author | Martin Troxler <ch1010277@ch10pc446> |
Thu, 16 Dec 2010 11:29:23 +0100 | |
changeset 2021 | ee30e7f90c2e |
parent 1931 | 831f2d34664c |
child 2045 | ff2a13a4603c |
child 2268 | 5e1d3c9430e0 |
permissions | -rw-r--r-- |
1209 | 1 |
/****************************************************************************** |
2 |
* |
|
3 |
* $Id$ |
|
4 |
* |
|
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
7 |
* This file is part of the IgH EtherCAT Master. |
|
8 |
* |
|
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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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12 |
* |
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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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16 |
* 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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19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
1209 | 20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
21 |
* |
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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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* |
28 |
*****************************************************************************/ |
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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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/*****************************************************************************/ |
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||
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#include <linux/module.h> |
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||
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#include "master.h" |
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39 |
#include "slave_config.h" |
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40 |
#include "mailbox.h" |
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41 |
#include "voe_handler.h" |
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42 |
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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. |
48 |
*/ |
|
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#define EC_VOE_HEADER_SIZE 6 |
|
50 |
||
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/** VoE response timeout in [ms]. |
52 |
*/ |
|
53 |
#define EC_VOE_RESPONSE_TIMEOUT 500 |
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54 |
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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 *); |
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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 *); |
|
62 |
void ec_voe_handler_state_read_response(ec_voe_handler_t *); |
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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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void ec_voe_handler_state_end(ec_voe_handler_t *); |
68 |
void ec_voe_handler_state_error(ec_voe_handler_t *); |
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69 |
||
70 |
/*****************************************************************************/ |
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71 |
||
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/** VoE handler constructor. |
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* |
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* \return Return value of ec_datagram_prealloc(). |
1209 | 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 |
) |
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{ |
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voe->config = sc; |
|
1218 | 83 |
voe->vendor_id = 0x00000000; |
84 |
voe->vendor_type = 0x0000; |
|
1209 | 85 |
voe->data_size = 0; |
86 |
voe->dir = EC_DIR_INVALID; |
|
87 |
voe->state = ec_voe_handler_state_error; |
|
88 |
voe->request_state = EC_INT_REQUEST_INIT; |
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||
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ec_datagram_init(&voe->datagram); |
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return ec_datagram_prealloc(&voe->datagram, |
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size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE); |
1209 | 93 |
} |
94 |
||
95 |
/*****************************************************************************/ |
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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 |
} |
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||
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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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/***************************************************************************** |
122 |
* Application interface. |
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123 |
****************************************************************************/ |
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124 |
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125 |
void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id, |
1218 | 126 |
uint16_t vendor_type) |
127 |
{ |
|
128 |
voe->vendor_id = vendor_id; |
|
129 |
voe->vendor_type = vendor_type; |
|
130 |
} |
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131 |
||
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/*****************************************************************************/ |
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133 |
||
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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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137 |
uint8_t *header = voe->datagram.data + EC_MBOX_HEADER_SIZE; |
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138 |
|
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if (vendor_id) |
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*vendor_id = EC_READ_U32(header); |
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141 |
if (vendor_type) |
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*vendor_type = EC_READ_U16(header + 4); |
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143 |
} |
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144 |
|
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145 |
/*****************************************************************************/ |
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146 |
|
1209 | 147 |
uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe) |
148 |
{ |
|
1218 | 149 |
return voe->datagram.data + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE; |
1209 | 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; |
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voe->request_state = EC_INT_REQUEST_BUSY; |
1209 | 166 |
} |
167 |
||
168 |
/*****************************************************************************/ |
|
169 |
||
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170 |
void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe) |
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171 |
{ |
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172 |
voe->dir = EC_DIR_INPUT; |
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173 |
voe->state = ec_voe_handler_state_read_nosync_start; |
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174 |
voe->request_state = EC_INT_REQUEST_BUSY; |
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|
175 |
} |
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176 |
|
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|
177 |
/*****************************************************************************/ |
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|
178 |
|
1209 | 179 |
void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size) |
180 |
{ |
|
181 |
voe->dir = EC_DIR_OUTPUT; |
|
1218 | 182 |
voe->data_size = size; |
1209 | 183 |
voe->state = ec_voe_handler_state_write_start; |
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|
184 |
voe->request_state = EC_INT_REQUEST_BUSY; |
1209 | 185 |
} |
186 |
||
187 |
/*****************************************************************************/ |
|
188 |
||
189 |
ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe) |
|
190 |
{ |
|
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|
191 |
if (voe->config->slave) { // FIXME locking? |
1209 | 192 |
voe->state(voe); |
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|
193 |
if (voe->request_state == EC_INT_REQUEST_BUSY) |
1209 | 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]; |
|
201 |
} |
|
202 |
||
203 |
/****************************************************************************** |
|
204 |
* State functions. |
|
205 |
*****************************************************************************/ |
|
206 |
||
1268 | 207 |
/** Start writing VoE data. |
208 |
*/ |
|
1209 | 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) { |
|
1921 | 215 |
EC_SLAVE_DBG(slave, 0, "Writing %zu bytes of VoE data.\n", |
216 |
voe->data_size); |
|
1209 | 217 |
ec_print_data(ecrt_voe_handler_data(voe), voe->data_size); |
218 |
} |
|
219 |
||
220 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) { |
|
1921 | 221 |
EC_SLAVE_ERR(slave, "Slave does not support VoE!\n"); |
1209 | 222 |
voe->state = ec_voe_handler_state_error; |
223 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
224 |
return; |
|
225 |
} |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
226 |
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
227 |
data = ec_slave_mbox_prepare_send(slave, &voe->datagram, |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
228 |
EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
229 |
if (IS_ERR(data)) { |
1218 | 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); |
|
1550
81a16ba13ae6
Avoid zeroing mailbox datagram because of VoE handlers.
