** Returns, if the state machine terminated with success.
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* \return non-zero if successful.
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*/
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int ec_fsm_coe_success(
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const ec_fsm_coe_t *fsm /**< Finite state machine */
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)
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{
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return fsm->state == ec_fsm_coe_end;
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}
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/****************************************************************************/
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/** Check if the received data are a CoE emergency request.
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*
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* If the check is positive, the emergency request is output.
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*
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* \return The data were an emergency request.
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*/
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int ec_fsm_coe_check_emergency(
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const ec_fsm_coe_t *fsm, /**< Finite state machine */
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const uint8_t *data, /**< CoE mailbox data. */
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size_t size /**< CoE mailbox data size. */
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)
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{
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if (size < 2 || ((EC_READ_U16(data) >> 12) & 0x0F) != 0x01)
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return 0;
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if (size < 10) {
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EC_SLAVE_WARN(fsm->slave, "Received incomplete CoE Emergency"
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" request:\n");
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ec_print_data(data, size);
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return 1;
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}
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{
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ec_slave_config_t *sc = fsm->slave->config;
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if (sc) {
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ec_coe_emerg_ring_push(&sc->emerg_ring, data + 2);
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}
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}
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EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
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"Error code 0x%04X, Error register 0x%02X, data:\n",
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EC_READ_U16(data + 2), EC_READ_U8(data + 4));
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ec_print_data(data + 5, 5);
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return 1;
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}
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/*****************************************************************************
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* CoE dictionary state machine
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****************************************************************************/
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/** Prepare a dictionary request.
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*
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* \return Zero on success, otherwise a negative error code.
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*/
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int ec_fsm_coe_prepare_dict(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
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ec_slave_t *slave = fsm->slave;
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uint8_t *data = ec_slave_mbox_prepare_send(slave, datagram,
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EC_MBOX_TYPE_COE, 8);
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if (IS_ERR(data)) {
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return PTR_ERR(data);
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}
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EC_WRITE_U16(data, 0x8 << 12); // SDO information
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EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
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EC_WRITE_U8 (data + 3, 0x00);
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EC_WRITE_U16(data + 4, 0x0000);
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EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
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fsm->state = ec_fsm_coe_dict_request;
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return 0;
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}
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/****************************************************************************/
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/** CoE state: DICT START.
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*/
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void ec_fsm_coe_dict_start(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
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ec_slave_t *slave = fsm->slave;
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if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
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EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
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fsm->state = ec_fsm_coe_error;
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return;
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}
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if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
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EC_SLAVE_ERR(slave, "Slave does not support"
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" SDO information service!\n");
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fsm->state = ec_fsm_coe_error;
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return;
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}
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fsm->retries = EC_FSM_RETRIES;
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if (ec_fsm_coe_prepare_dict(fsm, datagram)) {
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fsm->state = ec_fsm_coe_error;
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}
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}
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/****************************************************************************/
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/** CoE state: DICT REQUEST.
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* \todo Timeout behavior
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*/
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void ec_fsm_coe_dict_request(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
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ec_slave_t *slave = fsm->slave;
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if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
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if (ec_fsm_coe_prepare_dict(fsm, datagram)) {
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fsm->state = ec_fsm_coe_error;
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}
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return;
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}
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if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_coe_error;
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EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
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" request datagram: ");
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ec_datagram_print_state(fsm->datagram);
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return;
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}
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if (fsm->datagram->working_counter != 1) {
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fsm->state = ec_fsm_coe_error;
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EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
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ec_datagram_print_wc_error(fsm->datagram);
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return;
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}
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fsm->jiffies_start = fsm->datagram->jiffies_sent;
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_coe_dict_check;
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}
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/****************************************************************************/
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/** CoE state: DICT CHECK.
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*/
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void ec_fsm_coe_dict_check(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
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ec_slave_t *slave = fsm->slave;
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if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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return;
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}
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if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
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fsm->state = ec_fsm_coe_error;
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EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
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ec_datagram_print_state(fsm->datagram);
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return;
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}
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if (fsm->datagram->working_counter != 1) {
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fsm->state = ec_fsm_coe_error;
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EC_SLAVE_ERR(slave,"Reception of CoE mailbox check"
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" datagram failed: ");
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ec_datagram_print_wc_error(fsm->datagram);
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return;
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}
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if (!ec_slave_mbox_check(fsm->datagram)) {
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unsigned long diff_ms =
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(fsm->datagram->jiffies_received - fsm->jiffies_start) *
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1000 / HZ;
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if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
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fsm->state = ec_fsm_coe_error;
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EC_SLAVE_ERR(slave, "Timeout while waiting for"
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" SDO dictionary list response.\n");
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return;
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}
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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fsm->retries = EC_FSM_RETRIES;
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return;
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}
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// Fetch response
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ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
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fsm->retries = EC_FSM_RETRIES;
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fsm->state = ec_fsm_coe_dict_response;
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}
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/****************************************************************************/
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/** Prepare an object description request.
