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

     2

 *

     3

 *  $Id$

     4

 *

     5

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

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 *                2013  Florian Pose <fp@igh-essen.com>

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 *

     8

 *  This file is part of the IgH EtherCAT Master.

     9

 *

    10

 *  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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 *

    19

 *  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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 *

    23

 *  ---

    24

 *

    25

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

    26

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

    28

 *

    29

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

    30

    31

/** \file

    32

 * EtherCAT FoE state machines.

    33

 */

    34

    35

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

    36

    37

#include "globals.h"

    38

#include "master.h"

    39

#include "mailbox.h"

    40

#include "fsm_foe.h"

    41

#include "foe.h"

    42

    43

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

    44

    49

    50

/** Size of the FoE header.

    51

 */

    52

#define EC_FOE_HEADER_SIZE 6

    53

// uint8_t  OpCode

    54

// uint8_t  reserved

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// uint32_t PacketNo, Password, ErrorCode

    56

    57

//#define DEBUG_FOE

    58

    59

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

    60

    61

/** FoE OpCodes.

    62

 */

    63

enum {

    64

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

    65

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

    66

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

    67

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

    68

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

    69

    EC_FOE_OPCODE_BUSY = 6  /**< Busy. */

    70

};

    71

    72

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

    73

    74

int ec_foe_prepare_data_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_wrq_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_rrq_send(ec_fsm_foe_t *, ec_datagram_t *);

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int ec_foe_prepare_send_ack(ec_fsm_foe_t *, ec_datagram_t *);

    78

    79

void ec_foe_set_tx_error(ec_fsm_foe_t *, uint32_t);

    80

void ec_foe_set_rx_error(ec_fsm_foe_t *, uint32_t);

    81

    82

void ec_fsm_foe_end(ec_fsm_foe_t *, ec_datagram_t *);

    83

void ec_fsm_foe_error(ec_fsm_foe_t *, ec_datagram_t *);

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    85

void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_rrq_sent(ec_fsm_foe_t *, ec_datagram_t *);

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    88

void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *, ec_datagram_t *);

    90

    91

void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *, ec_datagram_t *);

    92

    93

void ec_fsm_foe_state_data_check(ec_fsm_foe_t *, ec_datagram_t *);

    94

void ec_fsm_foe_state_data_read(ec_fsm_foe_t *, ec_datagram_t *);

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void ec_fsm_foe_state_sent_ack(ec_fsm_foe_t *, ec_datagram_t *);

    96

    97

void ec_fsm_foe_write_start(ec_fsm_foe_t *, ec_datagram_t *);

    98

void ec_fsm_foe_read_start(ec_fsm_foe_t *, ec_datagram_t *);

    99

   100

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

   101

   102

/** Constructor.

   103

 */

   104

void ec_fsm_foe_init(

   105

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

   106

        )

   107

{

   108

    fsm->state = NULL;

   109

    fsm->datagram = NULL;

   110

}

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   112

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

   113

   114

/** Destructor.

   115

 */

   116

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

   117

{

   118

}

   119

   120

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

   121

   122

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

   123

 *

   124

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

   125

 */

   126

int ec_fsm_foe_exec(

   127

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

   128

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

   129

        )

   130

{

   131

    int datagram_used = 0;

   132

   133

    if (fsm->datagram &&

   134

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

   135

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

   136

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

   137

        // datagram not received yet

   138

        return datagram_used;

   139

    }

   140

   141

    fsm->state(fsm, datagram);

   142

   143

    datagram_used =

   144

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

   145

   146

    if (datagram_used) {

   147

        fsm->datagram = datagram;

   148

    } else {

   149

        fsm->datagram = NULL;

   150

    }

   151

   152

    return datagram_used;

   153

}

   154

   155

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

   156

   157

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

   158

 * \return non-zero if successful.

   159

 */

   160

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

   161

{

   162

    return fsm->state == ec_fsm_foe_end;

   163

}

   164

   165

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

   166

   167

/** Prepares an FoE transfer.