Florian Pose <fp@igh-essen.com>
parents:
1543
diff
changeset
|
237 |
/* data already in datagram */ |
1209 | 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 |
||
1268 | 246 |
/** Wait for the mailbox response. |
247 |
*/ |
|
1209 | 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; |
|
1921 | 259 |
EC_SLAVE_ERR(slave, "Failed to receive VoE write request datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1551
diff
changeset
|
260 |
ec_datagram_print_state(datagram); |
1209 | 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) { |
|
1921 | 269 |
EC_SLAVE_DBG(slave, 1, "Slave did not respond to" |
1931 | 270 |
" VoE write request. Retrying after %lu ms...\n", |
271 |
diff_ms); |
|
1209 | 272 |
// 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; |
|
1921 | 278 |
EC_SLAVE_ERR(slave, "Reception of VoE write request failed: "); |
1209 | 279 |
ec_datagram_print_wc_error(datagram); |
280 |
return; |
|
281 |
} |
|
282 |
||
1921 | 283 |
EC_CONFIG_DBG(voe->config, 1, "VoE write request successful.\n"); |
1209 | 284 |
|
285 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
|
286 |
voe->state = ec_voe_handler_state_end; |
|
287 |
} |
|
288 |
||
289 |
/*****************************************************************************/ |
|
290 |
||
1268 | 291 |
/** Start reading VoE data. |
292 |
*/ |
|
1209 | 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 |
||
1921 | 298 |
EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n"); |
1209 | 299 |
|
300 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) { |
|
1921 | 301 |
EC_SLAVE_ERR(slave, "Slave does not support VoE!\n"); |
1209 | 302 |
voe->state = ec_voe_handler_state_error; |
303 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
304 |
return; |
|
305 |
} |
|
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
306 |
|
1209 | 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 |
||
1268 | 316 |
/** Check for new data in the mailbox. |
317 |
*/ |
|
1209 | 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; |
|
1921 | 329 |
EC_SLAVE_ERR(slave, "Failed to receive VoE mailbox check datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1551
diff
changeset
|
330 |
ec_datagram_print_state(datagram); |
1209 | 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; |
|
1921 | 337 |
EC_SLAVE_ERR(slave, "Reception of VoE mailbox check" |
338 |
" datagram failed: "); |
|
1209 | 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; |
|
1921 | 349 |
EC_SLAVE_ERR(slave, "Timeout while waiting for VoE data.\n"); |
1209 | 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 |
||
1268 | 366 |
/** Read the pending mailbox data. |
367 |
*/ |
|
1209 | 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; |
|
1921 | 382 |
EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1551
diff
changeset
|
383 |
ec_datagram_print_state(datagram); |
1209 | 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; |
|
1921 | 390 |
EC_SLAVE_ERR(slave, "Reception of VoE read response failed: "); |
1209 | 391 |
ec_datagram_print_wc_error(datagram); |
392 |
return; |
|
393 |
} |
|
394 |
||
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
395 |
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size); |
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
396 |
if (IS_ERR(data)) { |
1209 | 397 |
voe->state = ec_voe_handler_state_error; |
398 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
399 |
return; |
|
400 |
} |
|
401 |
||
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
402 |
if (mbox_prot != EC_MBOX_TYPE_VOE) { |
1209 | 403 |
voe->state = ec_voe_handler_state_error; |
404 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
1921 | 405 |
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X" |
406 |
" as response.\n", mbox_prot); |
|
1209 | 407 |
ec_print_data(data, rec_size); |
408 |
return; |
|
409 |
} |
|
410 |
||
1218 | 411 |
if (rec_size < EC_VOE_HEADER_SIZE) { |
412 |
voe->state = ec_voe_handler_state_error; |
|
413 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
1921 | 414 |
EC_SLAVE_ERR(slave, "Received VoE header is" |
415 |
" incomplete (%zu bytes)!\n", rec_size); |
|
1218 | 416 |
return; |
417 |
} |
|
418 |
||
1209 | 419 |
if (master->debug_level) { |
1921 | 420 |
EC_CONFIG_DBG(voe->config, 0, "VoE data:\n"); |
1209 | 421 |
ec_print_data(data, rec_size); |
422 |
} |
|
423 |
||
1218 | 424 |
voe->data_size = rec_size - EC_VOE_HEADER_SIZE; |
1209 | 425 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
426 |
voe->state = ec_voe_handler_state_end; // success |
|
427 |
} |
|
428 |
||
429 |
/*****************************************************************************/ |
|
430 |
||
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
431 |
/** Start reading VoE data without sending a sync message before. |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
432 |
*/ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
433 |
void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe) |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
434 |
{ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
435 |
ec_datagram_t *datagram = &voe->datagram; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
436 |
ec_slave_t *slave = voe->config->slave; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
437 |
|
1921 | 438 |
EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n"); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
439 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
440 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) { |
1921 | 441 |
EC_SLAVE_ERR(slave, "Slave does not support VoE!\n"); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
442 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
443 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
444 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
445 |
} |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
446 |
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
447 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
448 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
449 |
voe->jiffies_start = jiffies; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
450 |
voe->retries = EC_FSM_RETRIES; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
451 |
voe->state = ec_voe_handler_state_read_nosync_response; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
452 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
453 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
454 |
/*****************************************************************************/ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
455 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
456 |