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*
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* \return Zero on success, otherwise a negative error code.
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*/
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int ec_fsm_coe_dict_prepare_desc(
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ec_fsm_coe_t *fsm, /**< Finite state machine. */
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ec_datagram_t *datagram /**< Datagram to use. */
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)
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{
|
|
ec_slave_t *slave = fsm->slave;
|
|
u8 *data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
8);
|
|
if (IS_ERR(data)) {
|
|
return PTR_ERR(data);
|
|
}
|
|
|
|
EC_WRITE_U16(data, 0x8 << 12); // SDO information
|
|
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
|
|
EC_WRITE_U8 (data + 3, 0x00);
|
|
EC_WRITE_U16(data + 4, 0x0000);
|
|
EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
|
|
|
|
fsm->state = ec_fsm_coe_dict_desc_request;
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size;
|
|
unsigned int sdo_count, i;
|
|
uint16_t sdo_index, fragments_left;
|
|
ec_sdo_t *sdo;
|
|
bool first_segment;
|
|
size_t index_list_offset;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
|
|
" response datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
|
|
mbox_prot);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 3) {
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO dictionary response"
|
|
" (size %zu).\n", rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
|
|
EC_SLAVE_ERR(slave, "SDO information error response!\n");
|
|
if (rec_size < 10) {
|
|
EC_SLAVE_ERR(slave, "Incomplete SDO information"
|
|
" error response:\n");
|
|
ec_print_data(data, rec_size);
|
|
} else {
|
|
ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
|
|
}
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid SDO list response!"
|
|
" Retrying...\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_check;
|
|
return;
|
|
}
|
|
|
|
first_segment = list_empty(&slave->sdo_dictionary) ? true : false;
|
|
index_list_offset = first_segment ? 8 : 6;
|
|
|
|
if (rec_size < index_list_offset || rec_size % 2) {
|
|
EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
|
|
ec_print_data(data, rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
sdo_count = (rec_size - index_list_offset) / 2;
|
|
|
|
for (i = 0; i < sdo_count; i++) {
|
|
sdo_index = EC_READ_U16(data + index_list_offset + i * 2);
|
|
if (!sdo_index) {
|
|
EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
|
|
continue;
|
|
}
|
|
|
|
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
|
|
EC_SLAVE_ERR(slave, "Failed to allocate memory for SDO!\n");
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
ec_sdo_init(sdo, slave, sdo_index);
|
|
list_add_tail(&sdo->list, &slave->sdo_dictionary);
|
|
}
|
|
|
|
fragments_left = EC_READ_U16(data + 4);
|
|
if (fragments_left) {
|
|
EC_SLAVE_DBG(slave, 1, "SDO list fragments left: %u\n",
|
|
fragments_left);
|
|
}
|
|
|
|
if (EC_READ_U8(data + 2) & 0x80 || fragments_left) {
|
|
// more messages waiting. check again.
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_check;
|
|
return;
|
|
}
|
|
|
|
if (list_empty(&slave->sdo_dictionary)) {
|
|
// no SDOs in dictionary. finished.
|
|
fsm->state = ec_fsm_coe_end; // success
|
|
return;
|
|
}
|
|
|
|
// fetch SDO descriptions
|
|
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
|
|
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
if (ec_fsm_coe_dict_prepare_desc(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT DESC REQUEST.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_desc_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
if (ec_fsm_coe_dict_prepare_desc(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
|
|
" description request datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
|
|
" request failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_desc_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT DESC CHECK.
