1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

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

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * Vendor specific over EtherCAT protocol handler functions.

    32

 */

    33

    34

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

    35

    36

#include <linux/module.h>

    37

    38

#include "master.h"

    39

#include "slave_config.h"

    40

#include "mailbox.h"

    41

#include "voe_handler.h"

    42

    43

/** VoE mailbox type.

    44

 */

    45

#define EC_MBOX_TYPE_VOE 0x0f

    46

    47

/** VoE header size.

    48

 */

    49

#define EC_VOE_HEADER_SIZE 6

    50

    51

/** VoE response timeout in [ms].

    52

 */

    53

#define EC_VOE_RESPONSE_TIMEOUT 500

    54

    55

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

    56

    57

void ec_voe_handler_state_write_start(ec_voe_handler_t *);

    58

void ec_voe_handler_state_write_response(ec_voe_handler_t *);

    59

    60

void ec_voe_handler_state_read_start(ec_voe_handler_t *);

    61

void ec_voe_handler_state_read_check(ec_voe_handler_t *);

    62

void ec_voe_handler_state_read_response(ec_voe_handler_t *);

    63

    64

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *);

    65

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *);

    66

    67

void ec_voe_handler_state_end(ec_voe_handler_t *);

    68

void ec_voe_handler_state_error(ec_voe_handler_t *);

    69

    70

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

    71

    72

/** VoE handler constructor.

    73

 *

    74

 * \return Return value of ec_datagram_prealloc().

    75

 */

    76

int ec_voe_handler_init(

    77

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

    78

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

    79

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

    80

        )

    81

{

    82

    voe->config = sc;

    83

    voe->vendor_id = 0x00000000;

    84

    voe->vendor_type = 0x0000;

    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;

    89

    90

    ec_datagram_init(&voe->datagram);

    91

    return ec_datagram_prealloc(&voe->datagram,

    92

            size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

    93

}

    94

    95

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

    96

    97

/** VoE handler destructor.

    98

 */

    99

void ec_voe_handler_clear(

   100

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

   101

        )

   102

{

   103

    ec_datagram_clear(&voe->datagram);

   104

}

   105

   106

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

   107

   108

/** Get usable memory size.

   109

 */

   110

size_t ec_voe_handler_mem_size(

   111

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

   112

        )

   113

{

   114

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

   115

        return voe->datagram.mem_size -

   116

            (EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE);

   117

    else

   118

        return 0;

   119

}

   120

   121

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

   122

 * Application interface.

   123

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

   124

   125

void ecrt_voe_handler_send_header(ec_voe_handler_t *voe, uint32_t vendor_id,

   126

        uint16_t vendor_type)

   127

{

   128

    voe->vendor_id = vendor_id;

   129

    voe->vendor_type = vendor_type;

   130

}

   131

   132

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

   133

   134

void ecrt_voe_handler_received_header(const ec_voe_handler_t *voe,

   135

        uint32_t *vendor_id, uint16_t *vendor_type)

   136

{

   137

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

   138

   139

    if (vendor_id)

   140

        *vendor_id = EC_READ_U32(header);

   141

    if (vendor_type)

   142

        *vendor_type = EC_READ_U16(header + 4);

   143

}

   144

   145

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

   146

   147

uint8_t *ecrt_voe_handler_data(ec_voe_handler_t *voe)

   148

{

   149

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

   150

}

   151

   152

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

   153

   154

size_t ecrt_voe_handler_data_size(const ec_voe_handler_t *voe)

   155

{

   156

    return voe->data_size;

   157

}

   158

   159

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

   160

   161

void ecrt_voe_handler_read(ec_voe_handler_t *voe)

   162

{

   163

    voe->dir = EC_DIR_INPUT;

   164

    voe->state = ec_voe_handler_state_read_start;

   165

    voe->request_state = EC_INT_REQUEST_BUSY;

   166

}

   167

   168

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

   169

   170

void ecrt_voe_handler_read_nosync(ec_voe_handler_t *voe)

   171

{

   172

    voe->dir = EC_DIR_INPUT;

   173

    voe->state = ec_voe_handler_state_read_nosync_start;

   174

    voe->request_state = EC_INT_REQUEST_BUSY;

   175

}

   176

   177

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

   178

   179

void ecrt_voe_handler_write(ec_voe_handler_t *voe, size_t size)

   180

{

   181

    voe->dir = EC_DIR_OUTPUT;

   182

    voe->data_size = size;

   183

    voe->state = ec_voe_handler_state_write_start;

   184

    voe->request_state = EC_INT_REQUEST_BUSY;

   185

}

   186

   187

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

   188

   189

ec_request_state_t ecrt_voe_handler_execute(ec_voe_handler_t *voe)

   190

{

   191

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

   192

        voe->state(voe);

   193

        if (voe->request_state == EC_INT_REQUEST_BUSY)

   194

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

   195

    } else {

   196

        voe->state = ec_voe_handler_state_error;

   197

        voe->request_state = EC_INT_REQUEST_FAILURE;

   198

    }

   199

   200

    return ec_request_state_translation_table[voe->request_state];

   201

}

   202

   203

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

   204

 * State functions.

