nmt_boot.c

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#include "co.h"
 
#ifndef LELY_NO_CO_MASTER
 
#include "nmt_boot.h"
#include <lely/co/dev.h>
#include <lely/co/obj.h>
#include <lely/co/val.h>
#include <lely/util/diag.h>
#include <lely/util/time.h>
 
#include <assert.h>
#include <inttypes.h>
#include <stdlib.h>
 
#ifndef LELY_CO_NMT_BOOT_WAIT_TIMEOUT
#define LELY_CO_NMT_BOOT_WAIT_TIMEOUT 1000
#endif
 
#ifndef LELY_CO_NMT_BOOT_SDO_RETRY
#define LELY_CO_NMT_BOOT_SDO_RETRY 3
#endif
 
#ifndef LELY_CO_NMT_BOOT_RTR_TIMEOUT
#define LELY_CO_NMT_BOOT_RTR_TIMEOUT 100
#endif
 
#ifndef LELY_CO_NMT_BOOT_CHECK_TIMEOUT
#define LELY_CO_NMT_BOOT_CHECK_TIMEOUT 100
#endif
 
struct __co_nmt_boot_state;
typedef const struct __co_nmt_boot_state co_nmt_boot_state_t;

struct __co_nmt_boot {
        can_net_t *net;
        co_dev_t *dev;
        co_nmt_t *nmt;
        co_nmt_boot_state_t *state;
        can_recv_t *recv;
        can_timer_t *timer;
        co_unsigned8_t id;
        int timeout;
        co_csdo_t *sdo;
        struct timespec start;
        co_unsigned32_t assignment;
        co_unsigned16_t ms;
        struct co_sdo_req req;
        int retry;
        co_unsigned8_t st;
        char es;
};

static int co_nmt_boot_recv(const struct can_msg *msg, void *data);

static int co_nmt_boot_timer(const struct timespec *tp, void *data);

static void co_nmt_boot_dn_con(co_csdo_t *sdo, co_unsigned16_t idx,
                co_unsigned8_t subidx, co_unsigned32_t ac, void *data);

static void co_nmt_boot_up_con(co_csdo_t *sdo, co_unsigned16_t idx,
                co_unsigned8_t subidx, co_unsigned32_t ac, const void *ptr,
                size_t n, void *data);

static void co_nmt_boot_cfg_con(co_nmt_t *nmt, co_unsigned8_t id,
                co_unsigned32_t ac, void *data);

static void co_nmt_boot_enter(co_nmt_boot_t *boot, co_nmt_boot_state_t *next);

static inline void co_nmt_boot_emit_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

static inline void co_nmt_boot_emit_recv(
                co_nmt_boot_t *boot, const struct can_msg *msg);

static inline void co_nmt_boot_emit_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

static inline void co_nmt_boot_emit_up_con(co_nmt_boot_t *boot,
                co_unsigned32_t ac, const void *ptr, size_t n);

static inline void co_nmt_boot_emit_cfg_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

struct __co_nmt_boot_state {
        co_nmt_boot_state_t *(*on_enter)(co_nmt_boot_t *boot);
        co_nmt_boot_state_t *(*on_time)(
                        co_nmt_boot_t *boot, const struct timespec *tp);
        co_nmt_boot_state_t *(*on_recv)(
                        co_nmt_boot_t *boot, const struct can_msg *msg);
        co_nmt_boot_state_t *(*on_dn_con)(
                        co_nmt_boot_t *boot, co_unsigned32_t ac);
        co_nmt_boot_state_t *(*on_up_con)(co_nmt_boot_t *boot,
                        co_unsigned32_t ac, const void *ptr, size_t n);
        co_nmt_boot_state_t *(*on_cfg_con)(
                        co_nmt_boot_t *boot, co_unsigned32_t ac);
        void (*on_leave)(co_nmt_boot_t *boot);
};
 
#define LELY_CO_DEFINE_STATE(name, ...) \
        static co_nmt_boot_state_t *const name = \
                        &(co_nmt_boot_state_t){ __VA_ARGS__ };

static co_nmt_boot_state_t *co_nmt_boot_wait_on_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_wait_state,
        .on_time = &co_nmt_boot_wait_on_time
)
// clang-format on
 

static co_nmt_boot_state_t *co_nmt_boot_abort_on_enter(co_nmt_boot_t *boot);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_abort_state,
        .on_enter = &co_nmt_boot_abort_on_enter
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_error_on_enter(co_nmt_boot_t *boot);

static void co_nmt_boot_error_on_leave(co_nmt_boot_t *boot);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_error_state,
        .on_enter = &co_nmt_boot_error_on_enter,
        .on_leave = &co_nmt_boot_error_on_leave
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_device_type_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_device_type_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_device_type_state,
        .on_enter = &co_nmt_boot_chk_device_type_on_enter,
        .on_up_con = &co_nmt_boot_chk_device_type_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_vendor_id_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_vendor_id_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_vendor_id_state,
        .on_enter = &co_nmt_boot_chk_vendor_id_on_enter,
        .on_up_con = &co_nmt_boot_chk_vendor_id_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_product_code_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_product_code_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_product_code_state,
        .on_enter = &co_nmt_boot_chk_product_code_on_enter,
        .on_up_con = &co_nmt_boot_chk_product_code_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_revision_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_revision_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_revision_state,
        .on_enter = &co_nmt_boot_chk_revision_on_enter,
        .on_up_con = &co_nmt_boot_chk_revision_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_serial_nr_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_serial_nr_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_serial_nr_state,
        .on_enter = &co_nmt_boot_chk_serial_nr_on_enter,
        .on_up_con = &co_nmt_boot_chk_serial_nr_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_node_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_node_on_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

