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

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 *

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 *  $Id$

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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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 *  ---

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 *

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

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    30

/**

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   \file

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   EtherCAT FoE state machines.

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*/

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

    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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 */

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#define EC_FSM_FOE_TIMEOUT 3000

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    49

/** Mailbox type FoE.

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 */

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#define EC_MBOX_TYPE_FILEACCESS 0x04

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    53

/** Size of the FoE header.

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 */

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#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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    60

//#define DEBUG_FOE

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    62

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

    63

    64

/** FoE OpCodes.

    65

 */

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enum {

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

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

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

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

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

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    EC_FOE_OPCODE_BUSY = 6  /**< Busy. */

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} ec_foe_opcode_t;

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    75

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

    76

    77

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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    82

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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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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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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    96

void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *);

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    98

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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   102

void ec_fsm_foe_write_start(ec_fsm_foe_t *);

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void ec_fsm_foe_read_start(ec_fsm_foe_t *);

   104

   105

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

   106

   107

/**

   108

   Constructor.

   109

*/

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

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                     ec_datagram_t *datagram /**< datagram */

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                     )

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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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   121

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

   122

   123

/**

   124

   Destructor.

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*/

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   127

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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   131

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

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   133

/**

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

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/**

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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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{

   154

    return fsm->state == ec_fsm_foe_end;

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}

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   157

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

   158

   159

/** Prepares an FoE transfer.

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 */

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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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/**

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   State: ERROR.

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*/

   182

   183

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

   184

{

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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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   190

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

   191

   192

/**

   193

   State: END.

   194

*/

   195

   196

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

   197

{

   198

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_end\n");

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#endif

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}

   202

   203

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

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/**

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   Sends a file or the next fragment.

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*/

   207

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int ec_foe_prepare_data_send(ec_fsm_foe_t *fsm)

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{

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    size_t remaining_size, current_size;

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    uint8_t *data;

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

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   215

    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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    }

   223

   224

    data = ec_slave_mbox_prepare_send(fsm->slave,

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            fsm->datagram, EC_MBOX_TYPE_FILEACCESS,

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            current_size + EC_FOE_HEADER_SIZE);

   227

    if (IS_ERR(data))

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        return -1;

   229

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    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

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    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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   237

    return 0;

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}

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   240

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

   241

/**

   242

   Prepare a write request (WRQ) with filename

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*/

   244

   245

int ec_foe_prepare_wrq_send(ec_fsm_foe_t *fsm)

   246

{

   247

    size_t current_size;

   248

    uint8_t *data;

   249

   250

    fsm->tx_buffer_offset = 0;

   251

    fsm->tx_current_size = 0;

   252

    fsm->tx_packet_no = 0;

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    fsm->tx_last_packet = 0;

   254

   255

    current_size = fsm->tx_filename_len;

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   257

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

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            EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);

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    if (IS_ERR(data))

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        return -1;

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   262

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

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

   264

   265

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

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   267

    return 0;

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}

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   270

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

   271

   272

/** Start a write operation.

   273

 */

   274

void ec_fsm_foe_write(

   275

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

   276

        )

   277

{

   278

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

   279

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

   280

    fsm->tx_buffer_offset = 0;

   281

   282

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

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

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   285

    fsm->state = ec_fsm_foe_write_start;

   286

}

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   288

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

   289

   290

/** Initializes the FoE write state machine.

   291

 */

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

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{

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    ec_slave_t *slave = fsm->slave;

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   296

    fsm->tx_buffer_offset = 0;

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    fsm->tx_current_size = 0;

   298

    fsm->tx_packet_no = 0;

   299

    fsm->tx_last_packet = 0;

   300

   301

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_write_start()\n");

   303

#endif

   304

   305

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

   306

        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);

   308

        return;

   309

    }

   310

   311

    if (ec_foe_prepare_wrq_send(fsm)) {

   312

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   313

        return;

   314

    }

   315

   316

    fsm->state = ec_fsm_foe_state_wrq_sent;

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}

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   319

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

   320

   321

/** Check for acknowledge.

