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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  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.

     8

 *

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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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 *  ---

    23

 *

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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

/**

    31

   \file

    32

   EtherCAT SoE state machines.

    33

*/

    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_soe.h"

    41

    42

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

    43

    44

/** Mailbox type for SoE.

    45

 */

    46

#define EC_MBOX_TYPE_SOE 0x05

    47

    48

#define EC_SOE_OPCODE_READ_REQUEST   0x01

    49

#define EC_SOE_OPCODE_READ_RESPONSE  0x02

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#define EC_SOE_OPCODE_WRITE_REQUEST  0x03

    51

#define EC_SOE_OPCODE_WRITE_RESPONSE 0x04

    52

    53

#define EC_SOE_READ_REQUEST_SIZE   0x04

    54

#define EC_SOE_READ_RESPONSE_SIZE  0x04

    55

#define EC_SOE_WRITE_REQUEST_SIZE  0x04

    56

#define EC_SOE_WRITE_RESPONSE_SIZE 0x04

    57

    58

#define EC_SOE_RESPONSE_TIMEOUT 1000

    59

    60

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

    61

    62

void ec_fsm_soe_read_start(ec_fsm_soe_t *);

    63

void ec_fsm_soe_read_request(ec_fsm_soe_t *);

    64

void ec_fsm_soe_read_check(ec_fsm_soe_t *);

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void ec_fsm_soe_read_response(ec_fsm_soe_t *);

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    67

void ec_fsm_soe_write_start(ec_fsm_soe_t *);

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void ec_fsm_soe_write_request(ec_fsm_soe_t *);

    69

void ec_fsm_soe_write_check(ec_fsm_soe_t *);

    70

void ec_fsm_soe_write_response(ec_fsm_soe_t *);

    71

    72

void ec_fsm_soe_end(ec_fsm_soe_t *);

    73

void ec_fsm_soe_error(ec_fsm_soe_t *);

    74

    75

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

    76

    77

extern const ec_code_msg_t soe_error_codes[];

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    79

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

    80

    81

/** Outputs an SoE error code.

    82

*/

    83

void ec_print_soe_error(uint16_t error_code)

    84

{

    85

    const ec_code_msg_t *error_msg;

    86

    87

    for (error_msg = soe_error_codes; error_msg->code; error_msg++) {

    88

        if (error_msg->code == error_code) {

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            EC_ERR("SoE error 0x%04X: \"%s\".\n",

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                   error_msg->code, error_msg->message);

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            return;

    92

        }

    93

    }

    94

    95

    EC_ERR("Unknown SoE error 0x%04X.\n", error_code);

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}

    97

    98

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

    99

   100

/** Constructor.

   101

 */

   102

void ec_fsm_soe_init(

   103

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

   104

        ec_datagram_t *datagram /**< datagram */

   105

        )

   106

{

   107

    fsm->state = NULL;

   108

    fsm->datagram = datagram;

   109

}

   110

   111

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

   112

   113

/** Destructor.

   114

 */

   115

void ec_fsm_soe_clear(

   116

        ec_fsm_soe_t *fsm /**< finite state machine */

   117

        )

   118

{

   119

}

   120

   121

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

   122

   123

/** Starts to transfer an IDN to/from a slave.

   124

 */

   125

void ec_fsm_soe_transfer(

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

   127

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

   128

        ec_soe_request_t *request /**< SoE request. */

   129

        )

   130

{

   131

    fsm->slave = slave;

   132

    fsm->request = request;

   133

    if (request->dir == EC_DIR_OUTPUT) {

   134

        fsm->state = ec_fsm_soe_write_start;

   135

    } else {

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        fsm->state = ec_fsm_soe_read_start;

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    }

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}

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   140

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

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   142

/**

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   Executes the current state of the state machine.

   144

   \return false, if state machine has terminated

   145

*/

   146

   147

int ec_fsm_soe_exec(ec_fsm_soe_t *fsm /**< finite state machine */)

   148

{

   149

    fsm->state(fsm);

   150

   151

    return fsm->state != ec_fsm_soe_end && fsm->state != ec_fsm_soe_error;

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}

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   154

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

   155

   156

/**

   157

   Returns, if the state machine terminated with success.

   158

   \return non-zero if successful.

