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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2008  Olav Zarges, imc Messsysteme GmbH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  Public License for more details.

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 *

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

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 *  with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  ---

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 *

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

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 *  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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 *

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

    29

    30

/**

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   \file

    32

   EtherCAT FoE state machines.

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*/

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    35

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

    36

    37

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_foe.h"

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#include "foe.h"

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    43

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

    44

    45

/** Maximum time in ms to wait for responses when reading out the dictionary.

    46

 */

    47

#define EC_FSM_FOE_TIMEOUT 3000

    48

    49

/** Mailbox type FoE.

    50

 */

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#define EC_MBOX_TYPE_FILEACCESS 0x04

    52

    53

/** Size of the FoE header.

    54

 */

    55

#define EC_FOE_HEADER_SIZE 6

    56

// uint8_t  OpCode

    57

// uint8_t  reserved

    58

// uint32_t PacketNo, Password, ErrorCode

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    60

//#define DEBUG_FOE

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    62

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

    63

    64

/** FoE OpCodes.

    65

 */

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enum {

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    EC_FOE_OPCODE_RRQ  = 1, /**< Read request. */

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    EC_FOE_OPCODE_WRQ  = 2, /**< Write request. */

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    EC_FOE_OPCODE_DATA = 3, /**< Data. */

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    EC_FOE_OPCODE_ACK  = 4, /**< Acknowledge. */

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    EC_FOE_OPCODE_ERR  = 5, /**< Error. */

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    EC_FOE_OPCODE_BUSY = 6  /**< Busy. */

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} ec_foe_opcode_t;

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    75

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

    76

    77

int ec_foe_prepare_data_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_wrq_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_rrq_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_send_ack(ec_fsm_foe_t *, ec_datagram_t *);

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    82

void ec_foe_set_tx_error(ec_fsm_foe_t *, uint32_t);

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void ec_foe_set_rx_error(ec_fsm_foe_t *, uint32_t);

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void ec_fsm_foe_end(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_error(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_rrq_sent(ec_fsm_foe_t *, ec_datagram_t *);

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    91

void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *, ec_datagram_t *);

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    94

void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *, ec_datagram_t *);

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    96

void ec_fsm_foe_state_data_check(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_data_read(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_sent_ack(ec_fsm_foe_t *, ec_datagram_t *);

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   100

void ec_fsm_foe_write_start(ec_fsm_foe_t *, ec_datagram_t *);

   101

void ec_fsm_foe_read_start(ec_fsm_foe_t *, ec_datagram_t *);

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   103

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

   104

   105

/** Constructor.

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 */

   107

void ec_fsm_foe_init(

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        ec_fsm_foe_t *fsm /**< finite state machine */

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        )

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{

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    fsm->state = NULL;

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    fsm->datagram = NULL;

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}

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   115

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

   116

   117

/** Destructor.

   118

 */

   119

void ec_fsm_foe_clear(ec_fsm_foe_t *fsm /**< finite state machine */)

   120

{

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}

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   123

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

   124

   125

/** Executes the current state of the state machine.

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 *

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 * \return 1, if the datagram was used, else 0.

   128

 */

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int ec_fsm_foe_exec(

   130

        ec_fsm_foe_t *fsm, /**< finite state machine */

   131

        ec_datagram_t *datagram /**< Datagram to use. */

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        )

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{

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    int datagram_used = 0;

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    if (fsm->datagram &&

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            (fsm->datagram->state == EC_DATAGRAM_INIT ||

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             fsm->datagram->state == EC_DATAGRAM_QUEUED ||

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             fsm->datagram->state == EC_DATAGRAM_SENT)) {

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        // datagram not received yet

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        return datagram_used;

   142

    }

   143

   144

    fsm->state(fsm, datagram);

   145

   146

    datagram_used =

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        fsm->state != ec_fsm_foe_end && fsm->state != ec_fsm_foe_error;

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   149

    if (datagram_used) {

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        fsm->datagram = datagram;

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    } else {

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        fsm->datagram = NULL;

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    }

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    return datagram_used;

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}

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   158

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

   159

   160

/** Returns, if the state machine terminated with success.

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 * \return non-zero if successful.

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 */

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int ec_fsm_foe_success(const ec_fsm_foe_t *fsm /**< Finite state machine */)

   164

{

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    return fsm->state == ec_fsm_foe_end;

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}

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

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   170

/** Prepares an FoE transfer.