static co_nmt_boot_state_t *co_nmt_boot_chk_node_on_recv(
                co_nmt_boot_t *boot, const struct can_msg *msg);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_node_state,
        .on_enter = &co_nmt_boot_chk_node_on_enter,
        .on_time = &co_nmt_boot_chk_node_on_time,
        .on_recv = &co_nmt_boot_chk_node_on_recv
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_sw_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_sw_on_up_con(co_nmt_boot_t *boot,
                co_unsigned32_t ac, const void *ptr, size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_sw_state,
        .on_enter = &co_nmt_boot_chk_sw_on_enter,
        .on_up_con = &co_nmt_boot_chk_sw_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_stop_prog_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_stop_prog_on_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

static co_nmt_boot_state_t *co_nmt_boot_stop_prog_on_up_con(co_nmt_boot_t *boot,
                co_unsigned32_t ac, const void *ptr, size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_stop_prog_state,
        .on_enter = &co_nmt_boot_stop_prog_on_enter,
        .on_dn_con = &co_nmt_boot_stop_prog_on_dn_con,
        .on_up_con = &co_nmt_boot_stop_prog_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_clear_prog_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_clear_prog_on_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_clear_prog_state,
        .on_enter = &co_nmt_boot_clear_prog_on_enter,
        .on_dn_con = &co_nmt_boot_clear_prog_on_dn_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_blk_dn_prog_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_blk_dn_prog_on_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_blk_dn_prog_state,
        .on_enter = &co_nmt_boot_blk_dn_prog_on_enter,
        .on_dn_con = &co_nmt_boot_blk_dn_prog_on_dn_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_dn_prog_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_dn_prog_on_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_dn_prog_state,
        .on_enter = &co_nmt_boot_dn_prog_on_enter,
        .on_dn_con = &co_nmt_boot_dn_prog_on_dn_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_wait_flash_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_wait_flash_on_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

static co_nmt_boot_state_t *co_nmt_boot_wait_flash_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_wait_flash_state,
        .on_enter = &co_nmt_boot_wait_flash_on_enter,
        .on_time = &co_nmt_boot_wait_flash_on_time,
        .on_up_con = &co_nmt_boot_wait_flash_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_prog_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_prog_on_up_con(co_nmt_boot_t *boot,
                co_unsigned32_t ac, const void *ptr, size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_prog_state,
        .on_enter = &co_nmt_boot_chk_prog_on_enter,
        .on_up_con = &co_nmt_boot_chk_prog_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_start_prog_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_start_prog_on_dn_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_start_prog_state,
        .on_enter = &co_nmt_boot_start_prog_on_enter,
        .on_dn_con = &co_nmt_boot_start_prog_on_dn_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_wait_prog_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_wait_prog_on_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

static co_nmt_boot_state_t *co_nmt_boot_wait_prog_on_up_con(co_nmt_boot_t *boot,
                co_unsigned32_t ac, const void *ptr, size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_wait_prog_state,
        .on_enter = &co_nmt_boot_wait_prog_on_enter,
        .on_time = &co_nmt_boot_wait_prog_on_time,
        .on_up_con = &co_nmt_boot_wait_prog_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_cfg_date_on_enter(
                co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_chk_cfg_date_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_cfg_date_state,
        .on_enter = &co_nmt_boot_chk_cfg_date_on_enter,
        .on_up_con = &co_nmt_boot_chk_cfg_date_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_chk_cfg_time_on_up_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac, const void *ptr,
                size_t n);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_chk_cfg_time_state,
        .on_up_con = &co_nmt_boot_chk_cfg_time_on_up_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_up_cfg_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_up_cfg_on_cfg_con(
                co_nmt_boot_t *boot, co_unsigned32_t ac);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_up_cfg_state,
        .on_enter = &co_nmt_boot_up_cfg_on_enter,
        .on_cfg_con = &co_nmt_boot_up_cfg_on_cfg_con
)
// clang-format on

static co_nmt_boot_state_t *co_nmt_boot_ec_on_enter(co_nmt_boot_t *boot);

static co_nmt_boot_state_t *co_nmt_boot_ec_on_time(
                co_nmt_boot_t *boot, const struct timespec *tp);

static co_nmt_boot_state_t *co_nmt_boot_ec_on_recv(
                co_nmt_boot_t *boot, const struct can_msg *msg);

// clang-format off
LELY_CO_DEFINE_STATE(co_nmt_boot_ec_state,
        .on_enter = &co_nmt_boot_ec_on_enter,
        .on_time = &co_nmt_boot_ec_on_time,
        .on_recv = &co_nmt_boot_ec_on_recv
)
// clang-format on
 