   159

*/

   160

   161

int ec_fsm_soe_success(ec_fsm_soe_t *fsm /**< Finite state machine */)

   162

{

   163

    return fsm->state == ec_fsm_soe_end;

   164

}

   165

   166

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

   167

   168

/** Output information about a failed SoE transfer.

   169

 */

   170

void ec_fsm_soe_print_error(ec_fsm_soe_t *fsm /**< Finite state machine */)

   171

{

   172

    ec_soe_request_t *request = fsm->request;

   173

   174

    EC_ERR("");

   175

   176

    if (request->dir == EC_DIR_OUTPUT) {

   177

        printk("Writing");

   178

    } else {

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        printk("Reading");

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    }

   181

   182

    printk(" IDN 0x%04X failed on slave %u.\n",

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            request->idn, fsm->slave->ring_position);

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}

   185

   186

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

   187

 * SoE read state machine

   188

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

   189

   190

/** SoE state: READ START.

   191

 */

   192

void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)

   193

{

   194

    ec_datagram_t *datagram = fsm->datagram;

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    ec_slave_t *slave = fsm->slave;

   196

    ec_master_t *master = slave->master;

   197

    ec_soe_request_t *request = fsm->request;

   198

    uint8_t *data;

   199

   200

    if (master->debug_level)

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        EC_DBG("Reading IDN 0x%04X from slave %u.\n",

   202

               request->idn, slave->ring_position);

   203

   204

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

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        EC_ERR("Slave does not support SoE!\n");

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        fsm->state = ec_fsm_soe_error;

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        ec_fsm_soe_print_error(fsm);

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        return;

   209

    }

   210

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    data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,

   212

            EC_SOE_READ_REQUEST_SIZE);

   213

    if (IS_ERR(data)) {

   214

        fsm->state = ec_fsm_soe_error;

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        ec_fsm_soe_print_error(fsm);

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        return;

   217

    }

   218

   219

    EC_WRITE_U8(data, EC_SOE_OPCODE_READ_REQUEST);

   220

    EC_WRITE_U8(data + 1, 1 << 6); // request value

   221

    EC_WRITE_U16(data + 2, request->idn);

   222

   223

    if (master->debug_level) {

   224

        EC_DBG("SCC read request:\n");

   225

        ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);

   226

    }

   227

   228

    fsm->request->data_size = 0;

   229

    fsm->request->jiffies_sent = jiffies;

   230

    fsm->retries = EC_FSM_RETRIES;

   231

    fsm->state = ec_fsm_soe_read_request;

   232

}

   233

   234

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

   235

   236

/** SoE state: READ REQUEST.

   237

 */

   238

void ec_fsm_soe_read_request(ec_fsm_soe_t *fsm /**< finite state machine */)

   239

{

   240

    ec_datagram_t *datagram = fsm->datagram;

   241

    ec_slave_t *slave = fsm->slave;

   242

    unsigned long diff_ms;

   243

   244

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   245

        return; // FIXME: check for response first?

   246

   247

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   248

        fsm->state = ec_fsm_soe_error;

   249

        EC_ERR("Failed to receive SoE read request: ");

   250

        ec_datagram_print_state(datagram);

   251

        ec_fsm_soe_print_error(fsm);

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        return;

   253

    }

   254

   255

    diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;

   256

   257

    if (datagram->working_counter != 1) {

   258

        if (!datagram->working_counter) {

   259

            if (diff_ms < EC_SOE_RESPONSE_TIMEOUT) {

   260

                // no response; send request datagram again

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                return;

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            }

   263

        }

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        fsm->state = ec_fsm_soe_error;

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        EC_ERR("Reception of SoE read request failed after %u ms: ",

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                (u32) diff_ms);

   267

        ec_datagram_print_wc_error(datagram);

   268

        ec_fsm_soe_print_error(fsm);

   269

        return;

   270

    }

   271

   272

    fsm->jiffies_start = datagram->jiffies_sent;

   273

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

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_soe_read_check;

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}

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

   279

   280

/** CoE state: READ CHECK.

