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

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 *

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 *  $Id$

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 *

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

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

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

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

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

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 *

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 *  ---

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 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

    29

    30

/**

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   \file

    32

   EtherCAT FoE state machines.

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*/

    34

    35

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

    36

    37

#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_foe.h"

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#include "foe.h"

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    43

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

    44

    45

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

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 */

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#define EC_FSM_FOE_TIMEOUT 3000

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    49

#define EC_MBOX_TYPE_FILEACCESS 0x04

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    51

#define EC_FOE_HEADER_SIZE 6

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// uint8_t  OpCode

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// uint8_t  reserved

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// uint32_t PacketNo, Password, ErrorCode

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    56

//#define DEBUG_FOE

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    58

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

    59

    62

enum {

    69

} ec_foe_opcode_t;

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    71

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

    72

    73

int ec_foe_prepare_data_send(ec_fsm_foe_t *);

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int ec_foe_prepare_wrq_send(ec_fsm_foe_t *);

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int ec_foe_prepare_rrq_send(ec_fsm_foe_t *);

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int ec_foe_prepare_send_ack(ec_fsm_foe_t *);

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    78

void ec_foe_set_tx_error(ec_fsm_foe_t *, uint32_t);

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void ec_foe_set_rx_error(ec_fsm_foe_t *, uint32_t);

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void ec_fsm_foe_write(ec_fsm_foe_t *);

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void ec_fsm_foe_read(ec_fsm_foe_t *);

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void ec_fsm_foe_end(ec_fsm_foe_t *);

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void ec_fsm_foe_error(ec_fsm_foe_t *);

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    86

void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *);

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void ec_fsm_foe_state_rrq_sent(ec_fsm_foe_t *);

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    89

void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *);

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void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *);

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    92

void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *);

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void ec_fsm_foe_state_data_check(ec_fsm_foe_t *);

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void ec_fsm_foe_state_data_read(ec_fsm_foe_t *);

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void ec_fsm_foe_state_sent_ack(ec_fsm_foe_t *);

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    98

void ec_fsm_foe_write_start(ec_fsm_foe_t *);

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void ec_fsm_foe_read_start(ec_fsm_foe_t *);

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   101

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

   102

   103

/**

   104

   Constructor.

   105

*/

   106

   107

void ec_fsm_foe_init(ec_fsm_foe_t *fsm, /**< finite state machine */

   108

                     ec_datagram_t *datagram /**< datagram */

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                     )

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{

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    fsm->state     = NULL;

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    fsm->datagram  = datagram;

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    fsm->rx_errors = 0;

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    fsm->tx_errors = 0;

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}

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

   118

   119

/**

   120

   Destructor.

   121

*/

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   123

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

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{

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}

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

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/**

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   Executes the current state of the state machine.

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   \return false, if state machine has terminated

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*/

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int ec_fsm_foe_exec(ec_fsm_foe_t *fsm /**< finite state machine */)

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{

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    fsm->state(fsm);

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   138

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

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}

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

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/**

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   Returns, if the state machine terminated with success.

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   \return non-zero if successful.

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*/

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

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{

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    return fsm->state == ec_fsm_foe_end;

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}

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   153

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

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   155

void ec_fsm_foe_transfer(

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

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

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

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        )

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{

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    fsm->slave = slave;

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    fsm->request = request;

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    if (request->dir == EC_DIR_OUTPUT) {

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        fsm->state = ec_fsm_foe_write;

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    }

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    else {

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        fsm->state = ec_fsm_foe_read;

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    }

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}

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

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   173

/**

   174

   State: ERROR.

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*/

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

   178

{

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_error()\n");

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#endif

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}

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

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   186

/**

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   State: END.

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*/

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

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{

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_end\n");

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#endif

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}

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

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/**

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   Sends a file or the next fragment.

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*/

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   202

int ec_foe_prepare_data_send( ec_fsm_foe_t *fsm ) {

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    size_t       remaining_size, current_size;

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    uint8_t*     data;

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

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   208

    if (remaining_size < fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {

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        current_size = remaining_size;

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        fsm->tx_last_packet = 1;

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    } else {

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        current_size = fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;

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    }

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    if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,

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                    EC_MBOX_TYPE_FILEACCESS,

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                    current_size + EC_FOE_HEADER_SIZE)))

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        return -1;

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    EC_WRITE_U8 ( data, EC_FOE_OPCODE_DATA );    // OpCode = DataBlock req.

