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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/** \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 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_clear_data(ec_voe_handler_t *);
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void ec_voe_handler_state_write_start(ec_voe_handler_t *);
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void ec_voe_handler_state_write_response(ec_voe_handler_t *);
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void ec_voe_handler_state_read_start(ec_voe_handler_t *);
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void ec_voe_handler_state_read_check(ec_voe_handler_t *);
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void ec_voe_handler_state_read_response(ec_voe_handler_t *);
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void ec_voe_handler_state_end(ec_voe_handler_t *);
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void ec_voe_handler_state_error(ec_voe_handler_t *);
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/*****************************************************************************/
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/** VoE handler constructor.
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*/
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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->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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if (ec_datagram_prealloc(&voe->datagram, size + 6))
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return -1;
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return 0;
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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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* Application interface.
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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 + 6;
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}
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/*****************************************************************************/
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size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
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{
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return voe->data_size;
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}
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/*****************************************************************************/
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void ecrt_voe_handler_read(ec_voe_handler_t *voe)
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{
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voe->dir = EC_DIR_INPUT;
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voe->state = ec_voe_handler_state_read_start;
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voe->request_state = EC_INT_REQUEST_QUEUED;
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}
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/*****************************************************************************/
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void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
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{
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voe->dir = EC_DIR_OUTPUT;
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voe->datagram.data_size = size + 6;
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voe->state = ec_voe_handler_state_write_start;
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voe->request_state = EC_INT_REQUEST_QUEUED;
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}
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/*****************************************************************************/
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ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
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{
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if (voe->config->slave) {
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voe->state(voe);
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if (voe->request_state == EC_REQUEST_BUSY)
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ec_master_queue_datagram(voe->config->master, &voe->datagram);
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} else {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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}
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return ec_request_state_translation_table[voe->request_state];
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}
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/******************************************************************************
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* State functions.
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*****************************************************************************/
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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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voe->data_size, slave->ring_position);
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ec_print_data(ecrt_voe_handler_data(voe), voe->data_size);
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}
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if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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return;
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}
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if (!(data = ec_slave_mbox_prepare_send(
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slave, &voe->datagram, 0x01, voe->data_size))) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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return;
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}
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voe->retries = EC_FSM_RETRIES;
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voe->jiffies_start = jiffies;
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voe->state = ec_voe_handler_state_write_response;
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}
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/*****************************************************************************/
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void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)
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{
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ec_datagram_t *datagram = &voe->datagram;
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ec_slave_t *slave = voe->config->slave;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Failed to receive VoE write request datagram for"
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" slave %u (datagram state %u).\n",
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slave->ring_position, datagram->state);
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return;
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}
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if (datagram->working_counter != 1) {
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if (!datagram->working_counter) {
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unsigned long diff_ms =
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(jiffies - voe->jiffies_start) * 1000 / HZ;
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if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
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if (slave->master->debug_level) {
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EC_DBG("Slave %u did not respond to VoE write request. "
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"Retrying after %u ms...\n",
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slave->ring_position, (u32) diff_ms);
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}
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// no response; send request datagram again
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return;
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}
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}
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Reception of VoE write request failed on slave %u: ",
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slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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if (voe->config->master->debug_level)