#undef LELY_CO_DEFINE_STATE

static int co_nmt_boot_dn(co_nmt_boot_t *boot, co_unsigned16_t idx,
                co_unsigned8_t subidx, co_unsigned16_t type, const void *val);

static int co_nmt_boot_up(co_nmt_boot_t *boot, co_unsigned16_t idx,
                co_unsigned8_t subidx);

static int co_nmt_boot_chk(co_nmt_boot_t *boot, co_unsigned16_t idx,
                co_unsigned8_t subidx, const void *ptr, size_t n);

static int co_nmt_boot_send_rtr(co_nmt_boot_t *boot);
 
void *
__co_nmt_boot_alloc(void)
{
        void *ptr = malloc(sizeof(struct __co_nmt_boot));
        if (__unlikely(!ptr))
                set_errc(errno2c(errno));
        return ptr;
}
 
void
__co_nmt_boot_free(void *ptr)
{
        free(ptr);
}
 
struct __co_nmt_boot *
__co_nmt_boot_init(struct __co_nmt_boot *boot, can_net_t *net, co_dev_t *dev,
                co_nmt_t *nmt)
{
        assert(boot);
        assert(net);
        assert(dev);
        assert(nmt);
 
        int errc = 0;
 
        boot->net = net;
        boot->dev = dev;
        boot->nmt = nmt;
 
        boot->state = NULL;
 
        boot->recv = can_recv_create();
        if (__unlikely(!boot->recv)) {
                errc = get_errc();
                goto error_create_recv;
        }
        can_recv_set_func(boot->recv, &co_nmt_boot_recv, boot);
 
        boot->timer = can_timer_create();
        if (__unlikely(!boot->timer)) {
                errc = get_errc();
                goto error_create_timer;
        }
        can_timer_set_func(boot->timer, &co_nmt_boot_timer, boot);
 
        boot->id = 0;
 
        boot->timeout = 0;
        boot->sdo = NULL;
 
        boot->start = (struct timespec){ 0, 0 };
        can_net_get_time(boot->net, &boot->start);
 
        boot->assignment = 0;
        boot->ms = 0;
 
        boot->st = 0;
        boot->es = 0;
 
        co_sdo_req_init(&boot->req);
        boot->retry = 0;
 
        co_nmt_boot_enter(boot, co_nmt_boot_wait_state);
        return boot;
 
        can_timer_destroy(boot->timer);
error_create_timer:
        can_recv_destroy(boot->recv);
error_create_recv:
        set_errc(errc);
        return NULL;
}
 
void
__co_nmt_boot_fini(struct __co_nmt_boot *boot)
{
        assert(boot);
 
        co_sdo_req_fini(&boot->req);
 
        co_csdo_destroy(boot->sdo);
 
        can_timer_destroy(boot->timer);
        can_recv_destroy(boot->recv);
}
 
co_nmt_boot_t *
co_nmt_boot_create(can_net_t *net, co_dev_t *dev, co_nmt_t *nmt)
{
        int errc = 0;
 
        co_nmt_boot_t *boot = __co_nmt_boot_alloc();
        if (__unlikely(!boot)) {
                errc = get_errc();
                goto error_alloc_boot;
        }
 
        if (__unlikely(!__co_nmt_boot_init(boot, net, dev, nmt))) {
                errc = get_errc();
                goto error_init_boot;
        }
 
        return boot;
 
error_init_boot:
        __co_nmt_boot_free(boot);
error_alloc_boot:
        set_errc(errc);
        return NULL;
}
 
void
co_nmt_boot_destroy(co_nmt_boot_t *boot)
{
        if (boot) {
                __co_nmt_boot_fini(boot);
                __co_nmt_boot_free(boot);
        }
}
 
int
co_nmt_boot_boot_req(co_nmt_boot_t *boot, co_unsigned8_t id, int timeout,
                co_csdo_ind_t *dn_ind, co_csdo_ind_t *up_ind, void *data)
{
        assert(boot);
 
        if (__unlikely(!id || id > CO_NUM_NODES)) {
                set_errnum(ERRNUM_INVAL);
                return -1;
        }
 
        if (__unlikely(boot->state != co_nmt_boot_wait_state)) {
                set_errnum(ERRNUM_INPROGRESS);
                return -1;
        }
 
        boot->id = id;
 
        boot->timeout = timeout;
        co_csdo_destroy(boot->sdo);
        boot->sdo = co_csdo_create(boot->net, NULL, boot->id);
        if (__unlikely(!boot->sdo))
                return -1;
        co_csdo_set_timeout(boot->sdo, boot->timeout);
        co_csdo_set_dn_ind(boot->sdo, dn_ind, data);
        co_csdo_set_up_ind(boot->sdo, up_ind, data);
 
        co_nmt_boot_emit_time(boot, NULL);
 
        return 0;
}
 
static int
co_nmt_boot_recv(const struct can_msg *msg, void *data)
{
        assert(msg);
        co_nmt_boot_t *boot = data;
        assert(boot);
 
        co_nmt_boot_emit_recv(boot, msg);
 
        return 0;
}
 
static int
co_nmt_boot_timer(const struct timespec *tp, void *data)
{
        assert(tp);
        co_nmt_boot_t *boot = data;
        assert(boot);
 
        co_nmt_boot_emit_time(boot, tp);
 
        return 0;
}
 
static void
co_nmt_boot_dn_con(co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx,
                co_unsigned32_t ac, void *data)
{
        (void)sdo;
        (void)idx;
        (void)subidx;
        co_nmt_boot_t *boot = data;
        assert(boot);
 
        co_nmt_boot_emit_dn_con(boot, ac);
}
 
static void
co_nmt_boot_up_con(co_csdo_t *sdo, co_unsigned16_t idx, co_unsigned8_t subidx,
                co_unsigned32_t ac, const void *ptr, size_t n, void *data)
{
        (void)sdo;
        (void)idx;
        (void)subidx;
        co_nmt_boot_t *boot = data;
        assert(boot);
 