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_desc_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
|
|
" datagram failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout while waiting for"
|
|
" SDO 0x%04x object description response.\n",
|
|
fsm->sdo->index);
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_desc_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** Prepare an entry description request.
|
|
*
|
|
* \return Zero on success, otherwise a negative error code.
|
|
*/
|
|
int ec_fsm_coe_dict_prepare_entry(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
u8 *data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
10);
|
|
if (IS_ERR(data)) {
|
|
return PTR_ERR(data);
|
|
}
|
|
|
|
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, fsm->sdo->index); // SDO index
|
|
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
|
|
EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only)
|
|
|
|
fsm->state = ec_fsm_coe_dict_entry_request;
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT DESC RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_desc_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_t *sdo = fsm->sdo;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size, name_size;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
|
|
" response datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
|
|
" response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
|
|
mbox_prot);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_desc_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 3) {
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO description response"
|
|
" (size %zu).\n", rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
|
|
EC_SLAVE_ERR(slave, "SDO information error response while"
|
|
" fetching SDO 0x%04X!\n", sdo->index);
|
|
ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 8) {
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO"
|
|
" description response (size %zu).\n", rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
|
|
EC_READ_U16(data + 6) != sdo->index) { // SDO index
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid object description response while"
|
|
" fetching SDO 0x%04X!\n", sdo->index);
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_desc_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 12) {
|
|
EC_SLAVE_ERR(slave, "Invalid data size!\n");
|
|
ec_print_data(data, rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
sdo->max_subindex = EC_READ_U8(data + 10);
|
|
sdo->object_code = EC_READ_U8(data + 11);
|
|
|
|
name_size = rec_size - 12;
|
|
if (name_size) {
|
|
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
|
|
EC_SLAVE_ERR(slave, "Failed to allocate SDO name!\n");
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
memcpy(sdo->name, data + 12, name_size);
|
|
sdo->name[name_size] = 0;
|
|
}
|
|
|
|
if (EC_READ_U8(data + 2) & 0x80) {
|
|
EC_SLAVE_ERR(slave, "Fragment follows (not implemented)!\n");
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
// start fetching entries
|
|
|
|
fsm->subindex = 0;
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
|
|
if (ec_fsm_coe_dict_prepare_entry(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT ENTRY REQUEST.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_entry_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
if (ec_fsm_coe_dict_prepare_entry(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
|
|
" request datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_entry_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT ENTRY CHECK.
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_entry_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
|
|
" datagram failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout while waiting for"
|
|
" SDO entry 0x%04x:%x description response.\n",
|
|
fsm->sdo->index, fsm->subindex);
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_entry_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DICT ENTRY RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_dict_entry_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_t *sdo = fsm->sdo;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size, data_size;
|
|
ec_sdo_entry_t *entry;
|
|
u16 word;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
|
|
" description response datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
|
|
" response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol"
|
|
" 0x%02X as response.\n", mbox_prot);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_entry_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 3) {
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
|
|
" description response (size %zu).\n", rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
|
|
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
|
|
EC_SLAVE_WARN(slave, "SDO information error response while"
|
|
" fetching SDO entry 0x%04X:%02X!\n",
|
|
sdo->index, fsm->subindex);
|
|
ec_canopen_abort_msg(slave, EC_READ_U32(data + 6));
|
|
|
|
/* There may be gaps in the subindices, so try to continue with next
|
|
* subindex. */
|
|
|
|
} else {
|
|
|
|
if (rec_size < 9) {
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO entry"
|
|
" description response (size %zu).\n", rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
|
|
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
|
|
EC_READ_U16(data + 6) != sdo->index || // SDO index
|
|
EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid entry description response"
|
|
" while fetching SDO entry 0x%04X:%02X!\n",
|
|
sdo->index, fsm->subindex);
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_dict_entry_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 16) {
|
|
EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
|
|
ec_print_data(data, rec_size);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
data_size = rec_size - 16;
|
|
|
|
if (!(entry = (ec_sdo_entry_t *)
|
|
kmalloc(sizeof(ec_sdo_entry_t), GFP_KERNEL))) {
|
|
EC_SLAVE_ERR(slave, "Failed to allocate entry!\n");
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
ec_sdo_entry_init(entry, sdo, fsm->subindex);
|
|
entry->data_type = EC_READ_U16(data + 10);
|
|
entry->bit_length = EC_READ_U16(data + 12);
|
|
|
|
// read access rights
|
|
word = EC_READ_U16(data + 14);
|
|
entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
|
|
entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
|
|
(word >> 1) & 0x0001;
|
|
entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2) & 0x0001;
|
|
entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
|
|
entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
|
|
(word >> 4) & 0x0001;
|
|
entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5) & 0x0001;
|
|
|
|
if (data_size) {
|
|
uint8_t *desc;
|
|
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
|
|
EC_SLAVE_ERR(slave, "Failed to allocate SDO entry name!\n");
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
memcpy(desc, data + 16, data_size);
|
|
desc[data_size] = 0;
|
|
entry->description = desc;
|
|
}
|
|
|
|
list_add_tail(&entry->list, &sdo->entries);
|
|
}
|
|
|
|
if (fsm->subindex < sdo->max_subindex) {
|
|
|
|
fsm->subindex++;
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
|
|
if (ec_fsm_coe_dict_prepare_entry(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
// another SDO description to fetch?