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

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    memcpy(data + EC_FOE_HEADER_SIZE,

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

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    fsm->tx_current_size = current_size;

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   229

    return 0;

   230

}

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   232

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

   233

/**

   234

   Prepare a write request (WRQ) with filename

   235

*/

   236

   237

int ec_foe_prepare_wrq_send( ec_fsm_foe_t *fsm ) {

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    size_t current_size;

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    uint8_t *data;

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    fsm->tx_buffer_offset = 0;

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    fsm->tx_current_size = 0;

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    fsm->tx_packet_no = 0;

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    fsm->tx_last_packet = 0;

   245

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    current_size = fsm->tx_filename_len;

   247

   248

    if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,

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                    EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))

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        return -1;

   251

   252

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

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

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   255

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

   256

   257

    return 0;

   258

}

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   260

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

   261

   262

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

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{

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

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

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    fsm->tx_buffer_offset = 0;

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

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

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   271

    fsm->state = ec_fsm_foe_write_start;

   272

}

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   274

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

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/**

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   Initializes the SII write state machine.

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*/

   278

   279

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

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{

   281

    ec_slave_t *slave = fsm->slave;

   282

   283

    fsm->tx_buffer_offset = 0;

   284

    fsm->tx_current_size = 0;

   285

    fsm->tx_packet_no = 0;

   286

    fsm->tx_last_packet = 0;

   287

   288

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_write_start()\n");

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#endif

   291

   292

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

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        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   294

        EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);

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        return;

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    }

   297

   298

    if (ec_foe_prepare_wrq_send(fsm)) {

   299

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

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        return;

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    }

   302

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    fsm->state = ec_fsm_foe_state_wrq_sent;

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}

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   306

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

   307

   308

void ec_fsm_foe_state_ack_check( ec_fsm_foe_t *fsm ) {

   309

    ec_datagram_t *datagram = fsm->datagram;

   310

    ec_slave_t *slave = fsm->slave;

   311

   312

#ifdef DEBUG_FOE

   313

    printk("ec_fsm_foe_ack_check()\n");

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#endif

   315

   316

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   318

        EC_ERR("Failed to receive FoE mailbox check datagram for slave %u"

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                " (datagram state %u).\n",

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               slave->ring_position, datagram->state);

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        return;

   322

    }

   323

   324

    if (datagram->working_counter != 1) {

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        // slave did not put anything in the mailbox yet

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        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

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        EC_ERR("Reception of FoE mailbox check datagram failed on slave %u: ",

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               slave->ring_position);

   329

        ec_datagram_print_wc_error(datagram);

   330

        return;

   331

    }

   332

   333

    if (!ec_slave_mbox_check(datagram)) {

   334

        unsigned long diff_ms =

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

   336

        if (diff_ms >= EC_FSM_FOE_TIMEOUT) {

   337

            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

   338

            EC_ERR("Timeout while waiting for ack response "

   339

                    "on slave %u.\n", slave->ring_position);

   340

            return;

   341

        }

   342

   343

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

   344

        fsm->retries = EC_FSM_RETRIES;

   345

        return;

   346

    }

   347

   348

    // Fetch response

   349

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

   350

   351

    fsm->retries = EC_FSM_RETRIES;

   352

    fsm->state = ec_fsm_foe_state_ack_read;

   353

}

   354

   355

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

   356

   357

void ec_fsm_foe_state_ack_read( ec_fsm_foe_t *fsm ) {

   358

   359

    ec_datagram_t *datagram = fsm->datagram;

   360

    ec_slave_t *slave = fsm->slave;

   361

    uint8_t *data, mbox_prot;

   362

    uint8_t opCode;

   363

    size_t rec_size;

   364

   365

#ifdef DEBUG_FOE

   366

    printk("ec_fsm_foe_ack_read()\n");

   367

#endif

   368

   369

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   370

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   371

        EC_ERR("Failed to receive FoE ack response datagram for"

   372

               " slave %u (datagram state %u).\n",

   373

               slave->ring_position, datagram->state);

   374

        return;

   375

    }

   376

   377

    if (datagram->working_counter != 1) {

   378

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   379

        EC_ERR("Reception of FoE ack response failed on slave %u: ",

   380

                slave->ring_position);

   381

        ec_datagram_print_wc_error(datagram);

