| author | Florian Pose <fp@igh-essen.com> |
| Tue, 30 Jun 2009 11:11:56 +0000 | |
| changeset 1489 | f77a1182b6f4 |
| parent 1363 | 11c0b2caa253 |
| child 1507 | 68e89abadd19 |
| permissions | -rw-r--r-- |
| 1209 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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ef907b0b5125
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* Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License along |
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* with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** \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_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 *); |
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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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* \return Return value of ec_datagram_prealloc(). |
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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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return ec_datagram_prealloc(&voe->datagram, |
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size + EC_MBOX_HEADER_SIZE + EC_VOE_HEADER_SIZE); |
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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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/*****************************************************************************/ |
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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_BUSY; |
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} |
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/*****************************************************************************/ |
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void ecrt_voe_handler_read_nosync(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_nosync_start; |
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voe->request_state = EC_INT_REQUEST_BUSY; |
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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) |
180 |
{
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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_BUSY; |
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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) { // FIXME locking?
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voe->state(voe); |
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if (voe->request_state == EC_INT_REQUEST_BUSY) |
| 1209 | 194 |
ec_master_queue_datagram(voe->config->master, &voe->datagram); |
195 |
} 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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} |
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/****************************************************************************** |
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* State functions. |
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*****************************************************************************/ |
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/** Start writing VoE data. |
208 |
*/ |
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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 %u 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 |
||
|
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); |
|
| 1209 | 237 |
|
238 |
voe->retries = EC_FSM_RETRIES; |
|
239 |
voe->jiffies_start = jiffies; |
|
240 |
voe->state = ec_voe_handler_state_write_response; |
|
241 |
} |
|
242 |
||
243 |
/*****************************************************************************/ |
|
244 |
||
| 1268 | 245 |
/** Wait for the mailbox response. |
246 |
*/ |
|
| 1209 | 247 |
void ec_voe_handler_state_write_response(ec_voe_handler_t *voe) |
248 |
{
|
|
249 |
ec_datagram_t *datagram = &voe->datagram; |
|
250 |
ec_slave_t *slave = voe->config->slave; |
|
251 |
||
252 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
253 |
return; |
|
254 |
||
255 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
256 |
voe->state = ec_voe_handler_state_error; |
|
257 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
258 |
EC_ERR("Failed to receive VoE write request datagram for"
|
|
259 |
" slave %u (datagram state %u).\n", |
|
260 |
slave->ring_position, datagram->state); |
|
261 |
return; |
|
262 |
} |
|
263 |
||
264 |
if (datagram->working_counter != 1) {
|
|
265 |
if (!datagram->working_counter) {
|
|
266 |
unsigned long diff_ms = |
|
267 |
(jiffies - voe->jiffies_start) * 1000 / HZ; |
|
268 |
if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {
|
|
269 |
if (slave->master->debug_level) {
|
|
270 |
EC_DBG("Slave %u did not respond to VoE write request. "
|
|
271 |
"Retrying after %u ms...\n", |
|
272 |
slave->ring_position, (u32) diff_ms); |
|
273 |
} |
|
274 |
// no response; send request datagram again |
|
275 |
return; |
|
276 |
} |
|
277 |
} |
|
278 |
voe->state = ec_voe_handler_state_error; |
|
279 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
280 |
EC_ERR("Reception of VoE write request failed on slave %u: ",