        co_nmt_boot_emit_up_con(boot, ac, ptr, n);
}
 
static void
co_nmt_boot_cfg_con(co_nmt_t *nmt, co_unsigned8_t id, co_unsigned32_t ac,
                void *data)
{
        (void)nmt;
        (void)id;
        co_nmt_boot_t *boot = data;
        assert(boot);
 
        co_nmt_boot_emit_cfg_con(boot, ac);
}
 
static void
co_nmt_boot_enter(co_nmt_boot_t *boot, co_nmt_boot_state_t *next)
{
        assert(boot);
 
        while (next) {
                co_nmt_boot_state_t *prev = boot->state;
                boot->state = next;
 
                if (prev && prev->on_leave)
                        prev->on_leave(boot);
 
                next = next->on_enter ? next->on_enter(boot) : NULL;
        }
}
 
static inline void
co_nmt_boot_emit_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        assert(boot);
        assert(boot->state);
        assert(boot->state->on_time);
 
        co_nmt_boot_enter(boot, boot->state->on_time(boot, tp));
}
 
static inline void
co_nmt_boot_emit_recv(co_nmt_boot_t *boot, const struct can_msg *msg)
{
        assert(boot);
        assert(boot->state);
        assert(boot->state->on_recv);
 
        co_nmt_boot_enter(boot, boot->state->on_recv(boot, msg));
}
 
static inline void
co_nmt_boot_emit_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
        assert(boot->state);
        assert(boot->state->on_dn_con);
 
        co_nmt_boot_enter(boot, boot->state->on_dn_con(boot, ac));
}
 
static inline void
co_nmt_boot_emit_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
        assert(boot->state);
        assert(boot->state->on_up_con);
 
        co_nmt_boot_enter(boot, boot->state->on_up_con(boot, ac, ptr, n));
}
 
static inline void
co_nmt_boot_emit_cfg_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
        assert(boot->state);
        assert(boot->state->on_cfg_con);
 
        co_nmt_boot_enter(boot, boot->state->on_cfg_con(boot, ac));
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_on_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        (void)boot;
        (void)tp;
 
        boot->st = 0;
        boot->es = 0;
 
        // Retrieve the slave assignment for the node.
        boot->assignment = co_dev_get_val_u32(boot->dev, 0x1f81, boot->id);
 
        // Find the consumer heartbeat time for the node.
        boot->ms = 0;
        co_obj_t *obj_1016 = co_dev_find_obj(boot->dev, 0x1016);
        if (obj_1016) {
                co_unsigned8_t n = co_obj_get_val_u8(obj_1016, 0x00);
                for (size_t i = 1; i <= n; i++) {
                        co_unsigned32_t val =
                                        co_obj_get_val_u32(obj_1016, i & 0xff);
                        if (((val >> 16) & 0x7f) == boot->id)
                                boot->ms = val & 0xffff;
                }
        }
 
        // Abort the 'boot slave' process if the slave is not in the network
        // list.
        if (!(boot->assignment & 0x01)) {
                boot->es = 'A';
                return co_nmt_boot_abort_state;
        }
 
        if (!(boot->assignment & 0x04))
                // Skip booting and start the error control service.
                return co_nmt_boot_ec_state;
 
        return co_nmt_boot_chk_device_type_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_abort_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        can_recv_stop(boot->recv);
        can_timer_stop(boot->timer);
 
        // If the node is already operational, end the 'boot slave' process with
        // error status L.
        if (!boot->es && (boot->st & ~CO_NMT_ST_TOGGLE) == CO_NMT_ST_START)
                boot->es = 'L';
 
        // Retry on error status B (see Fig. 4 in CiA 302-2 version 4.1.0).
        if (boot->es == 'B') {
                int wait = 1;
                if (boot->assignment & 0x08) {
                        // Obtain the time (in milliseconds) the master will
                        // wait for a mandatory slave to boot.
                        co_unsigned32_t boot_time = co_dev_get_val_u32(
                                        boot->dev, 0x1f89, 0x00);
                        // Check if this time has elapsed.
                        if (boot_time) {
                                struct timespec now = { 0, 0 };
                                can_net_get_time(boot->net, &now);
                                wait = timespec_diff_msec(&now, &boot->start)
                                                < boot_time;
                        }
                }
                // If the slave is not mandatory, or the boot time has not yet
                // elapsed, wait asynchronously for a while and retry the 'boot
                // slave' process.
                if (wait) {
                        can_timer_timeout(boot->timer, boot->net,
                                        LELY_CO_NMT_BOOT_WAIT_TIMEOUT);
                        return co_nmt_boot_wait_state;
                }
        }
 
        return co_nmt_boot_error_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_error_on_enter(co_nmt_boot_t *boot)
{
        (void)boot;
 
        return co_nmt_boot_wait_state;
}
 
static void
co_nmt_boot_error_on_leave(co_nmt_boot_t *boot)
{
        assert(boot);
 
        co_nmt_boot_con(boot->nmt, boot->id, boot->st, boot->es);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_device_type_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        boot->es = 'B';
 