/** Read the pending mailbox data without sending a sync message before. This |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
457 |
* might lead to an empty reponse from the client. |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
458 |
*/ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
459 |
void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe) |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
460 |
{ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
461 |
ec_datagram_t *datagram = &voe->datagram; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
462 |
ec_slave_t *slave = voe->config->slave; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
463 |
ec_master_t *master = voe->config->master; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
464 |
uint8_t *data, mbox_prot; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
465 |
size_t rec_size; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
466 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
467 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
468 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
469 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
470 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
471 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
472 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
1921 | 473 |
EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: "); |
1822
74e6ac2369f4
Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents:
1551
diff
changeset
|
474 |
ec_datagram_print_state(datagram); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
475 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
476 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
477 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
478 |
if (datagram->working_counter == 0) { |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
479 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
480 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
1921 | 481 |
EC_SLAVE_DBG(slave, 1, "Slave did not send VoE data.\n"); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
482 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
483 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
484 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
485 |
if (datagram->working_counter != 1) { |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
486 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
487 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
1921 | 488 |
EC_SLAVE_WARN(slave, "Reception of VoE read response failed: "); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
489 |
ec_datagram_print_wc_error(datagram); |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
490 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
491 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
492 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
493 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
494 |
&mbox_prot, &rec_size))) { |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
495 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
496 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
497 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
498 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
499 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
500 |
if (mbox_prot != EC_MBOX_TYPE_VOE) { |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
501 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
502 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
1921 | 503 |
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X" |
504 |
" as response.\n", mbox_prot); |
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
505 |
ec_print_data(data, rec_size); |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
506 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
507 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
508 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
509 |
if (rec_size < EC_VOE_HEADER_SIZE) { |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
510 |
voe->state = ec_voe_handler_state_error; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
511 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
1921 | 512 |
EC_SLAVE_ERR(slave, "Received VoE header is" |
513 |
" incomplete (%zu bytes)!\n", rec_size); |
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
514 |
return; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
515 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
516 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
517 |
if (master->debug_level) { |
1921 | 518 |
EC_CONFIG_DBG(voe->config, 1, "VoE data:\n"); |
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
519 |
ec_print_data(data, rec_size); |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
520 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
521 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
522 |
voe->data_size = rec_size - EC_VOE_HEADER_SIZE; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
523 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
524 |
voe->state = ec_voe_handler_state_end; // success |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
525 |
} |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
526 |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
527 |
/*****************************************************************************/ |
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
528 |
|
1268 | 529 |
/** Successful termination state function. |
530 |
*/ |
|
1209 | 531 |
void ec_voe_handler_state_end(ec_voe_handler_t *voe) |
532 |
{ |
|
533 |
} |
|
534 |
||
535 |
/*****************************************************************************/ |
|
536 |
||
1268 | 537 |
/** Failure termination state function. |
538 |
*/ |
|
1209 | 539 |
void ec_voe_handler_state_error(ec_voe_handler_t *voe) |
540 |
{ |
|
541 |
} |
|
542 |
||
543 |
/*****************************************************************************/ |
|
544 |
||
545 |
/** \cond */ |
|
546 |
||
1226
afb189516fcf
Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents:
1224
diff
changeset
|
547 |
EXPORT_SYMBOL(ecrt_voe_handler_send_header); |
afb189516fcf
Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents:
1224
diff
changeset
|
548 |
EXPORT_SYMBOL(ecrt_voe_handler_received_header); |
1209 | 549 |
EXPORT_SYMBOL(ecrt_voe_handler_data); |
550 |
EXPORT_SYMBOL(ecrt_voe_handler_data_size); |
|
551 |
EXPORT_SYMBOL(ecrt_voe_handler_read); |
|
552 |
EXPORT_SYMBOL(ecrt_voe_handler_write); |
|
553 |
EXPORT_SYMBOL(ecrt_voe_handler_execute); |
|
554 |
||
555 |
/** \endcond */ |
|
556 |
||
557 |
/*****************************************************************************/ |