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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

 *

     9

 *  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.

    17

 *

    18

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

    19

 *  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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 *

    22

 *  ---

    23

 *

    24

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

    25

 *  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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 *

    28

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

    29

    30

/** \file

    31

 * Vendor specific over EtherCAT protocol handler functions.

    32

 */

    33

    34

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

    35

    36

#include <linux/module.h>

    37

    38

#include "master.h"

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#include "slave_config.h"

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#include "mailbox.h"

    41

#include "voe_handler.h"

    42

    43

/** VoE mailbox type.

    44

 */

    45

#define EC_MBOX_TYPE_VOE 0x0f

    46

    47

/** VoE header size.

    48

 */

    49

#define EC_VOE_HEADER_SIZE 6

    50

    51

/** VoE response timeout in [ms].

    52

 */

    53

#define EC_VOE_RESPONSE_TIMEOUT 500

    54

    55

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

    56

    57

void ec_voe_handler_state_write_start(ec_voe_handler_t *);

    58

void ec_voe_handler_state_write_response(ec_voe_handler_t *);

    59

    60

void ec_voe_handler_state_read_start(ec_voe_handler_t *);

    61

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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    64

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *);

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void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *);

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    67

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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    70

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

    71

    72

/** VoE handler constructor.

    73

 *

    74

 * \return Return value of ec_datagram_prealloc().

    75

 */

    76

int ec_voe_handler_init(

    77

        ec_voe_handler_t *voe, /**< VoE handler. */

    78

        ec_slave_config_t *sc, /**< Parent slave configuration. */

    79

        size_t size /**< Size of memory to reserve. */

    80

        )

    81

{

    82

    voe->config = sc;

    83

    voe->vendor_id = 0x00000000;

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    voe->vendor_type = 0x0000;

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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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    90

    ec_datagram_init(&voe->datagram);

    91

    return ec_datagram_prealloc(&voe->datagram,

    92

            size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

    93

}

    94

    95

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

    96

    97

/** VoE handler destructor.

    98

 */

    99

void ec_voe_handler_clear(

   100

        ec_voe_handler_t *voe /**< VoE handler. */

   101

        )

   102

{

   103

    ec_datagram_clear(&voe->datagram);

   104

}

   105

   106

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

   107

   108

/** Get usable memory size.

   109

 */

   110

size_t ec_voe_handler_mem_size(

   111

        const ec_voe_handler_t *voe /**< VoE handler. */

   112

        )

   113

{

   114

    if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)

   115

        return voe->datagram.mem_size -

   116

            (EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

   117

    else

   118

        return 0;

   119

}

   120

   121

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

   122

 * Application interface.

   123

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

   124

   125

void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,

   126

        uint16_t vendor_type)

   127

{

   128

    voe->vendor_id = vendor_id;

   129

    voe->vendor_type = vendor_type;

   130

}

   131

   132

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

   133

   134

void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,

   135

        uint32_t *vendor_id, uint16_t *vendor_type)

   136

{

   137

    uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE;

   138

   139

    if (vendor_id)

   140

        *vendor_id = EC_READ_U32(header);

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    if (vendor_type)

   142

        *vendor_type = EC_READ_U16(header + 4);

   143

}

   144

   145

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

   146

   147

uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)

   148

{

   149

    return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE;

   150

}

   151

   152

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

   153

   154

size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)

   155

{

   156

    return voe->data_size;

   157

}

   158

   159

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

   160

   161

void ecrt_voe_handler_read(ec_voe_handler_t *voe)

   162

{

   163

    voe->dir = EC_DIR_INPUT;

   164

    voe->state = ec_voe_handler_state_read_start;

   165

    voe->request_state = EC_INT_REQUEST_BUSY;

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}

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   168

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

   169

   170

void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)

   171

{

   172

    voe->dir = EC_DIR_INPUT;

   173

    voe->state = ec_voe_handler_state_read_nosync_start;

   174

    voe->request_state = EC_INT_REQUEST_BUSY;

   175

}

   176

   177

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

   178

   179

void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)

   180

{

   181

    voe->dir = EC_DIR_OUTPUT;

   182

    voe->data_size = size;

   183

    voe->state = ec_voe_handler_state_write_start;

   184

    voe->request_state = EC_INT_REQUEST_BUSY;

   185

}

   186

   187

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

   188

   189

ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)

   190

{

   191

    if (voe->config->slave) { // FIXME locking?

   192

        voe->state(voe);

   193

        if (voe->request_state == EC_INT_REQUEST_BUSY)

   194

            ec_master_queue_datagram(voe->config->master, &voe->datagram);

   195

    } else {

   196

        voe->state = ec_voe_handler_state_error;

   197

        voe->request_state = EC_INT_REQUEST_FAILURE;

   198

    }

   199

   200

    return ec_request_state_translation_table[voe->request_state];

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}

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   203

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

   204

 * State functions.

   205

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

   206

   207

/** Start writing VoE data.