|
|
if (fsm->sdo->list.next != &slave->sdo_dictionary) {
|
|
|
|
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
|
|
if (ec_fsm_coe_dict_prepare_desc(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
|
|
return;
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_end;
|
|
}
|
|
|
|
/*****************************************************************************
|
|
* CoE state machine
|
|
****************************************************************************/
|
|
|
|
/** Prepare a donwnload request.
|
|
*
|
|
* \return Zero on success, otherwise a negative error code.
|
|
*/
|
|
int ec_fsm_coe_prepare_down_start(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
u8 *data;
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
uint8_t data_set_size;
|
|
|
|
if (request->data_size > 0 && request->data_size <= 4) {
|
|
// use expedited transfer mode for lengths between 1 and 4 bytes
|
|
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
EC_COE_DOWN_REQ_HEADER_SIZE);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
return PTR_ERR(data);
|
|
}
|
|
|
|
fsm->remaining = 0;
|
|
|
|
data_set_size = 4 - request->data_size;
|
|
|
|
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
|
|
| data_set_size << 2
|
|
| ((request->complete_access ? 1 : 0) << 4)
|
|
| 0x1 << 5)); // Download request
|
|
EC_WRITE_U16(data + 3, request->index);
|
|
EC_WRITE_U8 (data + 5,
|
|
request->complete_access ? 0x00 : request->subindex);
|
|
memcpy(data + 6, request->data, request->data_size);
|
|
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
|
|
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Expedited download request:\n");
|
|
ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
|
|
}
|
|
}
|
|
else { // data_size < 1 or data_size > 4, use normal transfer type
|
|
size_t data_size,
|
|
max_data_size =
|
|
slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
|
|
required_data_size =
|
|
EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
|
|
|
|
if (max_data_size < required_data_size) {
|
|
// segmenting needed
|
|
data_size = max_data_size;
|
|
} else {
|
|
data_size = required_data_size;
|
|
}
|
|
|
|
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
data_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
return PTR_ERR(data);
|
|
}
|
|
|
|
fsm->offset = 0;
|
|
fsm->remaining = request->data_size;
|
|
|
|
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
EC_WRITE_U8(data + 2,
|
|
0x1 // size indicator, normal
|
|
| ((request->complete_access ? 1 : 0) << 4)
|
|
| 0x1 << 5); // Download request
|
|
EC_WRITE_U16(data + 3, request->index);
|
|
EC_WRITE_U8 (data + 5,
|
|
request->complete_access ? 0x00 : request->subindex);
|
|
EC_WRITE_U32(data + 6, request->data_size);
|
|
|
|
if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
|
|
size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
|
|
memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
|
|
request->data, segment_size);
|
|
fsm->offset += segment_size;
|
|
fsm->remaining -= segment_size;
|
|
}
|
|
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Normal download request:\n");
|
|
ec_print_data(data, data_size);
|
|
}
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_down_request;
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** CoE state: DOWN START.
|
|
*/
|
|
void ec_fsm_coe_down_start(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
|
|
if (fsm->slave->master->debug_level) {
|
|
char subidxstr[10];
|
|
if (request->complete_access) {
|
|
subidxstr[0] = 0x00;
|
|
} else {
|
|
sprintf(subidxstr, ":%02X", request->subindex);
|
|
}
|
|
EC_SLAVE_DBG(slave, 1, "Downloading SDO 0x%04X%s.\n",
|
|
request->index, subidxstr);
|
|
ec_print_data(request->data, request->data_size);
|
|
}
|
|
|
|
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
|
|
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
|
|
request->errno = EPROTONOSUPPORT;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (slave->configured_rx_mailbox_size <
|
|
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
|
|
EC_SLAVE_ERR(slave, "Mailbox too small!\n");
|
|
request->errno = ENOBUFS;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
|
|
fsm->request->jiffies_sent = jiffies;
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
|
|
if (ec_fsm_coe_prepare_down_start(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DOWN REQUEST.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_down_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
unsigned long diff_ms;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
if (ec_fsm_coe_prepare_down_start(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
|
|
" request datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
if (!fsm->datagram->working_counter) {
|
|
if (diff_ms < fsm->request->response_timeout) {
|
|
#if DEBUG_RETRIES
|
|
EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
|
|
" download request. Retrying after %lu ms...\n",
|
|
diff_ms);
|
|
#endif
|
|
// no response; send request datagram again
|
|
if (ec_fsm_coe_prepare_down_start(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE download request"
|
|
" for SDO 0x%04x:%x failed with timeout after %lu ms: ",
|
|
fsm->request->index, fsm->request->subindex, diff_ms);
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
#if DEBUG_LONG
|
|
if (diff_ms > 200) {
|
|
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x download took %lu ms.\n",
|
|
fsm->request->index, fsm->request->subindex, diff_ms);
|
|
}
|
|
#endif
|
|
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** CoE state: DOWN CHECK.