|
|
281 |
slave->ring_position); |
|
282 |
ec_datagram_print_wc_error(datagram); |
|
283 |
return; |
|
284 |
} |
|
285 |
||
286 |
if (voe->config->master->debug_level) |
|
287 |
EC_DBG("VoE write request successful.\n");
|
|
288 |
||
289 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
|
290 |
voe->state = ec_voe_handler_state_end; |
|
291 |
} |
|
292 |
||
293 |
/*****************************************************************************/ |
|
294 |
||
| 1268 | 295 |
/** Start reading VoE data. |
296 |
*/ |
|
| 1209 | 297 |
void ec_voe_handler_state_read_start(ec_voe_handler_t *voe) |
298 |
{
|
|
299 |
ec_datagram_t *datagram = &voe->datagram; |
|
300 |
ec_slave_t *slave = voe->config->slave; |
|
301 |
||
302 |
if (slave->master->debug_level) |
|
303 |
EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
|
|
304 |
||
305 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
|
|
306 |
EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
|
|
307 |
voe->state = ec_voe_handler_state_error; |
|
308 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
309 |
return; |
|
310 |
} |
|
311 |
||
312 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
313 |
||
314 |
voe->jiffies_start = jiffies; |
|
315 |
voe->retries = EC_FSM_RETRIES; |
|
316 |
voe->state = ec_voe_handler_state_read_check; |
|
317 |
} |
|
318 |
||
319 |
/*****************************************************************************/ |
|
320 |
||
| 1268 | 321 |
/** Check for new data in the mailbox. |
322 |
*/ |
|
| 1209 | 323 |
void ec_voe_handler_state_read_check(ec_voe_handler_t *voe) |
324 |
{
|
|
325 |
ec_datagram_t *datagram = &voe->datagram; |
|
326 |
ec_slave_t *slave = voe->config->slave; |
|
327 |
||
328 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
329 |
return; |
|
330 |
||
331 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
332 |
voe->state = ec_voe_handler_state_error; |
|
333 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
334 |
EC_ERR("Failed to receive VoE mailbox check datagram from slave %u"
|
|
335 |
" (datagram state %u).\n", |
|
336 |
slave->ring_position, datagram->state); |
|
337 |
return; |
|
338 |
} |
|
339 |
||
340 |
if (datagram->working_counter != 1) {
|
|
341 |
voe->state = ec_voe_handler_state_error; |
|
342 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
343 |
EC_ERR("Reception of VoE mailbox check"
|
|
344 |
" datagram failed on slave %u: ", slave->ring_position); |
|
345 |
ec_datagram_print_wc_error(datagram); |
|
346 |
return; |
|
347 |
} |
|
348 |
||
349 |
if (!ec_slave_mbox_check(datagram)) {
|
|
350 |
unsigned long diff_ms = |
|
351 |
(datagram->jiffies_received - voe->jiffies_start) * 1000 / HZ; |
|
352 |
if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {
|
|
353 |
voe->state = ec_voe_handler_state_error; |
|
354 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
355 |
EC_ERR("Timeout while waiting for VoE data on "
|
|
356 |
"slave %u.\n", slave->ring_position); |
|
357 |
return; |
|
358 |
} |
|
359 |
||
360 |
ec_slave_mbox_prepare_check(slave, datagram); // can not fail. |
|
361 |
voe->retries = EC_FSM_RETRIES; |
|
362 |
return; |
|
363 |
} |
|
364 |
||
365 |
// Fetch response |
|
366 |
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail. |
|
367 |
voe->retries = EC_FSM_RETRIES; |
|
368 |
voe->state = ec_voe_handler_state_read_response; |
|
369 |
} |
|
370 |
||
371 |
/*****************************************************************************/ |
|
372 |
||
| 1268 | 373 |
/** Read the pending mailbox data. |
374 |
*/ |
|
| 1209 | 375 |
void ec_voe_handler_state_read_response(ec_voe_handler_t *voe) |
376 |
{
|
|
377 |
ec_datagram_t *datagram = &voe->datagram; |
|
378 |
ec_slave_t *slave = voe->config->slave; |
|
379 |
ec_master_t *master = voe->config->master; |
|
380 |
uint8_t *data, mbox_prot; |
|
381 |
size_t rec_size; |
|
382 |
||
383 |
if (datagram->state == EC_DATAGRAM_TIMED_OUT && voe->retries--) |
|
384 |
return; |
|
385 |
||
386 |
if (datagram->state != EC_DATAGRAM_RECEIVED) {
|
|
387 |
voe->state = ec_voe_handler_state_error; |
|
388 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
389 |
EC_ERR("Failed to receive VoE read datagram for"
|
|
390 |
" slave %u (datagram state %u).\n", |
|
391 |
slave->ring_position, datagram->state); |
|
392 |
return; |
|
393 |
} |
|
394 |
||
395 |
if (datagram->working_counter != 1) {
|
|
396 |
voe->state = ec_voe_handler_state_error; |
|
397 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
398 |
EC_ERR("Reception of VoE read response failed on slave %u: ",
|
|
399 |
slave->ring_position); |
|
400 |
ec_datagram_print_wc_error(datagram); |
|
401 |
return; |
|
402 |
} |
|
403 |
||
|
1313
ed15eef57d5c
Improved error case return codes of many functions.
Florian Pose <fp@igh-essen.com>
parents:
1312
diff
changeset
|
404 |
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
|
405 |
if (IS_ERR(data)) {
|
| 1209 | 406 |
voe->state = ec_voe_handler_state_error; |
407 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
408 |
return; |
|
409 |
} |
|
410 |
||
|
1216
e70c4d71cebd
Changed VoE mailbox type to 0xff.