   208

 */

   209

void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)

   210

{

   211

    ec_slave_t *slave = voe->config->slave;

   212

    uint8_t *data;

   213

   214

    if (slave->master->debug_level) {

   215

        EC_SLAVE_DBG(slave, 0, "Writing %zu bytes of VoE data.\n",

   216

               voe->data_size);

   217

        ec_print_data(ecrt_voe_handler_data(voe), voe->data_size);

   218

    }

   219

   220

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

   221

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

   222

        voe->state = ec_voe_handler_state_error;

   223

        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

   225

    }

   226

   227

    data = ec_slave_mbox_prepare_send(slave, &voe->datagram,

   228

            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);

   229

    if (IS_ERR(data)) {

   230

        voe->state = ec_voe_handler_state_error;

   231

        voe->request_state = EC_INT_REQUEST_FAILURE;

   232

        return;

   233

    }

   234

   235

    EC_WRITE_U32(data,     voe->vendor_id);

   236

    EC_WRITE_U16(data + 4, voe->vendor_type);

   237

    /* data already in datagram */

   238

   239

    voe->retries = EC_FSM_RETRIES;

   240

    voe->jiffies_start = jiffies;

   241

    voe->state = ec_voe_handler_state_write_response;

   242

}

   243

   244

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

   245

   246

/** Wait for the mailbox response.

   247

 */

   248

void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)

   249

{

   250

    ec_datagram_t *datagram = &voe->datagram;

   251

    ec_slave_t *slave = voe->config->slave;

   252

   253

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

   254

        return;

   255

   256

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   257

        voe->state = ec_voe_handler_state_error;

   258

        voe->request_state = EC_INT_REQUEST_FAILURE;

   259

        EC_SLAVE_ERR(slave, "Failed to receive VoE write request datagram: ");

   260

        ec_datagram_print_state(datagram);

   261

        return;

   262

    }

   263

   264

    if (datagram->working_counter != 1) {

   265

        if (!datagram->working_counter) {

   266

            unsigned long diff_ms =

   267

                (jiffies - voe->jiffies_start) * 1000 / HZ;

   268

            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {

   269

                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"

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                        " VoE write request. Retrying after %lu ms...\n",

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                        diff_ms);

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                // no response; send request datagram again

   273

                return;

   274

            }

   275

        }

   276

        voe->state = ec_voe_handler_state_error;

   277

        voe->request_state = EC_INT_REQUEST_FAILURE;

   278

        EC_SLAVE_ERR(slave, "Reception of VoE write request failed: ");

   279

        ec_datagram_print_wc_error(datagram);

   280

        return;

   281

    }

   282

   283

    EC_CONFIG_DBG(voe->config, 1, "VoE write request successful.\n");

   284

   285

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   286

    voe->state = ec_voe_handler_state_end;

   287

}

   288

   289

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

   290

   291

/** Start reading VoE data.

   292

 */

   293

void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)

   294

{

   295

    ec_datagram_t *datagram = &voe->datagram;

   296

    ec_slave_t *slave = voe->config->slave;

   297

   298

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   299

   300

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

   301

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

   302

        voe->state = ec_voe_handler_state_error;

   303

        voe->request_state = EC_INT_REQUEST_FAILURE;

   304

        return;

   305

    }

   306

   307

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

   308

   309

    voe->jiffies_start = jiffies;

   310

    voe->retries = EC_FSM_RETRIES;

   311

    voe->state = ec_voe_handler_state_read_check;

   312

}

   313

   314

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

   315

   316

/** Check for new data in the mailbox.

   317

 */

   318

void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)

   319

{

   320

    ec_datagram_t *datagram = &voe->datagram;

   321

    ec_slave_t *slave = voe->config->slave;

   322

   323

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

   324

        return;

   325

   326

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   327

        voe->state = ec_voe_handler_state_error;

   328

        voe->request_state = EC_INT_REQUEST_FAILURE;

   329

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

   330

        ec_datagram_print_state(datagram);

   331

        return;

   332

    }

   333

   334

    if (datagram->working_counter != 1) {

   335

        voe->state = ec_voe_handler_state_error;

   336

        voe->request_state = EC_INT_REQUEST_FAILURE;

   337

        EC_SLAVE_ERR(slave, "Reception of VoE mailbox check"

   338

                " datagram failed: ");

   339

        ec_datagram_print_wc_error(datagram);

   340

        return;

   341

    }

   342

   343

    if (!ec_slave_mbox_check(datagram)) {

   344

        unsigned long diff_ms =

   345

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

   346

        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {

   347

            voe->state = ec_voe_handler_state_error;

   348

            voe->request_state = EC_INT_REQUEST_FAILURE;

   349

            EC_SLAVE_ERR(slave, "Timeout while waiting for VoE data.\n");

   350

            return;

   351

        }

   352

   353

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

   354

        voe->retries = EC_FSM_RETRIES;

   355

        return;

   356

    }

   357

   358

    // Fetch response

   359

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

   360

    voe->retries = EC_FSM_RETRIES;

   361

    voe->state = ec_voe_handler_state_read_response;

   362

}

   363

   364

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

   365

   366

/** Read the pending mailbox data.