        // The device type check may follow an NMT 'reset communication'
        // command, in which case we may have to give the slave some time to
        // complete the state change. Start the first SDO request by simulating
        // a timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_chk_device_type_on_up_con(
                        boot, CO_SDO_AC_TIMEOUT, NULL, 0);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_device_type_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                // Read the device type of the slave (object 1000).
                if (__unlikely(co_nmt_boot_up(boot, 0x1000, 0x00) == -1))
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of object 1000 (Device type) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        // If the expected device type (sub-object 1F84:ID) is 0, skip the check
        // and proceed with the vendor ID.
        co_unsigned32_t device_type =
                        co_dev_get_val_u32(boot->dev, 0x1f84, boot->id);
        // clang-format off
        if (__unlikely(device_type && !co_nmt_boot_chk(boot, 0x1f84, boot->id,
                        ptr, n))) {
                // clang-format on
                boot->es = 'C';
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_chk_vendor_id_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_vendor_id_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If the expected vendor ID (sub-object 1F85:ID) is 0, skip the check
        // and proceed with the product code.
        co_unsigned32_t vendor_id =
                        co_dev_get_val_u32(boot->dev, 0x1f85, boot->id);
        if (!vendor_id)
                return co_nmt_boot_chk_product_code_state;
 
        boot->es = 'D';
 
        // Read the vendor ID of the slave (sub-object 1018:01).
        if (__unlikely(co_nmt_boot_up(boot, 0x1018, 0x01) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_vendor_id_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1018:01 (Vendor-ID) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f85, boot->id, ptr, n)))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_chk_product_code_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_product_code_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If the expected product code (sub-object 1F86:ID) is 0, skip the
        // check and proceed with the revision number.
        co_unsigned32_t product_code =
                        co_dev_get_val_u32(boot->dev, 0x1f86, boot->id);
        if (!product_code)
                return co_nmt_boot_chk_revision_state;
 
        boot->es = 'M';
 
        // Read the product code of the slave (sub-object 1018:02).
        if (__unlikely(co_nmt_boot_up(boot, 0x1018, 0x02) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_product_code_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1018:02 (Product code) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f86, boot->id, ptr, n)))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_chk_revision_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_revision_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If the expected revision number (sub-object 1F87:ID) is 0, skip the
        // check and proceed with the serial number.
        co_unsigned32_t revision =
                        co_dev_get_val_u32(boot->dev, 0x1f87, boot->id);
        if (!revision)
                return co_nmt_boot_chk_serial_nr_state;
 
        boot->es = 'N';
 
        // Read the revision number of the slave (sub-object 1018:03).
        if (__unlikely(co_nmt_boot_up(boot, 0x1018, 0x03) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_revision_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1018:03 (Revision number) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f87, boot->id, ptr, n)))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_chk_serial_nr_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_serial_nr_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If the expected serial number (sub-object 1F88:ID) is 0, skip the
        // check and proceed to 'check node state'.
        co_unsigned32_t serial_nr =
                        co_dev_get_val_u32(boot->dev, 0x1f88, boot->id);
        if (!serial_nr)
                return co_nmt_boot_chk_node_state;
 
        boot->es = 'O';
 
        // Read the serial number of the slave (sub-object 1018:04).
        if (__unlikely(co_nmt_boot_up(boot, 0x1018, 0x04) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_serial_nr_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1018:04 (Serial number) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f88, boot->id, ptr, n)))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_chk_node_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_node_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If the keep-alive bit is set, check the node state.
        if (boot->assignment & 0x10) {
                int ms;
                if (boot->ms) {
                        ms = boot->ms;
                        boot->es = 'E';
                } else {
                        ms = LELY_CO_NMT_BOOT_RTR_TIMEOUT;
                        boot->es = 'F';
                        // If we're not a heartbeat consumer, start node
                        // guarding by sending the first RTR.
                        co_nmt_boot_send_rtr(boot);
                }
 
                // Start the CAN frame receiver for the heartbeat or node guard
                // message.
                can_recv_start(boot->recv, boot->net, CO_NMT_EC_CANID(boot->id),
                                0);
                // Start the CAN timer in case we do not receive a heartbeat
                // indication or a node guard confirmation.
                can_timer_timeout(boot->timer, boot->net, ms);
 
                return NULL;
        }
 
        return co_nmt_boot_chk_sw_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_node_on_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        (void)boot;
        (void)tp;
 
        return co_nmt_boot_abort_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_node_on_recv(co_nmt_boot_t *boot, const struct can_msg *msg)
{
        assert(boot);
 
        can_recv_stop(boot->recv);
        can_timer_stop(boot->timer);
 
        assert(msg);
        assert(msg->len >= 1);
        boot->st = msg->data[0];
 
        if ((boot->st & ~CO_NMT_ST_TOGGLE) == CO_NMT_ST_START) {
                // If the node is already operational, skip the 'check and
                // update software version' and 'check configuration' steps and
                // proceed immediately to 'start error control service'.
                return co_nmt_boot_ec_state;
        } else {
                boot->st = 0;
                // If the node is not operational, send the NMT 'reset
                // communication' command and proceed as if the keep-alive bit
                // was not set.
                co_nmt_cs_req(boot->nmt, CO_NMT_CS_RESET_COMM, boot->id);
                return co_nmt_boot_chk_sw_state;
        }
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_sw_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        if (boot->assignment & 0x20) {
                boot->es = 'G';
 
                // Abort if the expected program software identification
                // (sub-object 1F55:ID) is 0.
                co_unsigned32_t sw_id =
                                co_dev_get_val_u32(boot->dev, 0x1f55, boot->id);
                if (!sw_id)
                        return co_nmt_boot_abort_state;
 
