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

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 *

     3

 *  $Id$

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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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 *  ---

    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

/**

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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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 */

    47

#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

    57

    58

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

    59

    60

enum {

    61

    EC_FOE_OPCODE_RRQ  = 1,

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    EC_FOE_OPCODE_WRQ  = 2,

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    EC_FOE_OPCODE_DATA = 3,

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    EC_FOE_OPCODE_ACK  = 4,

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    EC_FOE_OPCODE_ERR  = 5,

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    EC_FOE_OPCODE_BUSY = 6

    67

} ec_foe_opcode_t;

    68

    69

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

    70

    71

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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    76

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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    79

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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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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    87

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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void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *);

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    92

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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    96

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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    99

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

   100

   101

/**

   102

   Constructor.

   103

*/

   104

   105

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

   106

                     ec_datagram_t *datagram /**< datagram */

   107

                     )

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

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/**

   118

   Destructor.

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*/

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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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   125

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

   126

   127

/**

   128

   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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   132

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

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}

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   139

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

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   141

/**

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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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   151

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

   152

   153

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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   171

/**

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   State: ERROR.

   173

*/

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void ec_fsm_foe_error(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_error()\n");

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#endif

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}

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

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   184

/**

   185

   State: END.

   186

*/

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   188

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

   189

{

   190

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_end\n");

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#endif

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}

   194

   195

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

   196

/**

   197

   Sends a file or the next fragment.

   198

*/

   199

   200

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;

   203

   204

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

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    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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    }

   214

   215

    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;

   219

   220

    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

   222

   223

    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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   227

    return 0;

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}

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   230

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

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/**

   232

   Prepare a write request (WRQ) with filename

   233

*/

   234

   235

int ec_foe_prepare_wrq_send( ec_fsm_foe_t *fsm ) {

   236

    size_t current_size;

   237

    uint8_t *data;

   238

   239

    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;

   243

   244

    current_size = fsm->tx_filename_len;

   245

   246

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

   247

                    EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))

   248

        return -1;

   249

   250

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

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

   252

   253

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

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    return 0;

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}

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

   259

   260

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

   261

{

   262

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

   263

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

   264

    fsm->tx_buffer_offset = 0;

   265

   266

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

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

   268

   269

    fsm->state = ec_fsm_foe_write_start;

   270

}

   271

   272

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

   273

/**

   274

   Initializes the SII write state machine.

   275

*/

   276

   277

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

   278

{

   279

    ec_slave_t *slave = fsm->slave;

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   281

    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;

   285

   286

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_write_start()\n");

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#endif

   289

   290

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

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        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

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

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        return;

   294

    }

   295

   296

    if (ec_foe_prepare_wrq_send(fsm)) {

   297

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   298

        return;

   299

    }

   300

   301

    fsm->state = ec_fsm_foe_state_wrq_sent;

   302

}

   303

   304

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

   305

   306

void ec_fsm_foe_state_ack_check( ec_fsm_foe_t *fsm ) {

   307

    ec_datagram_t *datagram = fsm->datagram;

   308

    ec_slave_t *slave = fsm->slave;

   309

   310

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_ack_check()\n");

   312

#endif

   313

   314

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   315

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

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

   317

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

   318

               slave->ring_position, datagram->state);

   319

        return;

   320

    }

   321

   322

    if (datagram->working_counter != 1) {

   323

        // slave did not put anything in the mailbox yet

   324

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   325

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

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               slave->ring_position);

   327

        ec_datagram_print_wc_error(datagram);

   328

        return;

   329

    }

   330

   331

    if (!ec_slave_mbox_check(datagram)) {

   332

        unsigned long diff_ms =

   333

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

   334

        if (diff_ms >= EC_FSM_FOE_TIMEOUT) {

   335

            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

   336

            EC_ERR("Timeout while waiting for ack response "

   337

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

   338

            return;

   339

        }

   340

   341

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

   342

        fsm->retries = EC_FSM_RETRIES;

   343

        return;

   344

    }

   345

   346

    // Fetch response

   347

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

   348

   349

    fsm->retries = EC_FSM_RETRIES;

   350

    fsm->state = ec_fsm_foe_state_ack_read;

   351

}

   352

   353

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

   354

   355

void ec_fsm_foe_state_ack_read( ec_fsm_foe_t *fsm ) {

   356

   357

    ec_datagram_t *datagram = fsm->datagram;

   358

    ec_slave_t *slave = fsm->slave;