   382

        return;

   383

    }

   384

   385

    if (!(data = ec_slave_mbox_fetch(fsm->slave, datagram,

   386

                    &mbox_prot, &rec_size))) {

   387

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   388

        return;

   389

    }

   390

   391

    if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE

   392

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   393

        EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);

   394

        return;

   395

    }

   396

   397

    opCode = EC_READ_U8(data);

   398

   399

    if (opCode == EC_FOE_OPCODE_BUSY) {

   400

        // slave not ready

   401

        if (ec_foe_prepare_data_send(fsm)) {

   402

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   403

            EC_ERR("Slave is busy.\n");

   404

            return;

   405

        }

   406

        fsm->state = ec_fsm_foe_state_data_sent;

   407

        return;

   408

    }

   409

   410

    if (opCode == EC_FOE_OPCODE_ACK) {

   411

        fsm->tx_packet_no++;

   412

        fsm->tx_buffer_offset += fsm->tx_current_size;

   413

   414

        if (fsm->tx_last_packet) {

   415

            fsm->state = ec_fsm_foe_end;

   416

            return;

   417

        }

   418

   419

        if (ec_foe_prepare_data_send(fsm)) {

   420

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   421

            return;

   422

        }

   423

        fsm->state = ec_fsm_foe_state_data_sent;

   424

        return;

   425

    }

   426

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   427

}

   428

   429

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

   430

/**

   431

   State: WRQ SENT.

   432

   Checks is the previous transmit datagram succeded and sends the next

   433

   fragment, if necessary.

   434

*/

   435

   436

void ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t *fsm ) {

   437

    ec_datagram_t *datagram = fsm->datagram;

   438

    ec_slave_t *slave = fsm->slave;

   439

   440

#ifdef DEBUG_FOE

   441

    printk("ec_foe_state_sent_wrq()\n");

   442

#endif

   443

   444

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   445

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   446

        EC_ERR("Failed to send FoE WRQ for slave %u"

   447

                " (datagram state %u).\n",

   448

                slave->ring_position, datagram->state);

   449

        return;

   450

    }

   451

   452

    if (datagram->working_counter != 1) {

   453

        // slave did not put anything in the mailbox yet

   454

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   455

        EC_ERR("Reception of FoE WRQ failed on slave %u: ",

   456

                slave->ring_position);

   457

        ec_datagram_print_wc_error(datagram);

   458

        return;

   459

    }

   460

   461

    fsm->jiffies_start = datagram->jiffies_sent;

   462

   463

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

   464

   465

    fsm->retries = EC_FSM_RETRIES;

   466

    fsm->state = ec_fsm_foe_state_ack_check;

   467

}

   468

   469

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

   470

/**

   471

   State: WRQ SENT.

   472

   Checks is the previous transmit datagram succeded and sends the next

   473

   fragment, if necessary.

   474

*/

   475

   476

void ec_fsm_foe_state_data_sent( ec_fsm_foe_t *fsm ) {

   477

    ec_datagram_t *datagram = fsm->datagram;

   478

    ec_slave_t *slave = fsm->slave;

   479

   480

#ifdef DEBUG_FOE

   481

    printk("ec_fsm_foe_state_data_sent()\n");

   482

#endif

   483

   484

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

   485

        ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);

   486

        EC_ERR("Failed to receive FoE ack response datagram for"

   487

               " slave %u (datagram state %u).\n",

   488

               slave->ring_position, datagram->state);

   489

        return;

   490

    }

   491

   492

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

   493

        ec_foe_set_tx_error(fsm, FOE_WC_ERROR);

   494

        EC_ERR("Reception of FoE data send failed on slave %u: ",

   495

                slave->ring_position);

   496

        ec_datagram_print_wc_error(datagram);

   497

        return;

   498

    }

   499

   500

    ec_slave_mbox_prepare_check(fsm->slave, fsm->datagram);

   501

    fsm->jiffies_start = jiffies;

   502

    fsm->retries = EC_FSM_RETRIES;

   503

    fsm->state = ec_fsm_foe_state_ack_check;

   504

}

   505

   506

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

   507

/**

   508

   Prepare a read request (RRQ) with filename

   509

*/

   510

   511

int ec_foe_prepare_rrq_send( ec_fsm_foe_t *fsm ) {

   512

    size_t current_size;

   513

    uint8_t *data;

   514