   367

 */

   368

void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)

   369

{

   370

    ec_datagram_t *datagram = &voe->datagram;

   371

    ec_slave_t *slave = voe->config->slave;

   372

    ec_master_t *master = voe->config->master;

   373

    uint8_t *data, mbox_prot;

   374

    size_t rec_size;

   375

   376

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

   377

        return;

   378

   379

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   380

        voe->state = ec_voe_handler_state_error;

   381

        voe->request_state = EC_INT_REQUEST_FAILURE;

   382

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   383

        ec_datagram_print_state(datagram);

   384

        return;

   385

    }

   386

   387

    if (datagram->working_counter != 1) {

   388

        voe->state = ec_voe_handler_state_error;

   389

        voe->request_state = EC_INT_REQUEST_FAILURE;

   390

        EC_SLAVE_ERR(slave, "Reception of VoE read response failed: ");

   391

        ec_datagram_print_wc_error(datagram);

   392

        return;

   393

    }

   394

   395

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

   396

    if (IS_ERR(data)) {

   397

        voe->state = ec_voe_handler_state_error;

   398

        voe->request_state = EC_INT_REQUEST_FAILURE;

   399

        return;

   400

    }

   401

   402

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   403

        voe->state = ec_voe_handler_state_error;

   404

        voe->request_state = EC_INT_REQUEST_FAILURE;

   405

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

   406

                " as response.\n", mbox_prot);

   407

        ec_print_data(data, rec_size);

   408

        return;

   409

    }

   410

   411

    if (rec_size < EC_VOE_HEADER_SIZE) {

   412

        voe->state = ec_voe_handler_state_error;

   413

        voe->request_state = EC_INT_REQUEST_FAILURE;

   414

        EC_SLAVE_ERR(slave, "Received VoE header is"

   415

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

   416

        return;

   417

    }

   418

   419

    if (master->debug_level) {

   420

        EC_CONFIG_DBG(voe->config, 0, "VoE data:\n");

   421

        ec_print_data(data, rec_size);

   422

    }

   423

   424

    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;

   425

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   426

    voe->state = ec_voe_handler_state_end; // success

   427

}

   428

   429

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

   430

   431

/** Start reading VoE data without sending a sync message before.

   432

 */

   433

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)

   434

{

   435

    ec_datagram_t *datagram = &voe->datagram;

   436

    ec_slave_t *slave = voe->config->slave;

   437

   438

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   439

   440

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

   441

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

   442

        voe->state = ec_voe_handler_state_error;

   443

        voe->request_state = EC_INT_REQUEST_FAILURE;

   444

        return;

   445

    }

   446

   447

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

   448

   449

    voe->jiffies_start = jiffies;

   450

    voe->retries = EC_FSM_RETRIES;

   451

    voe->state = ec_voe_handler_state_read_nosync_response;

   452

}

   453

   454

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

   455

   456

/** Read the pending mailbox data without sending a sync message before. This

   457

 *  might lead to an empty reponse from the client.

   458

 */

   459

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)

   460

{

   461

    ec_datagram_t *datagram = &voe->datagram;

   462

    ec_slave_t *slave = voe->config->slave;

   463

    ec_master_t *master = voe->config->master;

   464

    uint8_t *data, mbox_prot;

   465

    size_t rec_size;

   466

   467

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

   468

        return;

   469

   470

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   471

        voe->state = ec_voe_handler_state_error;

   472

        voe->request_state = EC_INT_REQUEST_FAILURE;

   473

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   474

        ec_datagram_print_state(datagram);

   475

        return;

   476

    }

   477

   478

    if (datagram->working_counter == 0) {

   479

        voe->state = ec_voe_handler_state_error;

   480

        voe->request_state = EC_INT_REQUEST_FAILURE;

   481

        EC_SLAVE_DBG(slave, 1, "Slave did not send VoE data.\n");

   482

        return;

   483

    }

   484

   485

    if (datagram->working_counter != 1) {

   486

        voe->state = ec_voe_handler_state_error;

   487

        voe->request_state = EC_INT_REQUEST_FAILURE;

   488

        EC_SLAVE_WARN(slave, "Reception of VoE read response failed: ");

   489

        ec_datagram_print_wc_error(datagram);

   490

        return;

   491

    }

   492

   493

    if (!(data = ec_slave_mbox_fetch(slave, datagram,

   494

                    &mbox_prot, &rec_size))) {

   495

        voe->state = ec_voe_handler_state_error;

   496

        voe->request_state = EC_INT_REQUEST_FAILURE;

   497

        return;

   498

    }

   499

   500

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   501

        voe->state = ec_voe_handler_state_error;

   502

        voe->request_state = EC_INT_REQUEST_FAILURE;

   503

        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

   504

                " as response.\n", mbox_prot);

   505

        ec_print_data(data, rec_size);

   506

        return;