   281

 */

   282

void ec_fsm_soe_read_check(ec_fsm_soe_t *fsm /**< finite state machine */)

   283

{

   284

    ec_datagram_t *datagram = fsm->datagram;

   285

    ec_slave_t *slave = fsm->slave;

   286

   287

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

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        return;

   289

   290

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   291

        fsm->state = ec_fsm_soe_error;

   292

        EC_ERR("Failed to receive SoE mailbox check datagram: ");

   293

        ec_datagram_print_state(datagram);

   294

        ec_fsm_soe_print_error(fsm);

   295

        return;

   296

    }

   297

   298

    if (datagram->working_counter != 1) {

   299

        fsm->state = ec_fsm_soe_error;

   300

        EC_ERR("Reception of SoE mailbox check datagram failed: ");

   301

        ec_datagram_print_wc_error(datagram);

   302

        ec_fsm_soe_print_error(fsm);

   303

        return;

   304

    }

   305

   306

    if (!ec_slave_mbox_check(datagram)) {

   307

        unsigned long diff_ms =

   308

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

   309

        if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {

   310

            fsm->state = ec_fsm_soe_error;

   311

            EC_ERR("Timeout after %u ms while waiting for read response.\n",

   312

                    (u32) diff_ms);

   313

            ec_fsm_soe_print_error(fsm);

   314

            return;

   315

        }

   316

   317

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

   318

        fsm->retries = EC_FSM_RETRIES;

   319

        return;

   320

    }

   321

   322

    // Fetch response

   323

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

   324

    fsm->retries = EC_FSM_RETRIES;

   325

    fsm->state = ec_fsm_soe_read_response;

   326

}

   327

   328

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

   329

   330

/** SoE state: READ RESPONSE.

   331

 */

   332

void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)

   333

{

   334

    ec_datagram_t *datagram = fsm->datagram;

   335

    ec_slave_t *slave = fsm->slave;

   336

    ec_master_t *master = slave->master;

   337

    uint8_t *data, mbox_prot, header, opcode, incomplete, error_flag,

   338

            value_included;

   339

    size_t rec_size, data_size;

   340

    ec_soe_request_t *req = fsm->request;

   341

   342

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)

   343

        return; // FIXME: request again?

   344

   345

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   346

        fsm->state = ec_fsm_soe_error;

   347

        EC_ERR("Failed to receive SoE read response datagram: ");

   348

        ec_datagram_print_state(datagram);

   349

        ec_fsm_soe_print_error(fsm);

   350

        return;

   351

    }

   352

   353

    if (datagram->working_counter != 1) {

   354

        fsm->state = ec_fsm_soe_error;

   355

        EC_ERR("Reception of SoE read response failed: ");

   356

        ec_datagram_print_wc_error(datagram);

   357

        ec_fsm_soe_print_error(fsm);

   358

        return;

   359

    }

   360

   361

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

   362

    if (IS_ERR(data)) {

   363

        fsm->state = ec_fsm_soe_error;

   364

        ec_fsm_soe_print_error(fsm);

   365

        return;

   366

    }

   367

   368

    if (master->debug_level) {

   369

        EC_DBG("SCC read response:\n");

   370

        ec_print_data(data, rec_size);

   371

    }

   372

   373

    if (mbox_prot != EC_MBOX_TYPE_SOE) {

   374

        fsm->state = ec_fsm_soe_error;

   375

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

   376

        ec_fsm_soe_print_error(fsm);

   377

        return;

   378

    }

   379

   380

    if (rec_size < EC_SOE_READ_RESPONSE_SIZE) {

   381

        fsm->state = ec_fsm_soe_error;

   382

        EC_ERR("Received currupted SoE read response"

   383

                " (%zu bytes)!\n", rec_size);

   384

        ec_print_data(data, rec_size);

   385

        ec_fsm_soe_print_error(fsm);

   386

        return;

   387

    }

   388

   389

    header = EC_READ_U8(data);

   390

    opcode = header & 0x7;

   391

    incomplete = (header >> 3) & 1;

   392

    error_flag = (header >> 4) & 1;

   393

   394

    if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {

   395

        EC_ERR("Received no read response (opcode %x).\n", opcode);

   396

        ec_print_data(data, rec_size);

   397

        ec_fsm_soe_print_error(fsm);

   398

        fsm->state = ec_fsm_soe_error;

   399

        return;

   400

    }

   401

   402

    if (error_flag) {

   403

        req->error_code = EC_READ_U16(data + rec_size - 2);

