master/voe_handler.c
author Florian Pose <fp@igh-essen.com>
Wed, 22 Oct 2008 11:53:40 +0000
changeset 1298 de91d633ff6c
parent 1268 d9599395e89b
child 1312 74853e018898
permissions -rw-r--r--
VoE handlers.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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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
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General 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
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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/** \file
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 * Vendor-specific-over-EtherCAT protocol handler functions.
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 */
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/*****************************************************************************/
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#include <linux/module.h>
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#include "master.h"
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#include "slave_config.h"
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#include "mailbox.h"
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#include "voe_handler.h"
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/** VoE mailbox type.
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 */
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#define EC_MBOX_TYPE_VOE 0x0f
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/** VoE header size.
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 */
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#define EC_VOE_HEADER_SIZE 6
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/** VoE response timeout in [ms].
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 */
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#define EC_VOE_RESPONSE_TIMEOUT 500
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/*****************************************************************************/
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void ec_voe_handler_state_write_start(ec_voe_handler_t *);
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void ec_voe_handler_state_write_response(ec_voe_handler_t *);
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void ec_voe_handler_state_read_start(ec_voe_handler_t *);
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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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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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/*****************************************************************************/
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/** VoE handler constructor.
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 */
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int ec_voe_handler_init(
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        ec_voe_handler_t *voe, /**< VoE handler. */
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        ec_slave_config_t *sc, /**< Parent slave configuration. */
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        size_t size /**< Size of memory to reserve. */
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        )
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{
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    voe->config = sc;
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    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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    ec_datagram_init(&voe->datagram);
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    if (ec_datagram_prealloc(&voe->datagram,
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                size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE))
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        return -1;
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    return 0;
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}
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/*****************************************************************************/
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/** VoE handler destructor.
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 */
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void ec_voe_handler_clear(
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        ec_voe_handler_t *voe /**< VoE handler. */
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        )
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{
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    ec_datagram_clear(&voe->datagram);
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}
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/*****************************************************************************/
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/** Get usable memory size.
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 */
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size_t ec_voe_handler_mem_size(
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		const ec_voe_handler_t *voe /**< VoE handler. */
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		)
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{
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	if (voe->datagram.mem_size >= EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE)
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		return voe->datagram.mem_size -
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			(EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);
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	else
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		return 0;
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}
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/*****************************************************************************
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 * Application interface.
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 ****************************************************************************/
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void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,
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        uint16_t vendor_type)
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{
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    voe->vendor_id = vendor_id;
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    voe->vendor_type = vendor_type;
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}
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/*****************************************************************************/
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void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,
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        uint32_t *vendor_id, uint16_t *vendor_type)
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{
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    uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE;
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    if (vendor_id)
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        *vendor_id = EC_READ_U32(header);
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    if (vendor_type)
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        *vendor_type = EC_READ_U16(header + 4);
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}
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afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
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/*****************************************************************************/
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uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)
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{
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    return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE;
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}
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/*****************************************************************************/
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size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)
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{
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    return voe->data_size;
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}
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/*****************************************************************************/
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void ecrt_voe_handler_read(ec_voe_handler_t *voe)
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{
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    voe->dir = EC_DIR_INPUT;
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    voe->state = ec_voe_handler_state_read_start;
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    voe->request_state = EC_INT_REQUEST_QUEUED;
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}
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/*****************************************************************************/
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void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)
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{
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    voe->dir = EC_DIR_OUTPUT;
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    voe->data_size = size;
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    voe->state = ec_voe_handler_state_write_start;
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    voe->request_state = EC_INT_REQUEST_QUEUED;
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}
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/*****************************************************************************/
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ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)
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{
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    if (voe->config->slave) {
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        voe->state(voe);
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        if (voe->request_state == EC_REQUEST_BUSY)
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            ec_master_queue_datagram(voe->config->master, &voe->datagram);
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    } else {
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        voe->state = ec_voe_handler_state_error;
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        voe->request_state = EC_INT_REQUEST_FAILURE;
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    }
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    return ec_request_state_translation_table[voe->request_state];
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   194
}
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/******************************************************************************
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 * State functions.
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 *****************************************************************************/
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/** Start writing VoE data.