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 */

   172

void ec_fsm_foe_transfer(

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        ec_fsm_foe_t *fsm, /**< State machine. */

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        ec_slave_t *slave, /**< EtherCAT slave. */

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        ec_foe_request_t *request /**< Sdo request. */

   176

        )

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{

   178

    fsm->slave = slave;

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    fsm->request = request;

   180

   181

    if (request->dir == EC_DIR_OUTPUT) {

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        fsm->tx_buffer = fsm->request->buffer;

   183

        fsm->tx_buffer_size = fsm->request->data_size;

   184

        fsm->tx_buffer_offset = 0;

   185

   186

        fsm->tx_filename = fsm->request->file_name;

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        fsm->tx_filename_len = strlen(fsm->tx_filename);

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   189

        fsm->state = ec_fsm_foe_write_start;

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    }

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    else {

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        fsm->rx_buffer = fsm->request->buffer;

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        fsm->rx_buffer_size = fsm->request->buffer_size;

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        fsm->rx_filename = fsm->request->file_name;

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        fsm->rx_filename_len = strlen(fsm->rx_filename);

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   198

        fsm->state = ec_fsm_foe_read_start;

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    }

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}

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   202

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

   203

   204

/** State: ERROR.

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 */

   206

void ec_fsm_foe_error(

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        ec_fsm_foe_t *fsm, /**< finite state machine */

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        ec_datagram_t *datagram /**< Datagram to use. */

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        )

   210

{

   211

#ifdef DEBUG_FOE

   212

    printk("ec_fsm_foe_error()\n");

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#endif

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}

   215

   216

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

   217

   218

/** State: END.

   219

 */

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void ec_fsm_foe_end(

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        ec_fsm_foe_t *fsm, /**< finite state machine */

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        ec_datagram_t *datagram /**< Datagram to use. */

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        )

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{

   225

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_end\n");

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#endif

   228

}

   229

   230

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

   231

   232

/** Sends a file or the next fragment.

   233

 */

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int ec_foe_prepare_data_send(

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        ec_fsm_foe_t *fsm,

   236

        ec_datagram_t *datagram /**< Datagram to use. */

   237

        )

   238

{

   239

    size_t remaining_size, current_size;

   240

    uint8_t *data;

   241

   242

    remaining_size = fsm->tx_buffer_size - fsm->tx_buffer_offset;

   243

   244

    if (remaining_size < fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {

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        current_size = remaining_size;

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        fsm->tx_last_packet = 1;

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    } else {

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        current_size = fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;

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    }

   252

   253

    data = ec_slave_mbox_prepare_send(fsm->slave,

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            datagram, EC_MBOX_TYPE_FILEACCESS,

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            current_size + EC_FOE_HEADER_SIZE);

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    if (IS_ERR(data)) {

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        return -1;

   258

    }

   259

   261

    EC_WRITE_U32(data + 2, fsm->tx_packet_no); // PacketNo, Password

   262

   263

    memcpy(data + EC_FOE_HEADER_SIZE,

   264

            fsm->tx_buffer + fsm->tx_buffer_offset, current_size);

   265

    fsm->tx_current_size = current_size;

   266

   267

    return 0;

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}

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   270

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

   271

   272

/** Prepare a write request (WRQ) with filename

   273

 */

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int ec_foe_prepare_wrq_send(

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        ec_fsm_foe_t *fsm, /**< Finite state machine. */

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        ec_datagram_t *datagram /**< Datagram to use. */

   277

        )

   278

{

   279

    size_t current_size;

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    uint8_t *data;

   281

   282

    fsm->tx_buffer_offset = 0;

   283

    fsm->tx_current_size = 0;

   284

    fsm->tx_packet_no = 0;

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    fsm->tx_last_packet = 0;

   286

   287

    current_size = fsm->tx_filename_len;

   288

   289

    data = ec_slave_mbox_prepare_send(fsm->slave, datagram,

   290

            EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);

   291

    if (IS_ERR(data)) {

   292

        return -1;

   293

    }

   294

   295

    EC_WRITE_U16( data, EC_FOE_OPCODE_WRQ); // fsm write request

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    EC_WRITE_U32( data + 2, fsm->tx_packet_no );

   297

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    memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);

   299

   300

    return 0;

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}

   302

   303

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

   304

   305

/** Initializes the FoE write state machine.

   306

 */

   307

void ec_fsm_foe_write_start(

   308

        ec_fsm_foe_t *fsm, /**< finite state machine */

   309

        ec_datagram_t *datagram /**< Datagram to use. */

   310

        )

   311

{

   312

    ec_slave_t *slave = fsm->slave;

   313

   314

    fsm->tx_buffer_offset = 0;

   315

    fsm->tx_current_size = 0;

   316

    fsm->tx_packet_no = 0;

   317

    fsm->tx_last_packet = 0;

   318

   319

#ifdef DEBUG_FOE

   320

    printk("ec_fsm_foe_write_start()\n");

   321

#endif

   322

   323

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

   324

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   325

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

   326

        return;

   327

    }

   328

   329

    if (ec_foe_prepare_wrq_send(fsm, datagram)) {

   330

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   331

        return;

   332

    }

   333

   334

    fsm->state = ec_fsm_foe_state_wrq_sent;

   335

}

   336

   337

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

   338

   339

/** Check for acknowledge.