   359

    uint8_t *data, mbox_prot;

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    uint8_t opCode;

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    size_t rec_size;

   362

   363

#ifdef DEBUG_FOE

   364

    printk("ec_fsm_foe_ack_read()\n");

   365

#endif

   366

   367

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   368

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   369

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

   370

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

   371

               slave->ring_position, datagram->state);

   372

        return;

   373

    }

   374

   375

    if (datagram->working_counter != 1) {

   376

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   377

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

   378

                slave->ring_position);

   379

        ec_datagram_print_wc_error(datagram);

   380

        return;

   381

    }

   382

   383

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

   384

                    &mbox_prot, &rec_size))) {

   385

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   386

        return;

   387

    }

   388

   389

    if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE

   390

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   391

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

   392

        return;

   393

    }

   394

   395

    opCode = EC_READ_U8(data);

   396

   397

    if (opCode == EC_FOE_OPCODE_BUSY) {

   398

        // slave not ready

   399

        if (ec_foe_prepare_data_send(fsm)) {

   400

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   401

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

   402

            return;

   403

        }

   404

        fsm->state = ec_fsm_foe_state_data_sent;

   405

        return;

   406

    }

   407

   408

    if (opCode == EC_FOE_OPCODE_ACK) {

   409

        fsm->tx_packet_no++;

   410

        fsm->tx_buffer_offset += fsm->tx_current_size;

   411

   412

        if (fsm->tx_last_packet) {

   413

            fsm->state = ec_fsm_foe_end;

   414

            return;

   415

        }

   416

   417

        if (ec_foe_prepare_data_send(fsm)) {

   418

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   419

            return;

   420

        }

   421

        fsm->state = ec_fsm_foe_state_data_sent;

   422

        return;

   423

    }

   424

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   425

}

   426

   427

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

   428

/**

   429

   State: WRQ SENT.

   430

   Checks is the previous transmit datagram succeded and sends the next

   431

   fragment, if necessary.

   432

*/

   433

   434

void ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t *fsm ) {

   435

    ec_datagram_t *datagram = fsm->datagram;

   436

    ec_slave_t *slave = fsm->slave;

   437

   438

#ifdef DEBUG_FOE

   439

    printk("ec_foe_state_sent_wrq()\n");

   440

#endif

   441

   442

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   443

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   444

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

   445

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

   446

                slave->ring_position, datagram->state);

   447

        return;

   448

    }

   449

   450

    if (datagram->working_counter != 1) {

   451

        // slave did not put anything in the mailbox yet

   452

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   453

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

   454

                slave->ring_position);

   455

        ec_datagram_print_wc_error(datagram);

   456

        return;

   457

    }

   458

   459

    fsm->jiffies_start = datagram->jiffies_sent;

   460

   461

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

   462

   463

    fsm->retries = EC_FSM_RETRIES;

   464

    fsm->state = ec_fsm_foe_state_ack_check;

   465

}

   466

   467

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

   468

/**

   469

   State: WRQ SENT.

   470

   Checks is the previous transmit datagram succeded and sends the next

   471

   fragment, if necessary.

   472

*/

   473

   474

void ec_fsm_foe_state_data_sent( ec_fsm_foe_t *fsm ) {

   475

    ec_datagram_t *datagram = fsm->datagram;

   476

    ec_slave_t *slave = fsm->slave;

   477

   478

#ifdef DEBUG_FOE

   479

    printk("ec_fsm_foe_state_data_sent()\n");

   480

#endif

   481

   482

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

   483

        ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);

   484

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

   485

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

   486

               slave->ring_position, datagram->state);

   487

        return;

   488

    }

   489

   490

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

   491

        ec_foe_set_tx_error(fsm, FOE_WC_ERROR);

   492

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

   493

                slave->ring_position);

   494

        ec_datagram_print_wc_error(datagram);

   495

        return;

   496

    }

   497

   498

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

   499

    fsm->jiffies_start = jiffies;

   500

    fsm->retries = EC_FSM_RETRIES;

   501

    fsm->state = ec_fsm_foe_state_ack_check;

   502

}

   503

   504

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

   505

/**

   506

   Prepare a read request (RRQ) with filename

   507

*/

   508

   509

int ec_foe_prepare_rrq_send( ec_fsm_foe_t *fsm ) {

   510

    size_t current_size;

   511

    uint8_t *data;

   512

   513

    current_size = fsm->rx_filename_len;

   514