|
|
*/
|
|
void ec_fsm_coe_down_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
|
|
" datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
|
|
" datagram failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= fsm->request->response_timeout) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
|
|
" for SDO 0x%04x:%x download response.\n", diff_ms,
|
|
fsm->request->index, fsm->request->subindex);
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** Prepare a download segment request.
|
|
*/
|
|
void ec_fsm_coe_down_prepare_segment_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
size_t max_segment_size =
|
|
slave->configured_rx_mailbox_size
|
|
- EC_MBOX_HEADER_SIZE
|
|
- EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
|
|
size_t data_size;
|
|
uint8_t last_segment, seg_data_size, *data;
|
|
|
|
if (fsm->remaining > max_segment_size) {
|
|
fsm->segment_size = max_segment_size;
|
|
last_segment = 0;
|
|
} else {
|
|
fsm->segment_size = fsm->remaining;
|
|
last_segment = 1;
|
|
}
|
|
|
|
if (fsm->segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
|
|
seg_data_size = 0x00;
|
|
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + fsm->segment_size;
|
|
} else {
|
|
seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - fsm->segment_size;
|
|
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
|
|
+ EC_COE_DOWN_SEG_MIN_DATA_SIZE;
|
|
}
|
|
|
|
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
data_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
|
|
| (seg_data_size << 1)
|
|
| (fsm->toggle << 4)
|
|
| (0x00 << 5)); // Download segment request
|
|
memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
|
|
request->data + fsm->offset, fsm->segment_size);
|
|
if (fsm->segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
|
|
memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + fsm->segment_size,
|
|
0x00, EC_COE_DOWN_SEG_MIN_DATA_SIZE - fsm->segment_size);
|
|
}
|
|
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Download segment request:\n");
|
|
ec_print_data(data, data_size);
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_down_seg_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DOWN RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_down_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
|
|
" response datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
|
|
mbox_prot);
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_check;
|
|
return;
|
|
}
|
|
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Download response:\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
|
|
if (rec_size < 6) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
|
|
rec_size);
|
|
ec_print_data(data, rec_size);
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
char subidxstr[10];
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
if (request->complete_access) {
|
|
subidxstr[0] = 0x00;
|
|
} else {
|
|
sprintf(subidxstr, ":%02X", request->subindex);
|
|
}
|
|
EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
|
|
request->index, subidxstr, request->data_size);
|
|
if (rec_size < 10) {
|
|
EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
|
|
ec_print_data(data, rec_size);
|
|
} else {
|
|
fsm->request->abort_code = EC_READ_U32(data + 6);
|
|
ec_canopen_abort_msg(slave, fsm->request->abort_code);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
|
|
EC_READ_U16(data + 3) != request->index || // index
|
|
EC_READ_U8 (data + 5) != request->subindex) { // subindex
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
|
|
" Retrying...\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_check;
|
|
return;
|
|
}
|
|
|
|
if (fsm->remaining) { // more segments to download
|
|
fsm->toggle = 0;
|
|
ec_fsm_coe_down_prepare_segment_request(fsm, datagram);
|
|
} else {
|
|
fsm->state = ec_fsm_coe_end; // success
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DOWN SEG CHECK.
