master/voe_handler.c
author Florian Pose <fp@igh-essen.com>
Mon, 26 Jan 2009 11:51:53 +0000
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parent 1327 4d179b06dd3c
child 1348 8db0f72ace11
permissions -rw-r--r--
merge -c1609 branches/stable-1.4: INSTALL, README.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  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.
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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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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the industrial property and similar rights of Beckhoff Automation GmbH.
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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_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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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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			(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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    uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE;
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    if (vendor_id)
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        *vendor_id = EC_READ_U32(header);
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    if (vendor_type)
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        *vendor_type = EC_READ_U16(header + 4);
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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_read_nosync(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_nosync_start;
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    voe->request_state = EC_INT_REQUEST_QUEUED;
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}
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b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
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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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   192
    } 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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   198
}
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/******************************************************************************
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 * State functions.
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 *****************************************************************************/
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1268
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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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    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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   213
               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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   215
    }
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   216
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   217
    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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   218
        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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   221
        return;
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   222
    }
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   223
	
1313
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   224
    data = ec_slave_mbox_prepare_send(slave, &voe->datagram,
ed15eef57d5c Improved error case return codes of many functions.
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            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);
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   226
    if (IS_ERR(data)) {
1218
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   227
        voe->state = ec_voe_handler_state_error;
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   228
        voe->request_state = EC_INT_REQUEST_FAILURE;
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   229
        return;
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   230
    }
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   231
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   232
    EC_WRITE_U32(data,     voe->vendor_id);
6f3a973fc29e Introduced VoE header.
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   233
    EC_WRITE_U16(data + 4, voe->vendor_type);
1209
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   234
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   235
    voe->retries = EC_FSM_RETRIES;
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   236
    voe->jiffies_start = jiffies;
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   237
    voe->state = ec_voe_handler_state_write_response;
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   238
}
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   239
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/*****************************************************************************/
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   241
1268
d9599395e89b Maintained code docs.
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   242
/** Wait for the mailbox response.
d9599395e89b Maintained code docs.
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   243
 */
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   244
void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
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   245
{
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   246
    ec_datagram_t *datagram = &voe->datagram;
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   247
    ec_slave_t *slave = voe->config->slave;
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   248
8be462afb7f4 Added VoE handler.
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   249
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
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   250
        return;
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   251
8be462afb7f4 Added VoE handler.
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   252
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
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diff changeset
   253
        voe->state = ec_voe_handler_state_error;
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   254
        voe->request_state = EC_INT_REQUEST_FAILURE;
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   255
        EC_ERR("Failed to receive VoE write request datagram for"
8be462afb7f4 Added VoE handler.
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diff changeset
   256
               " slave %u (datagram state %u).\n",
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diff changeset
   257
               slave->ring_position, datagram->state);
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   258
        return;
8be462afb7f4 Added VoE handler.
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diff changeset
   259
    }
8be462afb7f4 Added VoE handler.
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   260
8be462afb7f4 Added VoE handler.
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diff changeset
   261
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
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diff changeset
   262
        if (!datagram->working_counter) {
8be462afb7f4 Added VoE handler.
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diff changeset
   263
            unsigned long diff_ms =
8be462afb7f4 Added VoE handler.
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   264
                (jiffies - voe->jiffies_start) * 1000 / HZ;
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   265
            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
8be462afb7f4 Added VoE handler.
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diff changeset
   266
                if (slave->master->debug_level) {
8be462afb7f4 Added VoE handler.
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diff changeset
   267
                    EC_DBG("Slave %u did not respond to VoE write request. "
8be462afb7f4 Added VoE handler.
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diff changeset
   268
                            "Retrying after %u ms...\n",
8be462afb7f4 Added VoE handler.
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diff changeset
   269
                            slave->ring_position, (u32) diff_ms);
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diff changeset
   270
                }
8be462afb7f4 Added VoE handler.
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   271
                // no response; send request datagram again
8be462afb7f4 Added VoE handler.
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   272
                return;
8be462afb7f4 Added VoE handler.
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diff changeset
   273
            }
8be462afb7f4 Added VoE handler.
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diff changeset
   274
        }
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   275
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
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   276
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
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diff changeset
   277
        EC_ERR("Reception of VoE write request failed on slave %u: ",
8be462afb7f4 Added VoE handler.
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diff changeset
   278
                slave->ring_position);
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   279
        ec_datagram_print_wc_error(datagram);
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   280
        return;
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   281
    }
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   282
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
    if (voe->config->master->debug_level)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
        EC_DBG("VoE write request successful.\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
    voe->request_state = EC_INT_REQUEST_SUCCESS;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
    voe->state = ec_voe_handler_state_end;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   291
1268
d9599395e89b Maintained code docs.
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parents: 1264
diff changeset
   292
/** Start reading VoE data.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   293
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
    if (slave->master->debug_level)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
        EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
        EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
	