                // The software version check may follow an NMT 'reset
                // communication' command, in which case we may have to give the
                // slave some time to complete the state change. Start the first
                // SDO request by simulating a timeout.
                boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
                return co_nmt_boot_chk_sw_on_up_con(
                                boot, CO_SDO_AC_TIMEOUT, NULL, 0);
        }
 
        // Continue with the 'check configuration' step if the software version
        // check is not necessary.
        return co_nmt_boot_chk_cfg_date_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_sw_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                // Read the program software identification of the slave
                // (sub-object 1F56:01).
                if (__unlikely(co_nmt_boot_up(boot, 0x1f56, 0x01) == -1))
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1F56:01 (Program software identification) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        // If the program software identification matches the expected value,
        // proceed to 'check configuration'.
        if (co_nmt_boot_chk(boot, 0x1f55, boot->id, ptr, n))
                return co_nmt_boot_chk_cfg_date_state;
 
        // Do not update the software if software update (bit 6) is not allowed
        // or if the keep-alive bit (bit 4) is set.
        if ((boot->assignment & 0x50) != 0x40) {
                boot->es = 'H';
                return co_nmt_boot_abort_state;
        }
 
        boot->es = 'I';
 
        return co_nmt_boot_stop_prog_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_stop_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // Read the program control of the slave (sub-object 1F51:01).
        if (__unlikely(co_nmt_boot_up(boot, 0x1f51, 0x01) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_stop_prog_on_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
 
        // The download SDO request may be unconfirmed on some devices since it
        // stops the program on the slave (and may cause a restart of the
        // bootloader). We therefore ignore timeouts.
        if (__unlikely(ac && ac != CO_SDO_AC_TIMEOUT)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on download request of sub-object 1F51:01 (Program control) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_clear_prog_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_stop_prog_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        // If the value is already 0 (Program stopped), do not write a 0 (Stop
        // program), but skip to the 'clear program' state.
        co_unsigned8_t val = 0;
        // clang-format off
        if (!ac && co_val_read(CO_DEFTYPE_UNSIGNED8, &val, ptr,
                        (const uint8_t *)ptr + n) && !val)
                // clang-format on
                return co_nmt_boot_clear_prog_state;
 
        // Write a 0 (Stop program) to the program control of the slave
        // (sub-object 1F51:01).
        // clang-format off
        if (__unlikely(co_nmt_boot_dn(boot, 0x1f51, 0x01, CO_DEFTYPE_UNSIGNED8,
                        &(co_unsigned8_t){ 0 }) == -1))
                // clang-format on
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_clear_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // The 'clear program' command follows the 'stop program' command, which
        // may have triggered a reboot of the slave. In that case we may have to
        // give the slave some time to finish booting. Start the first SDO
        // request by simulating a timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_clear_prog_on_dn_con(boot, CO_SDO_AC_TIMEOUT);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_clear_prog_on_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
 
        // Retry the SDO request on timeout.
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                // Write a 3 (Clear program) to the program control of the slave
                // (sub-object 1F51:01).
                // clang-format off
                if (__unlikely(co_nmt_boot_dn(boot, 0x1f51, 0x01,
                                CO_DEFTYPE_UNSIGNED8, &(co_unsigned8_t){ 3 })
                                == -1))
                        // clang-format on
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on download request of sub-object 1F51:01 (Program control) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_blk_dn_prog_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_blk_dn_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        co_sub_t *sub = co_dev_find_sub(boot->dev, 0x1f58, boot->id);
        if (__unlikely(!sub))
                return co_nmt_boot_abort_state;
 
        // Upload the program data.
        struct co_sdo_req *req = &boot->req;
        co_sdo_req_clear(req);
        co_unsigned32_t ac = co_sub_up_ind(sub, req);
        if (__unlikely(ac || !co_sdo_req_first(req) || !co_sdo_req_last(req))) {
                if (ac)
                        diag(DIAG_ERROR, 0,
                                        "SDO abort code %08" PRIX32
                                        " on upload request of object 1F58:%02X (Program data): %s",
                                        ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        // The 'clear program' step may take some time to complete, causing an
        // immediate 'download program' to generate a timeout. Start the first
        // attempt by simulating a timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_blk_dn_prog_on_dn_con(boot, CO_SDO_AC_TIMEOUT);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_blk_dn_prog_on_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        (void)boot;
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                struct co_sdo_req *req = &boot->req;
                // Write the program data (sub-object 1F58:ID) to the program
                // data of the slave (sub-object 1F50:01) using SDO block
                // transfer.
                // clang-format off
                if (__unlikely(co_csdo_blk_dn_req(boot->sdo, 0x1f50, 0x01,
                                req->buf, req->size, &co_nmt_boot_dn_con, boot)
                                == -1))
                        // clang-format on
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                // If SDO block transfer is not supported, fall back to SDO
                // segmented transfer.
                return co_nmt_boot_dn_prog_state;
        }
 
        return co_nmt_boot_wait_flash_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_dn_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // If SDO block transfer is not supported, we may still have to wait for
        // the 'clear program' step to complete before successfully doing a
        // segmented SDO transfer. Start the first attempt by simulating a
        // timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_dn_prog_on_dn_con(boot, CO_SDO_AC_TIMEOUT);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_dn_prog_on_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                struct co_sdo_req *req = &boot->req;
                // Write the program data (sub-object 1F58:ID) to the program
                // data of the slave (sub-object 1F50:01) using SDO segmented
                // transfer.
                // clang-format off
                if (__unlikely(co_csdo_dn_req(boot->sdo, 0x1f50, 0x01, req->buf,
                                req->size, &co_nmt_boot_dn_con,
                                boot) == -1))
                        // clang-format on
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on download request of sub-object 1F50:01 (Program data) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_wait_flash_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_flash_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // Wait for a while before checking the flash status indication.
        can_timer_timeout(
                        boot->timer, boot->net, LELY_CO_NMT_BOOT_CHECK_TIMEOUT);
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_flash_on_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        assert(boot);
        (void)tp;
 
