| author | Florian Pose <fp@igh-essen.com> |
| Wed, 24 Sep 2008 08:51:46 +0000 | |
| changeset 1221 | 18c37827b40e |
| parent 1218 | 6f3a973fc29e |
| child 1224 | 784bb76105cd |
| permissions | -rw-r--r-- |
| 1209 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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||
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/** \file |
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* Vendor-specific-over-EtherCAT protocol handler functions. |
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*/ |
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/*****************************************************************************/ |
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#include <linux/module.h> |
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#include "master.h" |
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#include "slave_config.h" |
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#include "mailbox.h" |
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#include "voe_handler.h" |
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||
|
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
47 |
/** VoE mailbox type. |
|
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
48 |
*/ |
|
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
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#define EC_MBOX_TYPE_VOE 0xff |
|
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
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| 1218 | 51 |
/** VoE header size. |
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*/ |
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#define EC_VOE_HEADER_SIZE 6 |
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||
| 1209 | 55 |
/** VoE response timeout in [ms]. |
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*/ |
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#define EC_VOE_RESPONSE_TIMEOUT 500 |
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/*****************************************************************************/ |
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void ec_voe_handler_clear_data(ec_voe_handler_t *); |
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void ec_voe_handler_state_write_start(ec_voe_handler_t *); |
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void ec_voe_handler_state_write_response(ec_voe_handler_t *); |
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void ec_voe_handler_state_read_start(ec_voe_handler_t *); |
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void ec_voe_handler_state_read_check(ec_voe_handler_t *); |
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void ec_voe_handler_state_read_response(ec_voe_handler_t *); |
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void ec_voe_handler_state_end(ec_voe_handler_t *); |
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void ec_voe_handler_state_error(ec_voe_handler_t *); |
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/*****************************************************************************/ |
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/** VoE handler constructor. |
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*/ |
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int ec_voe_handler_init( |
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ec_voe_handler_t *voe, /**< VoE handler. */ |
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ec_slave_config_t *sc, /**< Parent slave configuration. */ |
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size_t size /**< Size of memory to reserve. */ |
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) |
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{
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voe->config = sc; |
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voe->vendor_id = 0x00000000; |
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voe->vendor_type = 0x0000; |
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voe->data_size = 0; |
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voe->dir = EC_DIR_INVALID; |
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_INIT; |
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ec_datagram_init(&voe->datagram); |
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if (ec_datagram_prealloc(&voe->datagram, |
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size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)) |
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return -1; |
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return 0; |
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} |
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/*****************************************************************************/ |
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/** VoE handler destructor. |
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*/ |
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void ec_voe_handler_clear( |
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ec_voe_handler_t *voe /**< VoE handler. */ |
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) |
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{
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ec_datagram_clear(&voe->datagram); |
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} |
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/***************************************************************************** |
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* Application interface. |
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****************************************************************************/ |
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void ecrt_voe_handler_header(ec_voe_handler_t *voe, uint32_t vendor_id, |
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uint16_t vendor_type) |
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{
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voe->vendor_id = vendor_id; |
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voe->vendor_type = vendor_type; |
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} |
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/*****************************************************************************/ |
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uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe) |
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{
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return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE; |
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} |
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/*****************************************************************************/ |
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size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe) |
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{
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return voe->data_size; |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_read(ec_voe_handler_t *voe) |
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{
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voe->dir = EC_DIR_INPUT; |
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voe->state = ec_voe_handler_state_read_start; |
