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/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  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.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  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.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  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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 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

    28

 *****************************************************************************/

    29

    30

/** \file

    31

 * Vendor specific over EtherCAT protocol handler functions.

    32

 */

    33

    34

/*****************************************************************************/

    35

    36

#include <linux/module.h>

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    38

#include "master.h"

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#include "slave_config.h"

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#include "mailbox.h"

    41

#include "voe_handler.h"

    42

    43

/** VoE mailbox type.

    44

 */

    45

#define EC_MBOX_TYPE_VOE 0x0f

    46

    47

/** VoE header size.

    48

 */

    49

#define EC_VOE_HEADER_SIZE 6

    50

    51

/** VoE response timeout in [ms].

    52

 */

    53

#define EC_VOE_RESPONSE_TIMEOUT 500

    54

    55

/*****************************************************************************/

    56

    57

void ec_voe_handler_state_write_start(ec_voe_handler_t *);

    58

void ec_voe_handler_state_write_response(ec_voe_handler_t *);

    59

    60

void ec_voe_handler_state_read_start(ec_voe_handler_t *);

    61

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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    64

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *);

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void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *);

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    67

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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    70

/*****************************************************************************/

    71

    72

/** VoE handler constructor.

    73

 *

    74

 * \return Return value of ec_datagram_prealloc().

    75

 */

    76

int ec_voe_handler_init(

    77

        ec_voe_handler_t *voe, /**< VoE handler. */

    78

        ec_slave_config_t *sc, /**< Parent slave configuration. */

    79

        size_t size /**< Size of memory to reserve. */

    80

        )

    81

{

    82

    voe->config = sc;

    83

    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;

    89

    90

    ec_datagram_init(&voe->datagram);

    91

    return ec_datagram_prealloc(&voe->datagram,

    92

            size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

    93

}

    94

    95

/*****************************************************************************/

    96

    97

/** VoE handler destructor.

    98

 */

    99

void ec_voe_handler_clear(

   100

        ec_voe_handler_t *voe /**< VoE handler. */

   101

        )

   102

{

   103

    ec_datagram_clear(&voe->datagram);

   104

}

   105

   106

/*****************************************************************************/

   107

   108

/** Get usable memory size.

   109

 */

   110

size_t ec_voe_handler_mem_size(

   111

        const ec_voe_handler_t *voe /**< VoE handler. */

   112

        )

   113

{

   114

    if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)

   115

        return voe->datagram.mem_size -

   116

            (EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

   117

    else

   118

        return 0;

   119

}

   120

   121

/*****************************************************************************

   122

 * Application interface.

   123

 ****************************************************************************/

   124

   125

void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,

   126

        uint16_t vendor_type)

   127

{

   128

    voe->vendor_id = vendor_id;

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    voe->vendor_type = vendor_type;

   130

}

   131

   132

/*****************************************************************************/

   133

   134

void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,

   135

        uint32_t *vendor_id, uint16_t *vendor_type)

   136

{

   137

    uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE;

   138

   139

    if (vendor_id)

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        *vendor_id = EC_READ_U32(header);

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    if (vendor_type)

   142

        *vendor_type = EC_READ_U16(header + 4);

   143

}

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   145

/*****************************************************************************/

   146

   147

uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)

   148

{

   149

    return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE;

   150

}

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   152

/*****************************************************************************/

   153

   154

size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)

   155

{

   156

    return voe->data_size;

   157

}

   158

   159

/*****************************************************************************/

   160

   161

void ecrt_voe_handler_read(ec_voe_handler_t *voe)

   162

{

   163

    voe->dir = EC_DIR_INPUT;

   164

    voe->state = ec_voe_handler_state_read_start;

   165

    voe->request_state = EC_INT_REQUEST_BUSY;

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}

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   168

/*****************************************************************************/

   169

   170

void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)

   171

{

   172

    voe->dir = EC_DIR_INPUT;