   205

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

   206

   207

/** Start writing VoE data.

   208

 */

   209

void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)

   210

{

   211

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

   212

    uint8_t *data;

   213

   214

    if (slave->master->debug_level) {

   215

        EC_DBG("Writing %zu bytes of VoE data to slave %u.\n",

   216

               voe->data_size, slave->ring_position);

   217

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

   218

    }

   219

   220

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

   221

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

   222

        voe->state = ec_voe_handler_state_error;

   223

        voe->request_state = EC_INT_REQUEST_FAILURE;

   224

        return;

   225

    }

   226

   227

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

   228

            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);

   229

    if (IS_ERR(data)) {

   230

        voe->state = ec_voe_handler_state_error;

   231

        voe->request_state = EC_INT_REQUEST_FAILURE;

   232

        return;

   233

    }

   234

   235

    EC_WRITE_U32(data,     voe->vendor_id);

   236

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

   237

    /* data already in datagram */

   238

   239

    voe->retries = EC_FSM_RETRIES;

   240

    voe->jiffies_start = jiffies;

   241

    voe->state = ec_voe_handler_state_write_response;

   242

}

   243

   244

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

   245

   246

/** Wait for the mailbox response.

   247

 */

   248

void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)

   249

{

   250

    ec_datagram_t *datagram = &voe->datagram;

   251

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

   252

   253

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

   254

        return;

   255

   256

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   257

        voe->state = ec_voe_handler_state_error;

   258

        voe->request_state = EC_INT_REQUEST_FAILURE;

   259

        EC_ERR("Failed to receive VoE write request datagram for"

   260

               " slave %u: ", slave->ring_position);

   261

        ec_datagram_print_state(datagram);

   262

        return;

   263

    }

   264

   265

    if (datagram->working_counter != 1) {

   266

        if (!datagram->working_counter) {

   267

            unsigned long diff_ms =

   268

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

   269

            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {

   270

                if (slave->master->debug_level) {

   271

                    EC_DBG("Slave %u did not respond to VoE write request. "

   272

                            "Retrying after %u ms...\n",

   273

                            slave->ring_position, (u32) diff_ms);

   274

                }

   275

                // no response; send request datagram again

   276

                return;

   277

            }

   278

        }

   279

        voe->state = ec_voe_handler_state_error;

   280

        voe->request_state = EC_INT_REQUEST_FAILURE;

   281

        EC_ERR("Reception of VoE write request failed on slave %u: ",

   282

                slave->ring_position);

   283

        ec_datagram_print_wc_error(datagram);

   284

        return;

   285

    }

   286

   287

    if (voe->config->master->debug_level)

   288

        EC_DBG("VoE write request successful.\n");

   289

   290

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   291

    voe->state = ec_voe_handler_state_end;

   292

}

   293

   294

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

   295

   296

/** Start reading VoE data.

   297

 */

   298

void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)

   299

{

   300

    ec_datagram_t *datagram = &voe->datagram;

   301

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

   302

   303

    if (slave->master->debug_level)

   304

        EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);

   305

   306

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

   307

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

   308

        voe->state = ec_voe_handler_state_error;

   309

        voe->request_state = EC_INT_REQUEST_FAILURE;

   310

        return;

   311

    }

   312

   313

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

   314

   315

    voe->jiffies_start = jiffies;

   316

    voe->retries = EC_FSM_RETRIES;

   317

    voe->state = ec_voe_handler_state_read_check;

   318

}

   319

   320

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

   321

   322

/** Check for new data in the mailbox.

   323

 */

   324

void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)

   325

{

   326

    ec_datagram_t *datagram = &voe->datagram;

   327

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

   328

   329

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

   330

        return;

   331

   332

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   333

        voe->state = ec_voe_handler_state_error;

   334

        voe->request_state = EC_INT_REQUEST_FAILURE;

   335

        EC_ERR("Failed to receive VoE mailbox check datagram from slave %u: ",

   336

               slave->ring_position);

   337

        ec_datagram_print_state(datagram);

   338

        return;

   339

    }

   340

   341

    if (datagram->working_counter != 1) {

   342

        voe->state = ec_voe_handler_state_error;

   343

        voe->request_state = EC_INT_REQUEST_FAILURE;

   344

        EC_ERR("Reception of VoE mailbox check"

   345

                " datagram failed on slave %u: ", slave->ring_position);

   346

        ec_datagram_print_wc_error(datagram);

   347

        return;

   348

    }

   349

   350

    if (!ec_slave_mbox_check(datagram)) {

   351

        unsigned long diff_ms =

   352

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

   353

        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {

   354

            voe->state = ec_voe_handler_state_error;

   355

            voe->request_state = EC_INT_REQUEST_FAILURE;

   356

            EC_ERR("Timeout while waiting for VoE data on "

   357

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

   358

            return;

   359

        }

   360

   361

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

   362

        voe->retries = EC_FSM_RETRIES;

   363

        return;

   364

    }

   365

   366

    // Fetch response

   367

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

   368

    voe->retries = EC_FSM_RETRIES;

   369

    voe->state = ec_voe_handler_state_read_response;

   370

}

   371

   372

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

   373

   374

/** Read the pending mailbox data.