Florian Pose <fp@igh-essen.com>
parents:
1209
diff
changeset
|
411 |
if (mbox_prot != EC_MBOX_TYPE_VOE) {
|
| 1209 | 412 |
voe->state = ec_voe_handler_state_error; |
413 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
414 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
415 |
ec_print_data(data, rec_size); |
|
416 |
return; |
|
417 |
} |
|
418 |
||
| 1218 | 419 |
if (rec_size < EC_VOE_HEADER_SIZE) {
|
420 |
voe->state = ec_voe_handler_state_error; |
|
421 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
422 |
EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
|
|
423 |
return; |
|
424 |
} |
|
425 |
||
| 1209 | 426 |
if (master->debug_level) {
|
427 |
EC_DBG("VoE data:\n");
|
|
428 |
ec_print_data(data, rec_size); |
|
429 |
} |
|
430 |
||
| 1218 | 431 |
voe->data_size = rec_size - EC_VOE_HEADER_SIZE; |
| 1209 | 432 |
voe->request_state = EC_INT_REQUEST_SUCCESS; |
433 |
voe->state = ec_voe_handler_state_end; // success |
|
434 |
} |
|
435 |
||
436 |
/*****************************************************************************/ |
|
437 |
||
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
438 |
/** 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
|
439 |
*/ |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
440 |
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
|
441 |
{
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
442 |
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
|
443 |
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
|
444 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
445 |
if (slave->master->debug_level) |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
446 |
EC_DBG("Reading VoE data to slave %u.\n", slave->ring_position);
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
447 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
448 |
if (!(slave->sii.mailbox_protocols & EC_MBOX_VOE)) {
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
449 |
EC_ERR("Slave %u does not support VoE!\n", slave->ring_position);
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
450 |
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
|
451 |
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
|
452 |
return; |
|
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 |
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
|
456 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
457 |
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
|
458 |
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
|
459 |
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
|
460 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
461 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
462 |
/*****************************************************************************/ |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
463 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
464 |
/** 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
|
465 |
* 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
|
466 |
*/ |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
467 |
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
|
468 |
{
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
469 |
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
|
470 |
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
|
471 |
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
|
472 |
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
|
473 |
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
|
474 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
475 |
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
|
476 |
return; |
|
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->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
|
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; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
481 |
EC_ERR("Failed to receive VoE read datagram for"
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
482 |
" slave %u (datagram state %u).\n", |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
483 |
slave->ring_position, datagram->state); |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
484 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
485 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
486 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
487 |
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
|
488 |
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
|
489 |
voe->request_state = EC_INT_REQUEST_FAILURE; |
|
1315
26b4f94cfdfb
Output debug message only on debug level > 0.
Florian Pose <fp@igh-essen.com>
parents:
1314
diff
changeset
|
490 |
if (master->debug_level) |
|
26b4f94cfdfb
Output debug message only on debug level > 0.
Florian Pose <fp@igh-essen.com>
parents:
1314
diff
changeset
|
491 |
EC_DBG("Slave %u did not send VoE data.", slave->ring_position);
|
|
1314
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
492 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
493 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
494 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
495 |
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
|
496 |
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
|
497 |
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
|
498 |
EC_WARN("Reception of VoE read response failed on slave %u: ",
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
499 |
slave->ring_position); |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
500 |
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
|
501 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
502 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
503 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
504 |
if (!(data = ec_slave_mbox_fetch(slave, datagram, |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
505 |
&mbox_prot, &rec_size))) {
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
506 |
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
|
507 |
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
|
508 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
509 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
510 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
511 |
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
|
512 |
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
|
513 |
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
|
514 |
EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
515 |
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
|
516 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
517 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
518 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
519 |
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
|
520 |
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
|
521 |
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
|
522 |
EC_ERR("Received VoE header is incomplete (%u bytes)!\n", rec_size);
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
523 |
return; |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
524 |
} |
|
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 |
if (master->debug_level) {
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
527 |
EC_DBG("VoE data:\n");
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
528 |
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
|
529 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
530 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
531 |
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
|
532 |
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
|
533 |
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
|
534 |
} |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
535 |
|
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
536 |
/*****************************************************************************/ |
|
b3d06a8807b3
Included ecrt_voe_handler_read_nosync()-Patch by Mathias Weber.
Florian Pose <fp@igh-essen.com>
parents:
1313
diff
changeset
|
537 |
|
| 1268 | 538 |
/** Successful termination state function. |
539 |
*/ |
|
| 1209 | 540 |
void ec_voe_handler_state_end(ec_voe_handler_t *voe) |
541 |
{
|
|
542 |
} |
|
543 |
||
544 |
/*****************************************************************************/ |
|
545 |
||
| 1268 | 546 |
/** Failure termination state function. |
547 |
*/ |
|
| 1209 | 548 |
void ec_voe_handler_state_error(ec_voe_handler_t *voe) |
549 |
{
|
|
550 |
} |
|
551 |
||
552 |
/*****************************************************************************/ |
|
553 |
||
554 |
/** \cond */ |
|
555 |
||
|
1226
afb189516fcf
Introduced ecrt_voe_handler_received_header(); renamed
Florian Pose <fp@igh-essen.com>
parents:
1224
diff
changeset
|
556 |
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
|
557 |
EXPORT_SYMBOL(ecrt_voe_handler_received_header); |
| 1209 | 558 |
EXPORT_SYMBOL(ecrt_voe_handler_data); |
559 |
EXPORT_SYMBOL(ecrt_voe_handler_data_size); |
|
560 |
EXPORT_SYMBOL(ecrt_voe_handler_read); |
|
561 |
EXPORT_SYMBOL(ecrt_voe_handler_write); |
|
562 |
EXPORT_SYMBOL(ecrt_voe_handler_execute); |
|
563 |
||
564 |
/** \endcond */ |
|
565 |
||
566 |
/*****************************************************************************/ |