   173

    voe->state = ec_voe_handler_state_read_nosync_start;

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    voe->request_state = EC_INT_REQUEST_BUSY;

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}

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   177

/*****************************************************************************/

   178

   179

void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)

   180

{

   181

    voe->dir = EC_DIR_OUTPUT;

   182

    voe->data_size = size;

   183

    voe->state = ec_voe_handler_state_write_start;

   184

    voe->request_state = EC_INT_REQUEST_BUSY;

   185

}

   186

   187

/*****************************************************************************/

   188

   189

ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)

   190

{

   191

    if (voe->config->slave) { // FIXME locking?

   192

        voe->state(voe);

   193

        if (voe->request_state == EC_INT_REQUEST_BUSY)

   194

            ec_master_queue_datagram(voe->config->master, &voe->datagram,

   195

                    EC_DEVICE_MAIN);

   196

    } else {

   197

        voe->state = ec_voe_handler_state_error;

   198

        voe->request_state = EC_INT_REQUEST_FAILURE;

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    }

   200

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    return ec_request_state_translation_table[voe->request_state];

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}

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   204

/******************************************************************************

   205

 * State functions.

   206

 *****************************************************************************/

   207

   208

/** Start writing VoE data.

   209

 */

   210

void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)

   211

{

   212

    ec_slave_t *slave = voe->config->slave;

   213

    uint8_t *data;

   214

   215

    if (slave->master->debug_level) {

   216

        EC_SLAVE_DBG(slave, 0, "Writing %zu bytes of VoE data.\n",

   217

               voe->data_size);

   218

        ec_print_data(ecrt_voe_handler_data(voe), voe->data_size);

   219

    }

   220

   221

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   222

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   223

        voe->state = ec_voe_handler_state_error;

   224

        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

   226

    }

   227

   228

    data = ec_slave_mbox_prepare_send(slave, &voe->datagram,

   229

            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);

   230

    if (IS_ERR(data)) {

   231

        voe->state = ec_voe_handler_state_error;

   232

        voe->request_state = EC_INT_REQUEST_FAILURE;

   233

        return;

   234

    }

   235

   236

    EC_WRITE_U32(data,     voe->vendor_id);

   237

    EC_WRITE_U16(data + 4, voe->vendor_type);

   238

    /* data already in datagram */

   239

   240

    voe->retries = EC_FSM_RETRIES;

   241

    voe->jiffies_start = jiffies;

   242

    voe->state = ec_voe_handler_state_write_response;

   243

}

   244

   245

/*****************************************************************************/

   246

   247

/** Wait for the mailbox response.

   248

 */

   249

void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)

   250

{

   251

    ec_datagram_t *datagram = &voe->datagram;

   252

    ec_slave_t *slave = voe->config->slave;

   253

   254

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   255

        return;

   256

   257

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   258

        voe->state = ec_voe_handler_state_error;

   259

        voe->request_state = EC_INT_REQUEST_FAILURE;

   260

        EC_SLAVE_ERR(slave, "Failed to receive VoE write request datagram: ");

   261

        ec_datagram_print_state(datagram);

   262

        return;

   263

    }

   264

   265

    if (datagram->working_counter != 1) {

   266

        if (!datagram->working_counter) {

   267

            unsigned long diff_ms =

   268

                (jiffies - voe->jiffies_start) * 1000 / HZ;

   269

            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {

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                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"

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                        " VoE write request. Retrying after %lu ms...\n",

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                        diff_ms);

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                // no response; send request datagram again

   274

                return;

   275

            }

   276

        }

   277

        voe->state = ec_voe_handler_state_error;

   278

        voe->request_state = EC_INT_REQUEST_FAILURE;

   279

        EC_SLAVE_ERR(slave, "Reception of VoE write request failed: ");

   280

        ec_datagram_print_wc_error(datagram);

   281

        return;

   282

    }

   283

   284

    EC_CONFIG_DBG(voe->config, 1, "VoE write request successful.\n");

   285

   286

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   287

    voe->state = ec_voe_handler_state_end;

   288

}

   289

   290

/*****************************************************************************/

   291

   292

/** Start reading VoE data.