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EC_DBG("VoE write request successful.\n");
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voe->request_state = EC_INT_REQUEST_SUCCESS;
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voe->state = ec_voe_handler_state_end;
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}
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/*****************************************************************************/
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void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)
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{
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ec_datagram_t *datagram = &voe->datagram;
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ec_slave_t *slave = voe->config->slave;
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if (slave->master->debug_level)
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EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
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if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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return;
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}
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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voe->jiffies_start = jiffies;
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voe->retries = EC_FSM_RETRIES;
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voe->state = ec_voe_handler_state_read_check;
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}
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/*****************************************************************************/
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void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)
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{
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ec_datagram_t *datagram = &voe->datagram;
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ec_slave_t *slave = voe->config->slave;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
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return;
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
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" (datagram state %u).\n",
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slave->ring_position, datagram->state);
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return;
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}
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if (datagram->working_counter != 1) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Reception of VoE mailbox check"
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" datagram failed on slave %u: ", slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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if (!ec_slave_mbox_check(datagram)) {
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unsigned long diff_ms =
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(datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ;
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if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Timeout while waiting for VoE data on "
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"slave %u.\n", slave->ring_position);
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return;
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}
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ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
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voe->retries = EC_FSM_RETRIES;
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return;
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}
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// Fetch response
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ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
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voe->retries = EC_FSM_RETRIES;
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voe->state = ec_voe_handler_state_read_response;
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}
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/*****************************************************************************/
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void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)
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{
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ec_datagram_t *datagram = &voe->datagram;
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ec_slave_t *slave = voe->config->slave;
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ec_master_t *master = voe->config->master;
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uint8_t *data, mbox_prot;
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size_t rec_size;
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
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return;
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318 |
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if (datagram->state != EC_DATAGRAM_RECEIVED) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Failed to receive VoE read datagram for"
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" slave %u (datagram state %u).\n",
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slave->ring_position, datagram->state);
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return;
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}
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327 |
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328 |
if (datagram->working_counter != 1) {
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voe->state = ec_voe_handler_state_error;
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voe->request_state = EC_INT_REQUEST_FAILURE;
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EC_ERR("Reception of VoE read response failed on slave %u: ",
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slave->ring_position);
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ec_datagram_print_wc_error(datagram);
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return;
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}
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336 |
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337 |
if (!(data = ec_slave_mbox_fetch(slave, datagram,
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&mbox_prot, &rec_size))) {
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339 |
voe->state = ec_voe_handler_state_error;
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340 |
voe->request_state = EC_INT_REQUEST_FAILURE;
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341 |
return;
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342 |
}
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343 |
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344 |
if (mbox_prot != 0x01) { // VoE
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345 |
voe->state = ec_voe_handler_state_error;
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346 |
voe->request_state = EC_INT_REQUEST_FAILURE;
|
|
|
347 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
|
348 |
ec_print_data(data, rec_size);
|
|
|
349 |
return;
|
|
|
350 |
}
|
|
|
351 |
|
|
|
352 |
if (master->debug_level) {
|
|
|
353 |
EC_DBG("VoE data:\n");
|
|
|
354 |
ec_print_data(data, rec_size);
|
|
|
355 |
}
|
|
|
356 |
|
|
|
357 |
voe->data_size = rec_size;
|
|
|
358 |
voe->request_state = EC_INT_REQUEST_SUCCESS;
|
|
|
359 |
voe->state = ec_voe_handler_state_end; // success
|
|
|
360 |
}
|
|
|
361 |
|
|
|
362 |
/*****************************************************************************/
|
|
|
363 |
|
|
|
364 |
void ec_voe_handler_state_end(ec_voe_handler_t *voe)
|
|
|
365 |
{
|
|
|
366 |
}
|
|
|
367 |
|
|
|
368 |
/*****************************************************************************/
|
|
|
369 |
|
|
|
370 |
void ec_voe_handler_state_error(ec_voe_handler_t *voe)
|
|
|
371 |
{
|
|
|
372 |
}
|
|
|
373 |
|
|
|
374 |
/*****************************************************************************/
|
|
|
375 |
|
|
|
376 |
/** \cond */
|
|
|
377 |
|
|
|
378 |
EXPORT_SYMBOL(ecrt_voe_handler_data);
|
|
|
379 |
EXPORT_SYMBOL(ecrt_voe_handler_data_size);
|
|
|
380 |
EXPORT_SYMBOL(ecrt_voe_handler_read);
|
|
|
381 |
EXPORT_SYMBOL(ecrt_voe_handler_write);
|
|
|
382 |
EXPORT_SYMBOL(ecrt_voe_handler_execute);
|
|
|
383 |
|
|
|
384 |
/** \endcond */
|
|
|
385 |
|
|
|
386 |
/*****************************************************************************/
|