   168

 */

   169

void ec_fsm_foe_transfer(

   170

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

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

   172

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

   173

        )

   174

{

   175

    fsm->slave = slave;

   176

    fsm->request = request;

   177

   178

    if (request->dir == EC_DIR_OUTPUT) {

   179

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

   180

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

   181

        fsm->tx_buffer_offset = 0;

   182

   183

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

   184

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

   185

   186

        fsm->state = ec_fsm_foe_write_start;

   187

    }

   188

    else {

   189

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

   190

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

   191

   192

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

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

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   195

        fsm->state = ec_fsm_foe_read_start;

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    }

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}

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   199

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

   200

   201

/** State: ERROR.

   202

 */

   203

void ec_fsm_foe_error(

   204

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

   205

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

   206

        )

   207

{

   208

#ifdef DEBUG_FOE

   209

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

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#endif

   211

}

   212

   213

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

   214

   215

/** State: END.

   216

 */

   217

void ec_fsm_foe_end(

   218

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

   219

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

   220

        )

   221

{

   222

#ifdef DEBUG_FOE

   223

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

   224

#endif

   225

}

   226

   227

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

   228

   229

/** Sends a file or the next fragment.

   230

 *

   231

 * \return Zero on success, otherwise a negative error code.

   232

 */

   233

int ec_foe_prepare_data_send(

   234

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

   235

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

   236

        )

   237

{

   238

    size_t remaining_size, current_size;

   239

    uint8_t *data;

   240

   241

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

   242

   243

    if (remaining_size < fsm->slave->configured_tx_mailbox_size

   244

            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {

   245

        current_size = remaining_size;

   246

        fsm->tx_last_packet = 1;

   247

    } else {

   248

        current_size = fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;

   250

    }

   251

   252

    data = ec_slave_mbox_prepare_send(fsm->slave,

   253

            datagram, EC_MBOX_TYPE_FOE, current_size + EC_FOE_HEADER_SIZE);

   254

    if (IS_ERR(data)) {

   255

        return -1;

   256

    }

   257

   258

    EC_WRITE_U16(data, EC_FOE_OPCODE_DATA);    // OpCode = DataBlock req.

   259

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

   260

   261

    memcpy(data + EC_FOE_HEADER_SIZE,

   262

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

   263

    fsm->tx_current_size = current_size;

   264

   265

    return 0;

   266

}

   267

   268

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

   269

   270

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

   271

 *

   272

 * \return Zero on success, otherwise a negative error code.

   273

 */

   274

int ec_foe_prepare_wrq_send(

   275

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

   276

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

   277

        )

   278

{

   279

    size_t current_size;

   280

    uint8_t *data;

   281

   282

    fsm->tx_buffer_offset = 0;

   283

    fsm->tx_current_size = 0;

   284

    fsm->tx_packet_no = 0;

   285

    fsm->tx_last_packet = 0;

   286

   287

    current_size = fsm->tx_filename_len;

   288

   289

    data = ec_slave_mbox_prepare_send(fsm->slave, datagram,

   290

            EC_MBOX_TYPE_FOE, current_size + EC_FOE_HEADER_SIZE);

   291

    if (IS_ERR(data)) {

   292

        return -1;

   293

    }

   294

   295

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

   296

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

   297

   298

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

   299

   300

    return 0;

   301

}

   302

   303

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

   304

   305

/** Initializes the FoE write state machine.

   306

 */

   307

void ec_fsm_foe_write_start(

   308

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

   309

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

   310

        )

   311

{

   312

    ec_slave_t *slave = fsm->slave;

   313

   314

    fsm->tx_buffer_offset = 0;

   315

    fsm->tx_current_size = 0;

   316

    fsm->tx_packet_no = 0;

   317

    fsm->tx_last_packet = 0;

   318

   319

#ifdef DEBUG_FOE

   320

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

   321

#endif

   322

   323

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

   324

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   325

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

   326

        return;

   327

    }

   328

   329

    if (ec_foe_prepare_wrq_send(fsm, datagram)) {

   330

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   331

        return;

   332

    }

   333

   334

    fsm->state = ec_fsm_foe_state_wrq_sent;

   335

}

   336

   337

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

   338

   339

/** Check for acknowledge.