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voe->request_state = EC_INT_REQUEST_QUEUED; |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size) |
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{
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voe->dir = EC_DIR_OUTPUT; |
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voe->data_size = size; |
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voe->state = ec_voe_handler_state_write_start; |
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voe->request_state = EC_INT_REQUEST_QUEUED; |
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} |
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/*****************************************************************************/ |
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ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) |
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{
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if (voe->config->slave) {
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voe->state(voe); |
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if (voe->request_state == EC_REQUEST_BUSY) |
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ec_master_queue_datagram(voe->config->master, &voe->datagram); |
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} else {
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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} |
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return ec_request_state_translation_table[voe->request_state]; |
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} |
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/****************************************************************************** |
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* State functions. |
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*****************************************************************************/ |
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void ec_voe_handler_state_write_start(ec_voe_handler_t *voe) |
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{
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ec_slave_t *slave = voe->config->slave; |
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uint8_t *data; |
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if (slave->master->debug_level) {
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EC_DBG("Writing %u bytes of VoE data to slave %u.\n",
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voe->data_size, slave->ring_position); |
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ec_print_data(ecrt_voe_handler_data(voe), voe->data_size); |
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} |
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if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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return; |
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} |
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||
|
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
192 |
if (!(data = ec_slave_mbox_prepare_send(slave, &voe->datagram, |
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EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size))) {
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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return; |
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} |
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EC_WRITE_U32(data, voe->vendor_id); |
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EC_WRITE_U16(data + 4, voe->vendor_type); |
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voe->retries = EC_FSM_RETRIES; |
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voe->jiffies_start = jiffies; |
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voe->state = ec_voe_handler_state_write_response; |
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} |
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/*****************************************************************************/ |
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void ec_voe_handler_state_write_response(ec_voe_handler_t *voe) |
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{
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ec_datagram_t *datagram = &voe->datagram; |
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ec_slave_t *slave = voe->config->slave; |
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
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return; |
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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EC_ERR("Failed to receive VoE write request datagram for"
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" slave %u (datagram state %u).\n", |
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slave->ring_position, datagram->state); |
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return; |
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} |
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if (datagram->working_counter != 1) {
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if (!datagram->working_counter) {
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unsigned long diff_ms = |
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(jiffies - voe->jiffies_start) * 1000 / HZ; |
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if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
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if (slave->master->debug_level) {
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EC_DBG("Slave %u did not respond to VoE write request. "
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"Retrying after %u ms...\n", |
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slave->ring_position, (u32) diff_ms); |
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} |
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// no response; send request datagram again |
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return; |
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} |
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} |
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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EC_ERR("Reception of VoE write request failed on slave %u: ",
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slave->ring_position); |
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ec_datagram_print_wc_error(datagram); |
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return; |
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} |
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if (voe->config->master->debug_level) |
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EC_DBG("VoE write request successful.\n");
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voe->request_state = EC_INT_REQUEST_SUCCESS; |
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voe->state = ec_voe_handler_state_end; |
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} |
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/*****************************************************************************/ |
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void ec_voe_handler_state_read_start(ec_voe_handler_t *voe) |
