| author | Florian Pose <fp@igh-essen.com> |
| Mon, 17 Nov 2008 15:04:28 +0000 | |
| changeset 1312 | 74853e018898 |
| parent 1268 | d9599395e89b |
| child 1313 | ed15eef57d5c |
| 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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/** VoE mailbox type. |
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*/ |
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#define EC_MBOX_TYPE_VOE 0x0f |
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/** VoE header size. |
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*/ |
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#define EC_VOE_HEADER_SIZE 6 |
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/** 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_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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* \return Return value of ec_datagram_prealloc(). |
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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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return ec_datagram_prealloc(&voe->datagram, |
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size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE); |
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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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/** Get usable memory size. |
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*/ |
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size_t ec_voe_handler_mem_size( |
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const ec_voe_handler_t *voe /**< VoE handler. */ |
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) |
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{
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if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE) |
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return voe->datagram.mem_size - |
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Implemented VoE handler in userspace.
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parents:
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(EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE); |
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else |
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return 0; |
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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_send_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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void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe, |
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uint32_t *vendor_id, uint16_t *vendor_type) |
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{
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Introduced ecrt_voe_handler_received_header(); renamed
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uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE; |
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Introduced ecrt_voe_handler_received_header(); renamed
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parents:
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if (vendor_id) |
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Introduced ecrt_voe_handler_received_header(); renamed
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*vendor_id = EC_READ_U32(header); |
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parents:
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if (vendor_type) |
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Introduced ecrt_voe_handler_received_header(); renamed
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*vendor_type = EC_READ_U16(header + 4); |
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parents:
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} |
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Introduced ecrt_voe_handler_received_header(); renamed
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parents:
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diff
changeset
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Introduced ecrt_voe_handler_received_header(); renamed
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parents:
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/*****************************************************************************/ |
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parents:
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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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/** Start writing VoE data. |
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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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206 |
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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211 |
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212 |
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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||
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e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
219 |
if (!(data = ec_slave_mbox_prepare_send(slave, &voe->datagram, |
| 1218 | 220 |
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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| 1209 | 228 |
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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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| 1268 | 236 |
/** Wait for the mailbox response. |
237 |
*/ |
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| 1209 | 238 |
void ec_voe_handler_state_write_response(ec_voe_handler_t *voe) |
239 |
{
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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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242 |
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243 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
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244 |
return; |
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245 |
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246 |
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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253 |
} |
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254 |
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255 |
if (datagram->working_counter != 1) {
|
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256 |
if (!datagram->working_counter) {
|
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257 |
unsigned long diff_ms = |
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258 |
(jiffies - voe->jiffies_start) * 1000 / HZ; |
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259 |
if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
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260 |
if (slave->master->debug_level) {
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261 |
EC_DBG("Slave %u did not respond to VoE write request. "
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262 |
"Retrying after %u ms...\n", |
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263 |
slave->ring_position, (u32) diff_ms); |
|
264 |
} |
|
265 |
// no response; send request datagram again |
|
266 |
return; |
|
267 |
} |
|
268 |
} |
|
269 |
voe->state = ec_voe_handler_state_error; |
|
270 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
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271 |
EC_ERR("Reception of VoE write request failed on slave %u: ",