   404

        EC_ERR("Received error response:\n");

   405

        ec_print_soe_error(req->error_code);

   406

        ec_fsm_soe_print_error(fsm);

   407

        fsm->state = ec_fsm_soe_error;

   408

        return;

   409

    } else {

   410

        req->error_code = 0x0000;

   411

    }

   412

   413

    value_included = (EC_READ_U8(data + 1) >> 6) & 1;

   414

    if (!value_included) {

   415

        EC_ERR("No value included!\n");

   416

        ec_fsm_soe_print_error(fsm);

   417

        fsm->state = ec_fsm_soe_error;

   418

        return;

   419

    }

   420

   421

    data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;

   422

    if (ec_soe_request_append_data(req,

   423

                data + EC_SOE_READ_RESPONSE_SIZE, data_size)) {

   424

        fsm->state = ec_fsm_soe_error;

   425

        ec_fsm_soe_print_error(fsm);

   426

        return;

   427

    }

   428

   429

    if (incomplete) {

   430

        if (master->debug_level) {

   431

            EC_DBG("SoE data incomplete. Waiting for fragment"

   432

                    " at offset %zu.\n", req->data_size);

   433

        }

   434

        fsm->jiffies_start = datagram->jiffies_sent;

   435

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

   436

        fsm->retries = EC_FSM_RETRIES;

   437

        fsm->state = ec_fsm_soe_read_check;

   438

    } else {

   439

        if (master->debug_level) {

   440

            EC_DBG("IDN data:\n");

   441

            ec_print_data(req->data, req->data_size);

   442

        }

   443

   444

        fsm->state = ec_fsm_soe_end; // success

   445

    }

   446

}

   447

   448

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

   449

 * SoE write state machine

   450

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

   451

   452

/** Write next fragment.

   453

 */

   454

void ec_fsm_soe_write_next_fragment(

   455

        ec_fsm_soe_t *fsm /**< finite state machine */

   456

        )

   457

{

   458

    ec_datagram_t *datagram = fsm->datagram;

   459

    ec_slave_t *slave = fsm->slave;

   460

    ec_master_t *master = slave->master;

   461

    ec_soe_request_t *req = fsm->request;

   462

    uint8_t incomplete, *data;

   463

    size_t header_size, max_fragment_size, remaining_size, fragment_size;

   464

    uint16_t fragments_left;

   465

   466

    header_size = EC_MBOX_HEADER_SIZE + EC_SOE_WRITE_REQUEST_SIZE;

   467

    if (slave->configured_rx_mailbox_size <= header_size) {

   468

        EC_ERR("Mailbox size (%u) too small for SoE write.\n",

   469

                slave->configured_rx_mailbox_size);

   470

        fsm->state = ec_fsm_soe_error;

   471

        ec_fsm_soe_print_error(fsm);

   472

        return;

   473

    }

   474

   475

    remaining_size = req->data_size - fsm->offset;

   476

    max_fragment_size = slave->configured_rx_mailbox_size - header_size;

   477

    incomplete = remaining_size > max_fragment_size;

   478

    fragment_size = incomplete ? max_fragment_size : remaining_size;

   479

    fragments_left = remaining_size / fragment_size - 1;

   480

    if (remaining_size % fragment_size) {

   481

        fragments_left++;

   482

    }

   483

   484

    data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,

   485

            EC_SOE_WRITE_REQUEST_SIZE + fragment_size);

   486

    if (IS_ERR(data)) {

   487

        fsm->state = ec_fsm_soe_error;

   488

        ec_fsm_soe_print_error(fsm);

   489

        return;

   490

    }

   491

   492

    EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST | incomplete << 3);

   493

    EC_WRITE_U8(data + 1, 1 << 6); // only value included

   494

    EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);

   495

    memcpy(data + 4, req->data + fsm->offset, fragment_size);

   496

    fsm->offset += fragment_size;

   497

   498

    if (master->debug_level) {

   499

        EC_DBG("SCC write request:\n");

   500

        ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + fragment_size);

   501

    }

   502

   503

    req->jiffies_sent = jiffies;

   504

    fsm->retries = EC_FSM_RETRIES;

   505

    fsm->state = ec_fsm_soe_write_request;

   506

}

   507

   508

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

   509