|
|
*/
|
|
|
|
void ec_fsm_coe_down_seg_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
|
|
return;
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
|
|
" datagram failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= fsm->request->response_timeout) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
|
|
" segment response.\n");
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_seg_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: DOWN SEG RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_down_seg_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
|
|
" datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
|
|
mbox_prot);
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_check;
|
|
return;
|
|
}
|
|
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Download response:\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
|
|
if (rec_size < 6) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
|
|
rec_size);
|
|
ec_print_data(data, rec_size);
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
char subidxstr[10];
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
if (request->complete_access) {
|
|
subidxstr[0] = 0x00;
|
|
} else {
|
|
sprintf(subidxstr, ":%02X", request->subindex);
|
|
}
|
|
EC_SLAVE_ERR(slave, "SDO download 0x%04X%s (%zu bytes) aborted.\n",
|
|
request->index, subidxstr, request->data_size);
|
|
if (rec_size < 10) {
|
|
EC_SLAVE_ERR(slave, "Incomplete abort command:\n");
|
|
ec_print_data(data, rec_size);
|
|
} else {
|
|
fsm->request->abort_code = EC_READ_U32(data + 6);
|
|
ec_canopen_abort_msg(slave, fsm->request->abort_code);
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x3 ||
|
|
((EC_READ_U8(data + 2) >> 5) != 0x01)) { // segment response
|
|
if (slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid SDO download response!"
|
|
" Retrying...\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_down_seg_check;
|
|
return;
|
|
}
|
|
|
|
if (((EC_READ_U8(data + 2) >> 4) & 0x01) != fsm->toggle) {
|
|
EC_SLAVE_ERR(slave, "Invalid toggle received during"
|
|
" segmented download:\n");
|
|
ec_print_data(data, rec_size);
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
fsm->offset += fsm->segment_size;
|
|
fsm->remaining -= fsm->segment_size;
|
|
|
|
if (fsm->remaining) { // more segments to download
|
|
fsm->toggle = !fsm->toggle;
|
|
ec_fsm_coe_down_prepare_segment_request(fsm, datagram);
|
|
} else {
|
|
fsm->state = ec_fsm_coe_end; // success
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** Prepare an upload request.
|
|
*
|
|
* \return Zero on success, otherwise a negative error code.
|
|
*/
|
|
int ec_fsm_coe_prepare_up(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
ec_master_t *master = slave->master;
|
|
|
|
u8 *data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_COE,
|
|
10);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
return PTR_ERR(data);
|
|
}
|
|
|
|
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
|
|
EC_WRITE_U16(data + 3, request->index);
|
|
EC_WRITE_U8 (data + 5, request->subindex);
|
|
memset(data + 6, 0x00, 4);
|
|
|
|
if (master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Upload request:\n");
|
|
ec_print_data(data, 10);
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_up_request;
|
|
return 0;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP START.
|
|
*/
|
|
|
|
void ec_fsm_coe_up_start(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
|
|
EC_SLAVE_DBG(slave, 1, "Uploading SDO 0x%04X:%02X.\n",
|
|
request->index, request->subindex);
|
|
|
|
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
|
|
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
|
|
request->errno = EPROTONOSUPPORT;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->request->jiffies_sent = jiffies;
|
|
|
|
if (ec_fsm_coe_prepare_up(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
/**
|
|
CoE state: UP REQUEST.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_up_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
unsigned long diff_ms;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
if (ec_fsm_coe_prepare_up(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
if (!fsm->datagram->working_counter) {
|
|
if (diff_ms < fsm->request->response_timeout) {
|
|
#if DEBUG_RETRIES
|
|
EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
|
|
" SDO upload request. Retrying after %lu ms...\n",
|
|
diff_ms);
|
|
#endif
|
|
// no response; send request datagram again
|
|
if (ec_fsm_coe_prepare_up(fsm, datagram)) {
|
|
fsm->state = ec_fsm_coe_error;
|
|
}
|
|
return;
|
|
}
|
|
}
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
|
|
" SDO 0x%04x:%x failed with timeout after %lu ms: ",
|
|
fsm->request->index, fsm->request->subindex, diff_ms);
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
#if DEBUG_LONG
|
|
if (diff_ms > 200) {
|
|
EC_SLAVE_WARN(slave, "SDO 0x%04x:%x upload took %lu ms.\n",
|
|
fsm->request->index, fsm->request->subindex, diff_ms);
|
|
}
|
|
#endif
|
|
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP CHECK.
|
|
*/
|
|
|
|
void ec_fsm_coe_up_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
|
|
" datagram failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= fsm->request->response_timeout) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
|
|
" SDO 0x%04x:%x upload response.\n", diff_ms,
|
|
fsm->request->index, fsm->request->subindex);
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/** Prepare an SDO upload segment request.