   340

 */

   341

void ec_fsm_foe_state_ack_check(

   342

        ec_fsm_foe_t *fsm, /**< FoE statemachine. */

   343

        ec_datagram_t *datagram /**< Datagram to use. */

   344

        )

   345

{

   346

    ec_slave_t *slave = fsm->slave;

   347

   348

#ifdef DEBUG_FOE

   349

    printk("ec_fsm_foe_ack_check()\n");

   350

#endif

   351

   352

    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {

   353

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   354

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

   355

        ec_datagram_print_state(fsm->datagram);

   356

        return;

   357

    }

   358

   359

    if (fsm->datagram->working_counter != 1) {

   360

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   361

        EC_SLAVE_ERR(slave, "Reception of FoE mailbox check datagram"

   362

                " failed: ");

   363

        ec_datagram_print_wc_error(fsm->datagram);

   364

        return;

   365

    }

   366

   367

    if (!ec_slave_mbox_check(fsm->datagram)) {

   368

        // slave did not put anything in the mailbox yet

   369

        unsigned long diff_ms =

   370

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

   371

        if (diff_ms >= EC_FSM_FOE_TIMEOUT) {

   372

            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

   373

            EC_SLAVE_ERR(slave, "Timeout while waiting for ack response.\n");

   374

            return;

   375

        }

   376

   377

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

   378

        fsm->retries = EC_FSM_RETRIES;

   379

        return;

   380

    }

   381

   382

    // Fetch response

   383

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

   384

   385

    fsm->retries = EC_FSM_RETRIES;

   386

    fsm->state = ec_fsm_foe_state_ack_read;

   387

}

   388

   389

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

   390

   391

/** Acknowledge a read operation.

   392

 */

   393

void ec_fsm_foe_state_ack_read(

   394

        ec_fsm_foe_t *fsm, /**< FoE statemachine. */

   395

        ec_datagram_t *datagram /**< Datagram to use. */

   396

        )

   397

{

   398

    ec_slave_t *slave = fsm->slave;

   399

    uint8_t *data, mbox_prot;

   400

    uint8_t opCode;

   401

    size_t rec_size;

   402

   403

#ifdef DEBUG_FOE

   404

    printk("ec_fsm_foe_ack_read()\n");

   405

#endif

   406

   407

    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {

   408

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   409

        EC_SLAVE_ERR(slave, "Failed to receive FoE ack response datagram: ");

   410

        ec_datagram_print_state(fsm->datagram);

   411

        return;

   412

    }

   413

   414

    if (fsm->datagram->working_counter != 1) {

   415

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   416

        EC_SLAVE_ERR(slave, "Reception of FoE ack response failed: ");

   417

        ec_datagram_print_wc_error(fsm->datagram);

   418

        return;

   419

    }

   420

   421

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

   422

    if (IS_ERR(data)) {

   423

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   424

        return;

   425

    }

   426

   427

    if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE

   428

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   429

        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",

   430

                mbox_prot);

   431

        return;

   432

    }

   433

   434

    opCode = EC_READ_U8(data);

   435

   436

    if (opCode == EC_FOE_OPCODE_BUSY) {

   437

        // slave not ready

   438

        if (ec_foe_prepare_data_send(fsm, datagram)) {

   439

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   440

            EC_SLAVE_ERR(slave, "Slave is busy.\n");

   441

            return;

   442

        }

   443

        fsm->state = ec_fsm_foe_state_data_sent;

   444

        return;

   445

    }

   446

   447

    if (opCode == EC_FOE_OPCODE_ACK) {

   448

        fsm->tx_packet_no++;

   449

        fsm->tx_buffer_offset += fsm->tx_current_size;

   450

   451

        if (fsm->tx_last_packet) {

   452

            fsm->state = ec_fsm_foe_end;

   453

            return;

   454

        }

   455

   456

        if (ec_foe_prepare_data_send(fsm, datagram)) {

   457

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   458

            return;

   459

        }

   460

        fsm->state = ec_fsm_foe_state_data_sent;

   461

        return;

   462

    }

   463

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   464

}

   465

   466

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

   467

   468

/** State: WRQ SENT.

   469

 *

   470

 * Checks is the previous transmit datagram succeded and sends the next

   471

 * fragment, if necessary.

   472

 */

   473

void ec_fsm_foe_state_wrq_sent(

   474

        ec_fsm_foe_t *fsm, /**< FoE statemachine. */

   475

        ec_datagram_t *datagram /**< Datagram to use. */

   476

        )

   477

{

   478

    ec_slave_t *slave = fsm->slave;

   479

   480

#ifdef DEBUG_FOE

   481

    printk("ec_foe_state_sent_wrq()\n");

   482

#endif

   483

   484

    if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {

   485

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   486

        EC_SLAVE_ERR(slave, "Failed to send FoE WRQ: ");

   487

        ec_datagram_print_state(fsm->datagram);

   488

        return;

   489

    }

   490

   491

    if (fsm->datagram->working_counter != 1) {

   492

        // slave did not put anything in the mailbox yet

   493

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   494

        EC_SLAVE_ERR(slave, "Reception of FoE WRQ failed: ");

   495

        ec_datagram_print_wc_error(fsm->datagram);

   496

        return;

   497

    }

   498