        // Read the flash status indication of the slave (sub-object 1F57:01).
        if (__unlikely(co_nmt_boot_up(boot, 0x1f57, 0x01) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_flash_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1F57:01 (Flash status indication) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        // If the flash status indication is not valid, try again.
        co_unsigned32_t val = 0;
        // clang-format off
        if (__unlikely(!co_val_read(CO_DEFTYPE_UNSIGNED32, &val, ptr,
                        (const uint8_t *)ptr + n) || (val & 0x01)))
                // clang-format on
                return co_nmt_boot_wait_flash_state;
 
        co_unsigned8_t st = (val >> 1) & 0x7f;
        switch (st) {
        case 0: return co_nmt_boot_chk_prog_state;
        case 1:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: No valid program available",
                                st);
                break;
        case 2:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Data format unknown",
                                st);
                break;
        case 3:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Data format error or data CRC error",
                                st);
                break;
        case 4:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Flash not cleared before write",
                                st);
                break;
        case 5:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Flash write error",
                                st);
                break;
        case 6:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: General address error",
                                st);
                break;
        case 7:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Flash secured (= write access currently forbidden)",
                                st);
                break;
        case 63:
                diag(DIAG_ERROR, 0,
                                "flash status identification %d: Unspecified error",
                                st);
                break;
        default:
                if (st > 63)
                        diag(DIAG_ERROR, 0,
                                        "flash status identification %d: Manufacturer-specific error: 0x%08" PRIX32
                                        "",
                                        st, (val >> 16) & 0xffff);
                break;
        }
 
        return co_nmt_boot_abort_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // Read the program software identification of the slave (sub-object
        // 1F56:01).
        if (__unlikely(co_nmt_boot_up(boot, 0x1f56, 0x01) == -1))
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_prog_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1F56:01 (Program software identification) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f55, boot->id, ptr, n)))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_start_prog_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_start_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // Write a 1 (Start program) to the program control of the slave
        // (sub-object 1F51:01).
        // clang-format off
        if (__unlikely(co_nmt_boot_dn(boot, 0x1f51, 0x01, CO_DEFTYPE_UNSIGNED8,
                        &(co_unsigned8_t){ 1 }) == -1))
                // clang-format on
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_start_prog_on_dn_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
 
        if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on download request of sub-object 1F51:01 (Program control) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_wait_prog_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_prog_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        // Wait for a while before checking the program control.
        can_timer_timeout(
                        boot->timer, boot->net, LELY_CO_NMT_BOOT_CHECK_TIMEOUT);
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_prog_on_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        assert(boot);
        (void)tp;
 
        // The 'start program' step may take some time to complete, causing an
        // immediate SDO upload request to generate a timeout. Start the first
        // attempt by simulating a timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_wait_prog_on_up_con(
                        boot, CO_SDO_AC_TIMEOUT, NULL, 0);
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_wait_prog_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                // Read the program control of the slave (sub-object 1F51:01).
                if (__unlikely(co_nmt_boot_up(boot, 0x1f51, 0x01) == -1))
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1F51:01 (Program control) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        // If the program control differs from 'Program started', try again.
        co_unsigned8_t val = 0;
        // clang-format off
        if (__unlikely(!co_val_read(CO_DEFTYPE_UNSIGNED8, &val, ptr,
                        (const uint8_t *)ptr + n) || val != 1))
                // clang-format on
                return co_nmt_boot_wait_prog_state;
 
        return co_nmt_boot_chk_device_type_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_cfg_date_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        boot->es = 'J';
 
        // If the expected configuration date (sub-object 1F26:ID) or time
        // (sub-object 1F27:ID) are not configured, proceed to 'update
        // configuration'.
        co_unsigned32_t cfg_date =
                        co_dev_get_val_u32(boot->dev, 0x1f26, boot->id);
        co_unsigned32_t cfg_time =
                        co_dev_get_val_u32(boot->dev, 0x1f27, boot->id);
        if (!cfg_date || !cfg_time)
                return co_nmt_boot_up_cfg_state;
 
        // The configuration check may follow an NMT 'reset communication'
        // command (if the 'check software version' step was skipped), in which
        // case we may have to give the slave some time to complete the state
        // change. Start the first SDO request by simulating a timeout.
        boot->retry = LELY_CO_NMT_BOOT_SDO_RETRY + 1;
        return co_nmt_boot_chk_cfg_date_on_up_con(
                        boot, CO_SDO_AC_TIMEOUT, NULL, 0);
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_cfg_date_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        // Retry the SDO request on timeout (this includes the first attempt).
        if (ac == CO_SDO_AC_TIMEOUT && boot->retry--) {
                // Read the configuration date of the slave (sub-object
                // 1020:01).
                if (__unlikely(co_nmt_boot_up(boot, 0x1020, 0x01) == -1))
                        return co_nmt_boot_abort_state;
                return NULL;
        } else if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1020:01 (Configuration date) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
        }
 