   375

 */

   376

void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)

   377

{

   378

    ec_datagram_t *datagram = &voe->datagram;

   379

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

   380

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

   381

    uint8_t *data, mbox_prot;

   382

    size_t rec_size;

   383

   384

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

   385

        return;

   386

   387

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   388

        voe->state = ec_voe_handler_state_error;

   389

        voe->request_state = EC_INT_REQUEST_FAILURE;

   390

        EC_ERR("Failed to receive VoE read datagram for"

   391

               " slave %u: ", slave->ring_position);

   392

        ec_datagram_print_state(datagram);

   393

        return;

   394

    }

   395

   396

    if (datagram->working_counter != 1) {

   397

        voe->state = ec_voe_handler_state_error;

   398

        voe->request_state = EC_INT_REQUEST_FAILURE;

   399

        EC_ERR("Reception of VoE read response failed on slave %u: ",

   400

                slave->ring_position);

   401

        ec_datagram_print_wc_error(datagram);

   402

        return;

   403

    }

   404

   405

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

   406

    if (IS_ERR(data)) {

   407

        voe->state = ec_voe_handler_state_error;

   408

        voe->request_state = EC_INT_REQUEST_FAILURE;

   409

        return;

   410

    }

   411

   412

    if (mbox_prot != EC_MBOX_TYPE_VOE) {

   413

        voe->state = ec_voe_handler_state_error;

   414

        voe->request_state = EC_INT_REQUEST_FAILURE;

   415

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

   416

        ec_print_data(data, rec_size);

   417

        return;

   418

    }

   419

   420

    if (rec_size < EC_VOE_HEADER_SIZE) {

   421

        voe->state = ec_voe_handler_state_error;

   422

        voe->request_state = EC_INT_REQUEST_FAILURE;

   423

        EC_ERR("Received VoE header is incomplete (%zu bytes)!\n", rec_size);

   424

        return;

   425

    }

   426

   427

    if (master->debug_level) {

   428

        EC_DBG("VoE data:\n");

   429

        ec_print_data(data, rec_size);

   430

    }

   431

   432

    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;

   433

    voe->request_state = EC_INT_REQUEST_SUCCESS;

   434

    voe->state = ec_voe_handler_state_end; // success

   435

}

   436

   437

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

   438

   439

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

   440

 */

   441

void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)

   442

{

   443

    ec_datagram_t *datagram = &voe->datagram;

   444

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

   445

   446

    if (slave->master->debug_level)

   447

        EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);

   448

   449

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

   450

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

   451

        voe->state = ec_voe_handler_state_error;

   452

        voe->request_state = EC_INT_REQUEST_FAILURE;

   453

        return;

   454

    }

   455

   456

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

   457

   458

    voe->jiffies_start = jiffies;

   459

    voe->retries = EC_FSM_RETRIES;

   460

    voe->state = ec_voe_handler_state_read_nosync_response;

   461

}

   462

   463

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

   464

   465

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

   466

 *  might lead to an empty reponse from the client.

   467

 */

   468

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)

   469

{

   470

    ec_datagram_t *datagram = &voe->datagram;

   471

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

   472

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

   473

    uint8_t *data, mbox_prot;

   474

    size_t rec_size;

   475

   476

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

   477

        return;

   478

   479

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   480

        voe->state = ec_voe_handler_state_error;

   481

        voe->request_state = EC_INT_REQUEST_FAILURE;

   482

        EC_ERR("Failed to receive VoE read datagram for"

   483

               " slave %u: ", slave->ring_position);

   484

        ec_datagram_print_state(datagram);

   485

        return;

   486

    }

   487

   488

    if (datagram->working_counter == 0) {

   489

        voe->state = ec_voe_handler_state_error;

   490

        voe->request_state = EC_INT_REQUEST_FAILURE;

   491

        if (master->debug_level)

   492

            EC_DBG("Slave %u did not send VoE data.\n", slave->ring_position);

   493

        return;

   494

    }

   495

   496

    if (datagram->working_counter != 1) {

   497

        voe->state = ec_voe_handler_state_error;

   498

        voe->request_state = EC_INT_REQUEST_FAILURE;

   499

        EC_WARN("Reception of VoE read response failed on slave %u: ",

   500

                slave->ring_position);

   501

        ec_datagram_print_wc_error(datagram);

   502

        return;

   503

    }

   504

   505

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

   506

                    &mbox_prot, &rec_size))) {

   507

        voe->state = ec_voe_handler_state_error;

   508

        voe->request_state = EC_INT_REQUEST_FAILURE;

   509

        return;

   510

    }