   322

 */

   323

void ec_fsm_foe_state_ack_check(

   324

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

   325

        )

   326

{

   327

    ec_datagram_t *datagram = fsm->datagram;

   328

    ec_slave_t *slave = fsm->slave;

   329

   330

#ifdef DEBUG_FOE

   331

    printk("ec_fsm_foe_ack_check()\n");

   332

#endif

   333

   334

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   335

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   336

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

   337

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

   338

               slave->ring_position, datagram->state);

   339

        return;

   340

    }

   341

   342

    if (datagram->working_counter != 1) {

   343

        // slave did not put anything in the mailbox yet

   344

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   345

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

   346

               slave->ring_position);

   347

        ec_datagram_print_wc_error(datagram);

   348

        return;

   349

    }

   350

   351

    if (!ec_slave_mbox_check(datagram)) {

   352

        unsigned long diff_ms =

   353

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

   354

        if (diff_ms >= EC_FSM_FOE_TIMEOUT) {

   355

            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

   356

            EC_ERR("Timeout while waiting for ack response "

   357

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

   358

            return;

   359

        }

   360

   361

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

   362

        fsm->retries = EC_FSM_RETRIES;

   363

        return;

   364

    }

   365

   366

    // Fetch response

   367

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

   368

   369

    fsm->retries = EC_FSM_RETRIES;

   370

    fsm->state = ec_fsm_foe_state_ack_read;

   371

}

   372

   373

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

   374

   375

/** Acknowledge a read operation.

   376

 */

   377

void ec_fsm_foe_state_ack_read(

   378

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

   379

        )

   380

{

   381

    ec_datagram_t *datagram = fsm->datagram;

   382

    ec_slave_t *slave = fsm->slave;

   383

    uint8_t *data, mbox_prot;

   384

    uint8_t opCode;

   385

    size_t rec_size;

   386

   387

#ifdef DEBUG_FOE

   388

    printk("ec_fsm_foe_ack_read()\n");

   389

#endif

   390

   391

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   392

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   393

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

   394

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

   395

               slave->ring_position, datagram->state);

   396

        return;

   397

    }

   398

   399

    if (datagram->working_counter != 1) {

   400

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   401

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

   402

                slave->ring_position);

   403

        ec_datagram_print_wc_error(datagram);

   404

        return;

   405

    }

   406

   407

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

   408

                    &mbox_prot, &rec_size))) {

   409

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   410

        return;

   411

    }

   412

   413

    if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE

   414

        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   415

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

   416

        return;

   417

    }

   418

   419

    opCode = EC_READ_U8(data);

   420

   421

    if (opCode == EC_FOE_OPCODE_BUSY) {

   422

        // slave not ready

   423

        if (ec_foe_prepare_data_send(fsm)) {

   424

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   425

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

   426

            return;

   427

        }

   428

        fsm->state = ec_fsm_foe_state_data_sent;

   429

        return;

   430

    }

   431

   432

    if (opCode == EC_FOE_OPCODE_ACK) {

   433

        fsm->tx_packet_no++;

   434

        fsm->tx_buffer_offset += fsm->tx_current_size;

   435

   436

        if (fsm->tx_last_packet) {

   437

            fsm->state = ec_fsm_foe_end;

   438

            return;

   439

        }

   440

   441

        if (ec_foe_prepare_data_send(fsm)) {

   442

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   443

            return;

   444

        }

   445

        fsm->state = ec_fsm_foe_state_data_sent;

   446

        return;

   447

    }

   448

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   449

}

   450

   451

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

   452

   453

/** State: WRQ SENT.

   454

 *

   455

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

   456

 * fragment, if necessary.

   457

 */

   458

void ec_fsm_foe_state_wrq_sent(

   459

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

   460

        )

   461

{

   462

    ec_datagram_t *datagram = fsm->datagram;

   463

    ec_slave_t *slave = fsm->slave;

   464

   465

#ifdef DEBUG_FOE

   466

    printk("ec_foe_state_sent_wrq()\n");

   467

#endif

   468

   469

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   470

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   471

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

   472

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

   473

                slave->ring_position, datagram->state);

   474

        return;

   475

    }

   476

   477

    if (datagram->working_counter != 1) {

   478

        // slave did not put anything in the mailbox yet

   479

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   480

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

   481

                slave->ring_position);

   482

        ec_datagram_print_wc_error(datagram);

   483

        return;

   484

    }

   485

   486

    fsm->jiffies_start = datagram->jiffies_sent;

   487

   488

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

   489

   490

    fsm->retries = EC_FSM_RETRIES;

   491

    fsm->state = ec_fsm_foe_state_ack_check;

   492

}

   493

   494

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

   495

   496

/** State: WRQ SENT.

   497

 *

   498

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

   499

 * fragment, if necessary.

   500

 */

   501

void ec_fsm_foe_state_data_sent(

   502

        ec_fsm_foe_t *fsm /**< Foe statemachine. */

   503

        )

   504

{

   505

    ec_datagram_t *datagram = fsm->datagram;

   506

    ec_slave_t *slave = fsm->slave;

   507

   508

#ifdef DEBUG_FOE

   509

    printk("ec_fsm_foe_state_data_sent()\n");