   340

 */

   341

void ec_fsm_foe_state_ack_check(

   342

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

   343

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

   344

        )

   345

{

   346

    ec_slave_t *slave = fsm->slave;

   347

   348

#ifdef DEBUG_FOE

   349

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

   350

#endif

   351

   352

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

   353

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   354

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

   355

        ec_datagram_print_state(fsm->datagram);

   356

        return;

   357

    }

   358

   359

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

   360

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   361

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

   362

                " failed: ");

   363

        ec_datagram_print_wc_error(fsm->datagram);

   364

        return;

   365

    }

   366

   367

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

   368

        // slave did not put anything in the mailbox yet

   371

            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

   372

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

   373

            return;

   374

        }

   375

   376

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

   377

        fsm->retries = EC_FSM_RETRIES;

   378

        return;

   379

    }

   380

   381

    // Fetch response

   382

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

   383

   384

    fsm->retries = EC_FSM_RETRIES;

   385

    fsm->state = ec_fsm_foe_state_ack_read;

   386

}

   387

   388

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

   389

   390

/** Acknowledge a read operation.

   391

 */

   392

void ec_fsm_foe_state_ack_read(

   393

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

   394

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

   395

        )

   396

{

   397

    ec_slave_t *slave = fsm->slave;

   398

    uint8_t *data, mbox_prot;

   399

    uint8_t opCode;

   400

    size_t rec_size;

   401

   402

#ifdef DEBUG_FOE

   403

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

   404

#endif

   405

   406

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

   407

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   408

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

   409

        ec_datagram_print_state(fsm->datagram);

   410

        return;

   411

    }

   412

   413

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

   414

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   415

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

   416

        ec_datagram_print_wc_error(fsm->datagram);

   417

        return;

   418

    }

   419

   420

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

   421

    if (IS_ERR(data)) {

   422

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   423

        return;

   424

    }

   425

   426

    if (mbox_prot != EC_MBOX_TYPE_FOE) {

   427

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   428

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

   429

                mbox_prot);

   430

        return;

   431

    }

   432

   433

    opCode = EC_READ_U8(data);

   434

   435

    if (opCode == EC_FOE_OPCODE_BUSY) {

   436

        // slave not ready

   437

        if (ec_foe_prepare_data_send(fsm, datagram)) {

   438

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   439

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

   440

            return;

   441

        }

   442

        fsm->state = ec_fsm_foe_state_data_sent;

   443

        return;

   444

    }

   445

   446

    if (opCode == EC_FOE_OPCODE_ACK) {

   447

        fsm->tx_packet_no++;

   448

        fsm->tx_buffer_offset += fsm->tx_current_size;

   449

   450

        if (fsm->tx_last_packet) {

   451

            fsm->state = ec_fsm_foe_end;

   452

            return;

   453

        }

   454

   455

        if (ec_foe_prepare_data_send(fsm, datagram)) {

   456

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   457

            return;

   458

        }

   459

        fsm->state = ec_fsm_foe_state_data_sent;

   460

        return;

   461

    }

   462

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   463

}

   464

   465

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

   466

   467

/** State: WRQ SENT.

   468

 *

   469

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

   470

 * fragment, if necessary.

   471

 */

   472

void ec_fsm_foe_state_wrq_sent(

   473

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

   474

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

   475

        )

   476

{

   477

    ec_slave_t *slave = fsm->slave;

   478

   479

#ifdef DEBUG_FOE

   480

    EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);

   481

#endif

   482

   483

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

   484

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   485

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

   486

        ec_datagram_print_state(fsm->datagram);

   487

        return;

   488

    }

   489

   490

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

   491

        // slave did not put anything in the mailbox yet

   492

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   493

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

   494

        ec_datagram_print_wc_error(fsm->datagram);

   495

        return;

   496

    }

   497