|
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272 |
slave->ring_position); |
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273 |
ec_datagram_print_wc_error(datagram); |
|
274 |
return; |
|
275 |
} |
|
276 |
||
277 |
if (voe->config->master->debug_level) |
|
278 |
EC_DBG("VoE write request successful.\n");
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279 |
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280 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
|
281 |
voe->state = ec_voe_handler_state_end; |
|
282 |
} |
|
283 |
||
284 |
/*****************************************************************************/ |
|
285 |
||
| 1268 | 286 |
/** Start reading VoE data. |
287 |
*/ |
|
| 1209 | 288 |
void ec_voe_handler_state_read_start(ec_voe_handler_t *voe) |
289 |
{
|
|
290 |
ec_datagram_t *datagram = &voe->datagram; |
|
291 |
ec_slave_t *slave = voe->config->slave; |
|
292 |
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293 |
if (slave->master->debug_level) |
|
294 |
EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
|
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295 |
||
296 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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297 |
EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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298 |
voe->state = ec_voe_handler_state_error; |
|
299 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
300 |
return; |
|
301 |
} |
|
302 |
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303 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
304 |
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305 |
voe->jiffies_start = jiffies; |
|
306 |
voe->retries = EC_FSM_RETRIES; |
|
307 |
voe->state = ec_voe_handler_state_read_check; |
|
308 |
} |
|
309 |
||
310 |
/*****************************************************************************/ |
|
311 |
||
| 1268 | 312 |
/** Check for new data in the mailbox. |
313 |
*/ |
|
| 1209 | 314 |
void ec_voe_handler_state_read_check(ec_voe_handler_t *voe) |
315 |
{
|
|
316 |
ec_datagram_t *datagram = &voe->datagram; |
|
317 |
ec_slave_t *slave = voe->config->slave; |
|
318 |
||
319 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
320 |
return; |
|
321 |
||
322 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
323 |
voe->state = ec_voe_handler_state_error; |
|
324 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
325 |
EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
|
|
326 |
" (datagram state %u).\n", |
|
327 |
slave->ring_position, datagram->state); |
|
328 |
return; |
|
329 |
} |
|
330 |
||
331 |
if (datagram->working_counter != 1) {
|
|
332 |
voe->state = ec_voe_handler_state_error; |
|
333 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
334 |
EC_ERR("Reception of VoE mailbox check"
|
|
335 |
" datagram failed on slave %u: ", slave->ring_position); |
|
336 |
ec_datagram_print_wc_error(datagram); |
|
337 |
return; |
|
338 |
} |
|
339 |
||
340 |
if (!ec_slave_mbox_check(datagram)) {
|
|
341 |
unsigned long diff_ms = |
|
342 |
(datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ; |
|
343 |
if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
|
|
344 |
voe->state = ec_voe_handler_state_error; |
|
345 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
346 |
EC_ERR("Timeout while waiting for VoE data on "
|
|
347 |
"slave %u.\n", slave->ring_position); |
|
348 |
return; |
|
349 |
} |
|
350 |
||
351 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
352 |
voe->retries = EC_FSM_RETRIES; |
|
353 |
return; |
|
354 |
} |
|
355 |
||
356 |
// Fetch response |
|
357 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. |
|
358 |
voe->retries = EC_FSM_RETRIES; |
|
359 |
voe->state = ec_voe_handler_state_read_response; |
|
360 |
} |
|
361 |
||
362 |
/*****************************************************************************/ |
|
363 |
||
| 1268 | 364 |
/** Read the pending mailbox data. |
365 |
*/ |
|
| 1209 | 366 |
void ec_voe_handler_state_read_response(ec_voe_handler_t *voe) |
367 |
{
|
|
368 |
ec_datagram_t *datagram = &voe->datagram; |
|
369 |
ec_slave_t *slave = voe->config->slave; |
|
370 |
ec_master_t *master = voe->config->master; |
|
371 |
uint8_t *data, mbox_prot; |
|
372 |
size_t rec_size; |
|
373 |
||
374 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
375 |
return; |
|
376 |
||
377 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
378 |
voe->state = ec_voe_handler_state_error; |
|
379 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
380 |
EC_ERR("Failed to receive VoE read datagram for"
|
|
381 |
" slave %u (datagram state %u).\n", |
|
382 |
slave->ring_position, datagram->state); |
|
383 |
return; |
|
384 |
} |
|
385 |
||
386 |
if (datagram->working_counter != 1) {
|
|
387 |
voe->state = ec_voe_handler_state_error; |
|
388 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
389 |
EC_ERR("Reception of VoE read response failed on slave %u: ",
|
|
390 |
slave->ring_position); |
|
391 |
ec_datagram_print_wc_error(datagram); |
|
392 |
return; |
|
393 |
} |
|
394 |
||
395 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
396 |
&mbox_prot, &rec_size))) {
|
|
397 |
voe->state = ec_voe_handler_state_error; |
|
398 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
399 |
return; |
|
400 |
} |
|
401 |
||
|
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
402 |
if (mbox_prot != EC_MBOX_TYPE_VOE) {
|
| 1209 | 403 |
voe->state = ec_voe_handler_state_error; |
404 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
405 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
406 |
ec_print_data(data, rec_size); |
|
407 |
return; |
|
408 |
} |
|
409 |
||
| 1218 | 410 |
if (rec_size < EC_VOE_HEADER_SIZE) {
|
411 |
voe->state = ec_voe_handler_state_error; |
|
412 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
413 |
EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
|
|
414 |
return; |
|
415 |
} |
|
416 |
||
| 1209 | 417 |
if (master->debug_level) {
|
418 |
EC_DBG("VoE data:\n");
|
|
419 |
ec_print_data(data, rec_size); |
|
420 |
} |
|
421 |
||
| 1218 | 422 |
voe->data_size = rec_size - EC_VOE_HEADER_SIZE; |
| 1209 | 423 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
424 |
voe->state = ec_voe_handler_state_end; // success |
|
425 |
} |
|
426 |
||
427 |
/*****************************************************************************/ |
|
428 |
||
| 1268 | 429 |
/** Successful termination state function. |
430 |
*/ |
|
| 1209 | 431 |
void ec_voe_handler_state_end(ec_voe_handler_t *voe) |
432 |
{
|
|
433 |
} |
|
434 |
||
435 |
/*****************************************************************************/ |
|
436 |
||
| 1268 | 437 |
/** Failure termination state function. |
438 |
*/ |
|
| 1209 | 439 |
void ec_voe_handler_state_error(ec_voe_handler_t *voe) |
440 |
{
|
|
441 |
} |
|
442 |
||
443 |
/*****************************************************************************/ |
|
444 |
||
445 |
/** \cond */ |
|
446 |
||
|
1226
afb189516fcf
Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents:
1224
diff
changeset
|
447 |
EXPORT_SYMBOL(ecrt_voe_handler_send_header); |
|
afb189516fcf
Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents:
1224
diff
changeset
|
448 |
EXPORT_SYMBOL(ecrt_voe_handler_received_header); |
| 1209 | 449 |
EXPORT_SYMBOL(ecrt_voe_handler_data); |
450 |
EXPORT_SYMBOL(ecrt_voe_handler_data_size); |
|
451 |
EXPORT_SYMBOL(ecrt_voe_handler_read); |
|
452 |
EXPORT_SYMBOL(ecrt_voe_handler_write); |
|
453 |
EXPORT_SYMBOL(ecrt_voe_handler_execute); |
|
454 |
||
455 |
/** \endcond */ |
|
456 |
||
457 |
/*****************************************************************************/ |