   293

 */

   294

void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)

   295

{

   296

    ec_datagram_t *datagram = &voe->datagram;

   297

    ec_slave_t *slave = voe->config->slave;

   298

   299

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   300

   301

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   302

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   303

        voe->state = ec_voe_handler_state_error;

   304

        voe->request_state = EC_INT_REQUEST_FAILURE;

   305

        return;

   306

    }

   307

   308

    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   309

   310

    voe->jiffies_start = jiffies;

   311

    voe->retries = EC_FSM_RETRIES;

   312

    voe->state = ec_voe_handler_state_read_check;

   313

}

   314

   315

/*****************************************************************************/

   316

   317

/** Check for new data in the mailbox.

   318

 */

   319

void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)

   320

{

   321

    ec_datagram_t *datagram = &voe->datagram;

   322

    ec_slave_t *slave = voe->config->slave;

   323

   324

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   325

        return;

   326

   327

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   328

        voe->state = ec_voe_handler_state_error;

   329

        voe->request_state = EC_INT_REQUEST_FAILURE;

   330

        EC_SLAVE_ERR(slave, "Failed to receive VoE mailbox check datagram: ");

   331

        ec_datagram_print_state(datagram);

   332

        return;

   333

    }

   334

   335

    if (datagram->working_counter != 1) {

   336

        voe->state = ec_voe_handler_state_error;

   337

        voe->request_state = EC_INT_REQUEST_FAILURE;

   338

        EC_SLAVE_ERR(slave, "Reception of VoE mailbox check"

   339

                " datagram failed: ");

   340

        ec_datagram_print_wc_error(datagram);

   341

        return;

   342

    }

   343

   344

    if (!ec_slave_mbox_check(datagram)) {

   345

        unsigned long diff_ms =

   346

            (datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ;

   347

        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {

   348

            voe->state = ec_voe_handler_state_error;

   349

            voe->request_state = EC_INT_REQUEST_FAILURE;

   350

            EC_SLAVE_ERR(slave, "Timeout while waiting for VoE data.\n");

   351

            return;

   352

        }

   353

   354

        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.

   355

        voe->retries = EC_FSM_RETRIES;

   356

        return;

   357

    }

   358

   359

    // Fetch response

   360

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   361

    voe->retries = EC_FSM_RETRIES;

   362

    voe->state = ec_voe_handler_state_read_response;

   363

}

   364

   365

/*****************************************************************************/

   366

   367

/** Read the pending mailbox data.

   368

 */

   369

void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)

   370

{

   371

    ec_datagram_t *datagram = &voe->datagram;

   372

    ec_slave_t *slave = voe->config->slave;

   373

    ec_master_t *master = voe->config->master;

   374

    uint8_t *data, mbox_prot;

   375

    size_t rec_size;

   376

   377

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   378

        return;

   379

   380

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   381

        voe->state = ec_voe_handler_state_error;

   382

        voe->request_state = EC_INT_REQUEST_FAILURE;

   383

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   384

        ec_datagram_print_state(datagram);

   385

        return;

   386

    }

   387

   388

    if (datagram->working_counter != 1) {

   389

        voe->state = ec_voe_handler_state_error;

   390

        voe->request_state = EC_INT_REQUEST_FAILURE;

   391

        EC_SLAVE_ERR(slave, "Reception of VoE read response failed: ");

   392

        ec_datagram_print_wc_error(datagram);

   393

        return;

   394

    }

   395

   396

    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);

   397

    if (IS_ERR(data)) {

   398

        voe->state = ec_voe_handler_state_error;

   399

        voe->request_state = EC_INT_REQUEST_FAILURE;