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 */
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void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)
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{
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    ec_slave_t *slave = voe->config->slave;
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    uint8_t *data;
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    if (slave->master->debug_level) {
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        EC_DBG("Writing %u bytes of VoE data to slave %u.\n",
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               voe->data_size, slave->ring_position);
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        ec_print_data(ecrt_voe_handler_data(voe), voe->data_size);
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    }
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    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
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        EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
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        voe->state = ec_voe_handler_state_error;
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        voe->request_state = EC_INT_REQUEST_FAILURE;
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        return;
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    }
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1216
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    if (!(data = ec_slave_mbox_prepare_send(slave, &voe->datagram,
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                    EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size))) {
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        voe->state = ec_voe_handler_state_error;
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        voe->request_state = EC_INT_REQUEST_FAILURE;
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        return;
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   225
    }
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    EC_WRITE_U32(data,     voe->vendor_id);
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    EC_WRITE_U16(data + 4, voe->vendor_type);
1209
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   229
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    voe->retries = EC_FSM_RETRIES;
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   231
    voe->jiffies_start = jiffies;
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    voe->state = ec_voe_handler_state_write_response;
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   233
}
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/*****************************************************************************/
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/** Wait for the mailbox response.
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   238
 */
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   239
void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
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   240
{
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   241
    ec_datagram_t *datagram = &voe->datagram;
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   242
    ec_slave_t *slave = voe->config->slave;
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   243
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   244
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
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   245
        return;
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   246
8be462afb7f4 Added VoE handler.
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   247
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
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   248
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
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   249
        voe->request_state = EC_INT_REQUEST_FAILURE;
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   250
        EC_ERR("Failed to receive VoE write request datagram for"
8be462afb7f4 Added VoE handler.
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diff changeset
   251
               " slave %u (datagram state %u).\n",
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   252
               slave->ring_position, datagram->state);
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   253
        return;
8be462afb7f4 Added VoE handler.
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diff changeset
   254
    }
8be462afb7f4 Added VoE handler.
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   255
8be462afb7f4 Added VoE handler.
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diff changeset
   256
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
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diff changeset
   257
        if (!datagram->working_counter) {
8be462afb7f4 Added VoE handler.
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diff changeset
   258
            unsigned long diff_ms =
8be462afb7f4 Added VoE handler.
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   259
                (jiffies - voe->jiffies_start) * 1000 / HZ;
8be462afb7f4 Added VoE handler.
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   260
            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
8be462afb7f4 Added VoE handler.
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diff changeset
   261
                if (slave->master->debug_level) {
8be462afb7f4 Added VoE handler.
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diff changeset
   262
                    EC_DBG("Slave %u did not respond to VoE write request. "
8be462afb7f4 Added VoE handler.
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diff changeset
   263
                            "Retrying after %u ms...\n",
8be462afb7f4 Added VoE handler.
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diff changeset
   264
                            slave->ring_position, (u32) diff_ms);
8be462afb7f4 Added VoE handler.
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diff changeset
   265
                }
8be462afb7f4 Added VoE handler.
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   266
                // no response; send request datagram again
8be462afb7f4 Added VoE handler.
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   267
                return;
8be462afb7f4 Added VoE handler.
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diff changeset
   268
            }
8be462afb7f4 Added VoE handler.
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diff changeset
   269
        }
8be462afb7f4 Added VoE handler.
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   270
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
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   271
        voe->request_state = EC_INT_REQUEST_FAILURE;
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   272
        EC_ERR("Reception of VoE write request failed on slave %u: ",
8be462afb7f4 Added VoE handler.
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diff changeset
   273
                slave->ring_position);
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   274
        ec_datagram_print_wc_error(datagram);
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   275
        return;
8be462afb7f4 Added VoE handler.
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diff changeset
   276
    }
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   277
8be462afb7f4 Added VoE handler.
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   278
    if (voe->config->master->debug_level)
8be462afb7f4 Added VoE handler.
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   279
        EC_DBG("VoE write request successful.\n");
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   280
8be462afb7f4 Added VoE handler.
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   281
    voe->request_state = EC_INT_REQUEST_SUCCESS;
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   282
    voe->state = ec_voe_handler_state_end;
8be462afb7f4 Added VoE handler.
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diff changeset
   283
}
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   284
8be462afb7f4 Added VoE handler.
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   285
/*****************************************************************************/
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   286
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   287
/** Start reading VoE data.
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   288
 */
1209
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   289
void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
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diff changeset
   290
{
8be462afb7f4 Added VoE handler.