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
    voe->jiffies_start = jiffies;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
    voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    voe->state = ec_voe_handler_state_read_check;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   318
/** Check for new data in the mailbox.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   319
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
        EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
                " (datagram state %u).\n",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
               slave->ring_position, datagram->state);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
        EC_ERR("Reception of VoE mailbox check"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
                " datagram failed on slave %u: ", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
        ec_datagram_print_wc_error(datagram);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    if (!ec_slave_mbox_check(datagram)) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
        unsigned long diff_ms =
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
            (datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
            voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
            voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
            EC_ERR("Timeout while waiting for VoE data on "
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
                    "slave %u.\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
            return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
        }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
        voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
    // Fetch response
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
    voe->state = ec_voe_handler_state_read_response;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   370
/** Read the pending mailbox data.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   371
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
    ec_master_t *master = voe->config->master;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    uint8_t *data, mbox_prot;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    size_t rec_size;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
        EC_ERR("Failed to receive VoE read datagram for"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
               " slave %u (datagram state %u).\n",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
               slave->ring_position, datagram->state);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
        EC_ERR("Reception of VoE read response failed on slave %u: ",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
                slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
        ec_datagram_print_wc_error(datagram);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
1313
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   401
    data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
ed15eef57d5c Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents: 1312
diff changeset
   402
    if (IS_ERR(data)) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
1216
e70c4d71cebd Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   408
    if (mbox_prot != EC_MBOX_TYPE_VOE) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
        ec_print_data(data, rec_size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   416
    if (rec_size < EC_VOE_HEADER_SIZE) {
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   417
        voe->state = ec_voe_handler_state_error;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   418
        voe->request_state = EC_INT_REQUEST_FAILURE;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   419
        EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   420
        return;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   421
    }
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   422
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
    if (master->debug_level) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
        EC_DBG("VoE data:\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
        ec_print_data(data, rec_size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   428
    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    voe->request_state = EC_INT_REQUEST_SUCCESS;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    voe->state = ec_voe_handler_state_end; // success
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   435
/** Start reading VoE data without sending a sync message before.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   436
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   437
void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   438
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   439
    ec_datagram_t *datagram = &voe->datagram;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   440
    ec_slave_t *slave = voe->config->slave;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   441
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   442
    if (slave->master->debug_level)
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   443
        EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   444
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   445
    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   446
        EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   447
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   448
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   449
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   450
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   451
	
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   452
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   453
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   454
    voe->jiffies_start = jiffies;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   455
    voe->retries = EC_FSM_RETRIES;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   456
    voe->state = ec_voe_handler_state_read_nosync_response;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   457
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   458
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   459
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   460
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   461
/** Read the pending mailbox data without sending a sync message before. This
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   462
 *  might lead to an empty reponse from the client.
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   463
 */
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   464
void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   465
{
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   466
    ec_datagram_t *datagram = &voe->datagram;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   467
    ec_slave_t *slave = voe->config->slave;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   468
    ec_master_t *master = voe->config->master;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   469
    uint8_t *data, mbox_prot;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   470
    size_t rec_size;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   471
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   472
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   473
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   474
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   475
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   476
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   477
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   478
        EC_ERR("Failed to receive VoE read datagram for"
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   479
               " slave %u (datagram state %u).\n",
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   480
               slave->ring_position, datagram->state);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   481
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   482
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   483
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   484
    if (datagram->working_counter == 0) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   485
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   486
        voe->request_state = EC_INT_REQUEST_FAILURE;
1315
26b4f94cfdfb Output debug message only on debug level > 0.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
   487
        if (master->debug_level)
26b4f94cfdfb Output debug message only on debug level > 0.
Florian Pose <fp@igh-essen.com>
parents: 1314
diff changeset
   488
            EC_DBG("Slave %u did not send VoE data.", slave->ring_position);
1314
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   489
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   490
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   491
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   492
    if (datagram->working_counter != 1) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   493
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   494
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   495
        EC_WARN("Reception of VoE read response failed on slave %u: ",
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   496
                slave->ring_position);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   497
        ec_datagram_print_wc_error(datagram);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   498
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   499
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   500
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   501
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   502
				     &mbox_prot, &rec_size))) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   503
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   504
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   505
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   506
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   507
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   508
    if (mbox_prot != EC_MBOX_TYPE_VOE) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   509
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   510
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   511
        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   512
        ec_print_data(data, rec_size);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   513
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   514
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   515
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   516
    if (rec_size < EC_VOE_HEADER_SIZE) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   517
        voe->state = ec_voe_handler_state_error;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   518
        voe->request_state = EC_INT_REQUEST_FAILURE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   519
        EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   520
        return;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   521
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   522
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   523
    if (master->debug_level) {
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   524
        EC_DBG("VoE data:\n");
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   525
        ec_print_data(data, rec_size);
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   526
    }
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   527
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   528
    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   529
    voe->request_state = EC_INT_REQUEST_SUCCESS;
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   530
    voe->state = ec_voe_handler_state_end; // success
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   531
}
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   532
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   533
/*****************************************************************************/
b3d06a8807b3 Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents: 1313
diff changeset
   534
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   535
/** Successful termination state function.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   536
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
void ec_voe_handler_state_end(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
1268
d9599395e89b Maintained code docs.
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parents: 1264
diff changeset
   543
/** Failure termination state function.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   544
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
void ec_voe_handler_state_error(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   546
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
/** \cond */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents: 1224
diff changeset
   553
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
   554
EXPORT_SYMBOL(ecrt_voe_handler_received_header);
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
EXPORT_SYMBOL(ecrt_voe_handler_data);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
EXPORT_SYMBOL(ecrt_voe_handler_data_size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
EXPORT_SYMBOL(ecrt_voe_handler_read);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
EXPORT_SYMBOL(ecrt_voe_handler_write);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
EXPORT_SYMBOL(ecrt_voe_handler_execute);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
/** \endcond */
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
/*****************************************************************************/