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{
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ec_datagram_t *datagram = &voe->datagram; |
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ec_slave_t *slave = voe->config->slave; |
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if (slave->master->debug_level) |
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EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
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if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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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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voe->jiffies_start = jiffies; |
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voe->retries = EC_FSM_RETRIES; |
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voe->state = ec_voe_handler_state_read_check; |
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} |
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/*****************************************************************************/ |
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void ec_voe_handler_state_read_check(ec_voe_handler_t *voe) |
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{
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ec_datagram_t *datagram = &voe->datagram; |
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ec_slave_t *slave = voe->config->slave; |
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
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return; |
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
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" (datagram state %u).\n", |
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slave->ring_position, datagram->state); |
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return; |
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} |
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297 |
||
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if (datagram->working_counter != 1) {
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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EC_ERR("Reception of VoE mailbox check"
|
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" datagram failed on slave %u: ", slave->ring_position); |
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ec_datagram_print_wc_error(datagram); |
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return; |
|
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} |
|
306 |
||
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if (!ec_slave_mbox_check(datagram)) {
|
|
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unsigned long diff_ms = |
|
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(datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ; |
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if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
|
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voe->state = ec_voe_handler_state_error; |
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voe->request_state = EC_INT_REQUEST_FAILURE; |
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EC_ERR("Timeout while waiting for VoE data on "
|
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"slave %u.\n", slave->ring_position); |
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return; |
|
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} |
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||
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
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voe->retries = EC_FSM_RETRIES; |
|
320 |
return; |
|
321 |
} |
|
322 |
||
323 |
// Fetch response |
|
324 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. |
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voe->retries = EC_FSM_RETRIES; |
|
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voe->state = ec_voe_handler_state_read_response; |
|
327 |
} |
|
328 |
||
329 |
/*****************************************************************************/ |
|
330 |
||
331 |
void ec_voe_handler_state_read_response(ec_voe_handler_t *voe) |
|
332 |
{
|
|
333 |
ec_datagram_t *datagram = &voe->datagram; |
|
334 |
ec_slave_t *slave = voe->config->slave; |
|
335 |
ec_master_t *master = voe->config->master; |
|
336 |
uint8_t *data, mbox_prot; |
|
337 |
size_t rec_size; |
|
338 |
||
339 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
340 |
return; |
|
341 |
||
342 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
343 |
voe->state = ec_voe_handler_state_error; |
|
344 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
345 |
EC_ERR("Failed to receive VoE read datagram for"
|
|
346 |
" slave %u (datagram state %u).\n", |
|
347 |
slave->ring_position, datagram->state); |
|
348 |
return; |
|
349 |
} |
|
350 |
||
351 |
if (datagram->working_counter != 1) {
|
|
352 |
voe->state = ec_voe_handler_state_error; |
|
353 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
354 |
EC_ERR("Reception of VoE read response failed on slave %u: ",
|
|
355 |
slave->ring_position); |
|
356 |
ec_datagram_print_wc_error(datagram); |
|
357 |
return; |
|
358 |
} |
|
359 |
||
360 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
361 |
&mbox_prot, &rec_size))) {
|
|
362 |
voe->state = ec_voe_handler_state_error; |
|
363 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
364 |
return; |
|
365 |
} |
|
366 |
||
|
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
367 |
if (mbox_prot != EC_MBOX_TYPE_VOE) {
|
| 1209 | 368 |
voe->state = ec_voe_handler_state_error; |
369 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
370 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
371 |
ec_print_data(data, rec_size); |
|
372 |
return; |
|
373 |
} |
|
374 |
||
| 1218 | 375 |
if (rec_size < EC_VOE_HEADER_SIZE) {
|
376 |
voe->state = ec_voe_handler_state_error; |
|
377 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
378 |
EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
|
|
379 |
return; |
|
380 |
} |
|
381 |
||
| 1209 | 382 |
if (master->debug_level) {
|
383 |
EC_DBG("VoE data:\n");
|
|
384 |
ec_print_data(data, rec_size); |
|
385 |
} |
|
386 |
||
| 1218 | 387 |
voe->data_size = rec_size - EC_VOE_HEADER_SIZE; |
| 1209 | 388 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
389 |
voe->state = ec_voe_handler_state_end; // success |
|
390 |
} |
|
391 |
||
392 |
/*****************************************************************************/ |
|
393 |
||
394 |
void ec_voe_handler_state_end(ec_voe_handler_t *voe) |
|
395 |
{
|
|
396 |
} |
|
397 |
||
398 |
/*****************************************************************************/ |
|
399 |
||
400 |
void ec_voe_handler_state_error(ec_voe_handler_t *voe) |
|
401 |
{
|
|
402 |
} |
|
403 |
||
404 |
/*****************************************************************************/ |
|
405 |
||
406 |
/** \cond */ |
|
407 |
||
| 1218 | 408 |
EXPORT_SYMBOL(ecrt_voe_handler_header); |
| 1209 | 409 |
EXPORT_SYMBOL(ecrt_voe_handler_data); |
410 |
EXPORT_SYMBOL(ecrt_voe_handler_data_size); |
|
411 |
EXPORT_SYMBOL(ecrt_voe_handler_read); |
|
412 |
EXPORT_SYMBOL(ecrt_voe_handler_write); |
|
413 |
EXPORT_SYMBOL(ecrt_voe_handler_execute); |
|
414 |
||
415 |
/** \endcond */ |
|
416 |
||
417 |
/*****************************************************************************/ |