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diff changeset
   291
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
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diff changeset
   292
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
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   293
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
    if (slave->master->debug_level)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
        EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
    if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
        EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
	
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
    ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    voe->jiffies_start = jiffies;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
    voe->state = ec_voe_handler_state_read_check;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   313
/** Check for new data in the mailbox.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   314
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
        EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
                " (datagram state %u).\n",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
               slave->ring_position, datagram->state);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
        EC_ERR("Reception of VoE mailbox check"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
                " datagram failed on slave %u: ", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
        ec_datagram_print_wc_error(datagram);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    if (!ec_slave_mbox_check(datagram)) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
        unsigned long diff_ms =
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
            (datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
            voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
            voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
            EC_ERR("Timeout while waiting for VoE data on "
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
                    "slave %u.\n", slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
            return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
        }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
        ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
        voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    // Fetch response
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    voe->retries = EC_FSM_RETRIES;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    voe->state = ec_voe_handler_state_read_response;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   365
/** Read the pending mailbox data.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   366
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
    ec_datagram_t *datagram = &voe->datagram;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
    ec_slave_t *slave = voe->config->slave;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
    ec_master_t *master = voe->config->master;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
    uint8_t *data, mbox_prot;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
    size_t rec_size;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
        EC_ERR("Failed to receive VoE read datagram for"
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
               " slave %u (datagram state %u).\n",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
               slave->ring_position, datagram->state);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
    if (datagram->working_counter != 1) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
        EC_ERR("Reception of VoE read response failed on slave %u: ",
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
                slave->ring_position);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
        ec_datagram_print_wc_error(datagram);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    if (!(data = ec_slave_mbox_fetch(slave, datagram,
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
				     &mbox_prot, &rec_size))) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
1216
e70c4d71cebd Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents: 1209
diff changeset
   403
    if (mbox_prot != EC_MBOX_TYPE_VOE) {
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
        voe->state = ec_voe_handler_state_error;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        voe->request_state = EC_INT_REQUEST_FAILURE;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
        ec_print_data(data, rec_size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
        return;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   411
    if (rec_size < EC_VOE_HEADER_SIZE) {
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   412
        voe->state = ec_voe_handler_state_error;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   413
        voe->request_state = EC_INT_REQUEST_FAILURE;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   414
        EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   415
        return;
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   416
    }
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   417
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    if (master->debug_level) {
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
        EC_DBG("VoE data:\n");
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        ec_print_data(data, rec_size);
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
    }
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
1218
6f3a973fc29e Introduced VoE header.
Florian Pose <fp@igh-essen.com>
parents: 1216
diff changeset
   423
    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    voe->request_state = EC_INT_REQUEST_SUCCESS;
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
    voe->state = ec_voe_handler_state_end; // success
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   430
/** Successful termination state function.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   431
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
void ec_voe_handler_state_end(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
{
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
}
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
1268
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   438
/** Failure termination state function.
d9599395e89b Maintained code docs.
Florian Pose <fp@igh-essen.com>
parents: 1264
diff changeset
   439
 */
1209
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
void ec_voe_handler_state_error(ec_voe_handler_t *voe)
8be462afb7f4 Added VoE handler.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
{
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parents:
diff changeset
   442
}
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   443
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parents:
diff changeset
   444
/*****************************************************************************/
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   445
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   446
/** \cond */
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   447
1226
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
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parents: 1224
diff changeset
   448
EXPORT_SYMBOL(ecrt_voe_handler_send_header);
afb189516fcf Introduced ecrt_voe_handler_received_header(); renamed
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parents: 1224
diff changeset
   449
EXPORT_SYMBOL(ecrt_voe_handler_received_header);
1209
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parents:
diff changeset
   450
EXPORT_SYMBOL(ecrt_voe_handler_data);
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parents:
diff changeset
   451
EXPORT_SYMBOL(ecrt_voe_handler_data_size);
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   452
EXPORT_SYMBOL(ecrt_voe_handler_read);
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parents:
diff changeset
   453
EXPORT_SYMBOL(ecrt_voe_handler_write);
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   454
EXPORT_SYMBOL(ecrt_voe_handler_execute);
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   455
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   456
/** \endcond */
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   457
8be462afb7f4 Added VoE handler.
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parents:
diff changeset
   458
/*****************************************************************************/