        // If the configuration date does not match the expected value, skip
        // checking the time and proceed to 'update configuration'.
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f26, boot->id, ptr, n)))
                return co_nmt_boot_up_cfg_state;
 
        // Read the configuration time of the slave (sub-object 1020:02).
        if (__unlikely(co_nmt_boot_up(boot, 0x1020, 0x02) == -1))
                return co_nmt_boot_abort_state;
 
        return co_nmt_boot_chk_cfg_time_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_chk_cfg_time_on_up_con(co_nmt_boot_t *boot, co_unsigned32_t ac,
                const void *ptr, size_t n)
{
        assert(boot);
 
        if (__unlikely(ac))
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received on upload request of sub-object 1020:02 (Configuration time) to node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
 
        // If the configuration time does not match the expected value, proceed
        // to 'update configuration'.
        if (__unlikely(ac || !co_nmt_boot_chk(boot, 0x1f27, boot->id, ptr, n)))
                return co_nmt_boot_up_cfg_state;
 
        return co_nmt_boot_ec_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_up_cfg_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        boot->es = 'J';
 
        // clang-format off
        if (__unlikely(co_nmt_cfg_req(boot->nmt, boot->id, boot->timeout,
                        &co_nmt_boot_cfg_con, boot) == -1))
                // clang-format on
                return co_nmt_boot_abort_state;
 
        return NULL;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_up_cfg_on_cfg_con(co_nmt_boot_t *boot, co_unsigned32_t ac)
{
        assert(boot);
 
        if (__unlikely(ac)) {
                diag(DIAG_ERROR, 0,
                                "SDO abort code %08" PRIX32
                                " received while updating the configuration of node %02X: %s",
                                ac, boot->id, co_sdo_ac2str(ac));
                return co_nmt_boot_abort_state;
        }
 
        return co_nmt_boot_ec_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_ec_on_enter(co_nmt_boot_t *boot)
{
        assert(boot);
 
        if (boot->ms) {
                boot->es = 'K';
                // Start the CAN frame receiver for heartbeat messages.
                can_recv_start(boot->recv, boot->net, CO_NMT_EC_CANID(boot->id),
                                0);
                // Wait for the first heartbeat indication.
                can_timer_timeout(boot->timer, boot->net, boot->ms);
                return NULL;
        } else if (boot->assignment & 0x01) {
                // If the guard time is non-zero, start node guarding by sending
                // the first RTR, but do not wait for the response.
                co_unsigned16_t gt = (boot->assignment >> 16) & 0xffff;
                if (gt)
                        co_nmt_boot_send_rtr(boot);
        }
 
        boot->es = 0;
        return co_nmt_boot_abort_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_ec_on_time(co_nmt_boot_t *boot, const struct timespec *tp)
{
        (void)boot;
        (void)tp;
 
        return co_nmt_boot_abort_state;
}
 
static co_nmt_boot_state_t *
co_nmt_boot_ec_on_recv(co_nmt_boot_t *boot, const struct can_msg *msg)
{
        assert(boot);
        assert(msg);
 
        if (msg->len >= 1) {
                co_unsigned8_t st = msg->data[0];
                // Do not consider a boot-up message to be a heartbeat message.
                if (st == CO_NMT_ST_BOOTUP)
                        return NULL;
                boot->st = st;
                boot->es = 0;
        }
 
        return co_nmt_boot_abort_state;
}
 
static int
co_nmt_boot_dn(co_nmt_boot_t *boot, co_unsigned16_t idx, co_unsigned8_t subidx,
                co_unsigned16_t type, const void *val)
{
        assert(boot);
 
        return co_csdo_dn_val_req(boot->sdo, idx, subidx, type, val,
                        &co_nmt_boot_dn_con, boot);
}
 
static int
co_nmt_boot_up(co_nmt_boot_t *boot, co_unsigned16_t idx, co_unsigned8_t subidx)
{
        assert(boot);
 
        return co_csdo_up_req(
                        boot->sdo, idx, subidx, &co_nmt_boot_up_con, boot);
}
 
static int
co_nmt_boot_chk(co_nmt_boot_t *boot, co_unsigned16_t idx, co_unsigned8_t subidx,
                const void *ptr, size_t n)
{
        assert(boot);
 
        co_sub_t *sub = co_dev_find_sub(boot->dev, idx, subidx);
        if (__unlikely(!sub))
                return 0;
        co_unsigned16_t type = co_sub_get_type(sub);
 
        union co_val val;
        if (__unlikely(!co_val_read(type, &val, ptr, (const uint8_t *)ptr + n)))
                return 0;
 
        int eq = !co_val_cmp(type, &val, co_sub_get_val(sub));
        co_val_fini(type, &val);
        return eq;
}
 
static int
co_nmt_boot_send_rtr(co_nmt_boot_t *boot)
{
        assert(boot);
 
        struct can_msg msg = CAN_MSG_INIT;
        msg.id = CO_NMT_EC_CANID(boot->id);
        msg.flags |= CAN_FLAG_RTR;
 
        return can_net_send(boot->net, &msg);
}
 
#endif // !LELY_NO_CO_MASTER