   400

        return;

   401

    }

   402

   403

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   404

        voe->state = ec_voe_handler_state_error;

   405

        voe->request_state = EC_INT_REQUEST_FAILURE;

   406

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

   407

                " as response.\n", mbox_prot);

   408

        ec_print_data(data, rec_size);

   409

        return;

   410

    }

   411

   412

    if (rec_size < EC_VOE_HEADER_SIZE) {

   413

        voe->state = ec_voe_handler_state_error;

   414

        voe->request_state = EC_INT_REQUEST_FAILURE;

   415

        EC_SLAVE_ERR(slave, "Received VoE header is"

   416

                " incomplete (%zu bytes)!\n", rec_size);

   417

        return;

   418

    }

   419

   420

    if (master->debug_level) {

   421

        EC_CONFIG_DBG(voe->config, 0, "VoE data:\n");

   422

        ec_print_data(data, rec_size);

   423

    }

   424

   425

    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;

   426

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   427

    voe->state = ec_voe_handler_state_end; // success

   428

}

   429

   430

/*****************************************************************************/

   431

   432

/** Start reading VoE data without sending a sync message before.

   433

 */

   434

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)

   435

{

   436

    ec_datagram_t *datagram = &voe->datagram;

   437

    ec_slave_t *slave = voe->config->slave;

   438

   439

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   440

   441

    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {

   442

        EC_SLAVE_ERR(slave, "Slave does not support VoE!\n");

   443

        voe->state = ec_voe_handler_state_error;

   444

        voe->request_state = EC_INT_REQUEST_FAILURE;

   445

        return;

   446

    }

   447

   448

    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.

   449

   450

    voe->jiffies_start = jiffies;

   451

    voe->retries = EC_FSM_RETRIES;

   452

    voe->state = ec_voe_handler_state_read_nosync_response;

   453

}

   454

   455

/*****************************************************************************/

   456

   457

/** Read the pending mailbox data without sending a sync message before. This

   458

 *  might lead to an empty reponse from the client.

   459

 */

   460

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)

   461

{

   462

    ec_datagram_t *datagram = &voe->datagram;

   463

    ec_slave_t *slave = voe->config->slave;

   464

    ec_master_t *master = voe->config->master;

   465

    uint8_t *data, mbox_prot;

   466

    size_t rec_size;

   467

   468

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)

   469

        return;

   470

   471

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   472

        voe->state = ec_voe_handler_state_error;

   473

        voe->request_state = EC_INT_REQUEST_FAILURE;

   474

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   475

        ec_datagram_print_state(datagram);

   476

        return;

   477

    }

   478

   479

    if (datagram->working_counter == 0) {

   480

        voe->state = ec_voe_handler_state_error;

   481

        voe->request_state = EC_INT_REQUEST_FAILURE;

   482

        EC_SLAVE_DBG(slave, 1, "Slave did not send VoE data.\n");

   483

        return;

   484

    }

   485

   486

    if (datagram->working_counter != 1) {

   487

        voe->state = ec_voe_handler_state_error;

   488

        voe->request_state = EC_INT_REQUEST_FAILURE;

   489

        EC_SLAVE_WARN(slave, "Reception of VoE read response failed: ");

   490

        ec_datagram_print_wc_error(datagram);

   491

        return;

   492

    }

   493

   494

    if (!(data = ec_slave_mbox_fetch(slave, datagram,

   495

                    &mbox_prot, &rec_size))) {

   496

        voe->state = ec_voe_handler_state_error;

   497

        voe->request_state = EC_INT_REQUEST_FAILURE;

   498

        return;

   499

    }

   500

   501

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   502

        voe->state = ec_voe_handler_state_error;

   503

        voe->request_state = EC_INT_REQUEST_FAILURE;

   504

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

   505

                " as response.\n", mbox_prot);

   506

        ec_print_data(data, rec_size);