|
|
*/
|
|
void ec_fsm_coe_up_prepare_segment_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
uint8_t *data =
|
|
ec_slave_mbox_prepare_send(fsm->slave, datagram, EC_MBOX_TYPE_COE,
|
|
10);
|
|
if (IS_ERR(data)) {
|
|
fsm->request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
EC_WRITE_U16(data, 0x2 << 12); // SDO request
|
|
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
|
|
| 0x3 << 5)); // upload segment request
|
|
memset(data + 3, 0x00, 7);
|
|
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_SLAVE_DBG(fsm->slave, 1, "Upload segment request:\n");
|
|
ec_print_data(data, 10);
|
|
}
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_up_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_master_t *master = slave->master;
|
|
uint16_t rec_index;
|
|
uint8_t *data, mbox_prot, rec_subindex;
|
|
size_t rec_size, data_size;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
unsigned int expedited, size_specified;
|
|
int ret;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
|
|
" datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Upload response:\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
|
|
" as response.\n", mbox_prot);
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 6) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
|
|
" (%zu bytes)!\n", rec_size);
|
|
ec_print_data(data, rec_size);
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
EC_READ_U8(data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
|
|
request->index, request->subindex);
|
|
if (rec_size >= 10) {
|
|
request->abort_code = EC_READ_U32(data + 6);
|
|
ec_canopen_abort_msg(slave, request->abort_code);
|
|
} else {
|
|
EC_SLAVE_ERR(slave, "No abort message.\n");
|
|
}
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
EC_READ_U8(data + 2) >> 5 != 0x2) { // upload response
|
|
EC_SLAVE_ERR(slave, "Received unknown response while"
|
|
" uploading SDO 0x%04X:%02X.\n",
|
|
request->index, request->subindex);
|
|
ec_print_data(data, rec_size);
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
rec_index = EC_READ_U16(data + 3);
|
|
rec_subindex = EC_READ_U8(data + 5);
|
|
|
|
if (rec_index != request->index || rec_subindex != request->subindex) {
|
|
EC_SLAVE_ERR(slave, "Received upload response for wrong SDO"
|
|
" (0x%04X:%02X, requested: 0x%04X:%02X).\n",
|
|
rec_index, rec_subindex, request->index, request->subindex);
|
|
ec_print_data(data, rec_size);
|
|
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_check;
|
|
return;
|
|
}
|
|
|
|
// normal or expedited?
|
|
expedited = EC_READ_U8(data + 2) & 0x02;
|
|
|
|
if (expedited) {
|
|
size_specified = EC_READ_U8(data + 2) & 0x01;
|
|
if (size_specified) {
|
|
fsm->complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
|
|
} else {
|
|
fsm->complete_size = 4;
|
|
}
|
|
|
|
if (rec_size < 6 + fsm->complete_size) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
|
|
" response (only %zu bytes)!\n", rec_size);
|
|
ec_print_data(data, rec_size);
|
|
return;
|
|
}
|
|
|
|
ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
|
|
if (ret) {
|
|
request->errno = -ret;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
} else { // normal
|
|
if (rec_size < 10) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
|
|
" response (only %zu bytes)!\n", rec_size);
|
|
ec_print_data(data, rec_size);
|
|
return;
|
|
}
|
|
|
|
data_size = rec_size - 10;
|
|
fsm->complete_size = EC_READ_U32(data + 6);
|
|
|
|
ret = ec_sdo_request_alloc(request, fsm->complete_size);
|
|
if (ret) {
|
|
request->errno = -ret;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
ret = ec_sdo_request_copy_data(request, data + 10, data_size);
|
|
if (ret) {
|
|
request->errno = -ret;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
fsm->toggle = 0;
|
|
|
|
if (data_size < fsm->complete_size) {
|
|
EC_SLAVE_DBG(slave, 1, "SDO data incomplete (%zu / %u)."
|
|
" Segmenting...\n", data_size, fsm->complete_size);
|
|
ec_fsm_coe_up_prepare_segment_request(fsm, datagram);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_request;
|
|
return;
|
|
}
|
|
}
|
|
|
|
if (master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
|
|
ec_print_data(request->data, request->data_size);
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_end; // success
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP REQUEST.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_up_seg_request(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_fsm_coe_up_prepare_segment_request(fsm, datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
|
|
" request datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
|
|
" request failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
fsm->jiffies_start = fsm->datagram->jiffies_sent;
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_check;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP CHECK.
|
|
*/
|
|
|
|
void ec_fsm_coe_up_seg_check(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
|
|
" datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
|
|
" failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (!ec_slave_mbox_check(fsm->datagram)) {
|
|
unsigned long diff_ms =
|
|
(fsm->datagram->jiffies_received - fsm->jiffies_start) *
|
|
1000 / HZ;
|
|
if (diff_ms >= fsm->request->response_timeout) {
|
|
fsm->request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
|
|
" segment response.\n");
|
|
return;
|
|
}
|
|
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
return;
|
|
}
|
|
|
|
// Fetch response
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_response;
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
CoE state: UP RESPONSE.
|
|
\todo Timeout behavior
|
|
*/
|
|
|
|
void ec_fsm_coe_up_seg_response(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
ec_slave_t *slave = fsm->slave;
|
|
ec_master_t *master = slave->master;
|
|
uint8_t *data, mbox_prot;
|
|
size_t rec_size, data_size;
|
|
ec_sdo_request_t *request = fsm->request;
|
|
unsigned int last_segment;
|
|
|
|
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
|
|
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
|
|
" response datagram: ");
|
|
ec_datagram_print_state(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
if (fsm->datagram->working_counter != 1) {
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
|
|
" response failed: ");
|
|
ec_datagram_print_wc_error(fsm->datagram);
|
|
return;
|
|
}
|
|
|
|
data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
|
|
if (IS_ERR(data)) {
|
|
request->errno = PTR_ERR(data);
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Upload segment response:\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
|
|
if (mbox_prot != EC_MBOX_TYPE_COE) {
|
|
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
|
|
mbox_prot);
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_check;
|
|
return;
|
|
}
|
|
|
|
if (rec_size < 10) {
|
|
EC_SLAVE_ERR(slave, "Received currupted SDO upload"
|
|
" segment response!\n");
|
|
ec_print_data(data, rec_size);
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
|
|
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
|
|
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X aborted.\n",
|
|
request->index, request->subindex);
|
|
request->abort_code = EC_READ_U32(data + 6);
|
|
ec_canopen_abort_msg(slave, request->abort_code);
|
|
request->errno = EIO;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
|
|
EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
|
|
if (fsm->slave->master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Invalid SDO upload segment response!\n");
|
|
ec_print_data(data, rec_size);
|
|
}
|
|
// check for CoE response again
|
|
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_check;
|
|
return;
|
|
}
|
|
|
|
data_size = rec_size - 3; /* Header of segment upload is smaller than
|
|
normal upload */
|
|
if (rec_size == 10) {
|
|
uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
|
|
data_size -= seg_size;
|
|
}
|
|
|
|
if (request->data_size + data_size > fsm->complete_size) {
|
|
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
|
|
" exceeding complete size!\n",
|
|
request->index, request->subindex);
|
|
request->errno = ENOBUFS;
|
|
fsm->state = ec_fsm_coe_error;
|
|
return;
|
|
}
|
|
|
|
memcpy(request->data + request->data_size, data + 3, data_size);
|
|
request->data_size += data_size;
|
|
|
|
last_segment = EC_READ_U8(data + 2) & 0x01;
|
|
if (!last_segment) {
|
|
fsm->toggle = !fsm->toggle;
|
|
ec_fsm_coe_up_prepare_segment_request(fsm, datagram);
|
|
fsm->retries = EC_FSM_RETRIES;
|
|
fsm->state = ec_fsm_coe_up_seg_request;
|
|
return;
|
|
}
|
|
|
|
if (request->data_size != fsm->complete_size) {
|
|
EC_SLAVE_WARN(slave, "SDO upload 0x%04X:%02X: Assembled data"
|
|
" size (%zu) does not match complete size (%u)!\n",
|
|
request->index, request->subindex,
|
|
request->data_size, fsm->complete_size);
|
|
}
|
|
|
|
if (master->debug_level) {
|
|
EC_SLAVE_DBG(slave, 1, "Uploaded data:\n");
|
|
ec_print_data(request->data, request->data_size);
|
|
}
|
|
|
|
fsm->state = ec_fsm_coe_end; // success
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
State: ERROR.
|
|
*/
|
|
|
|
void ec_fsm_coe_error(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
}
|
|
|
|
/****************************************************************************/
|
|
|
|
/**
|
|
State: END.
|
|
*/
|
|
|
|
void ec_fsm_coe_end(
|
|
ec_fsm_coe_t *fsm, /**< Finite state machine. */
|
|
ec_datagram_t *datagram /**< Datagram to use. */
|
|
)
|
|
{
|
|
}
|
|
|
|
/****************************************************************************/
|