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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2008  Olav Zarges, imc Messsysteme GmbH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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

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

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 *  published by the Free Software Foundation.

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 *

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

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

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

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 *  Public License for more details.

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 *

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

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

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

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 *

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 *  ---

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 *

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

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

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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 *

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

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/**

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   \file

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   EtherCAT FoE state machines.

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*/

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

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#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "fsm_foe.h"

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#include "foe.h"

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

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/** Maximum time in ms to wait for responses when reading out the dictionary.

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 */

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#define EC_FSM_FOE_TIMEOUT 3000

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/** Mailbox type FoE.

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 */

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#define EC_MBOX_TYPE_FILEACCESS 0x04

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/** Size of the FoE header.

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 */

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#define EC_FOE_HEADER_SIZE 6

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// uint8_t  OpCode

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// uint8_t  reserved

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// uint32_t PacketNo, Password, ErrorCode

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    60

//#define DEBUG_FOE

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

    63

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/** FoE OpCodes.

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 */

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enum {

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

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

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

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

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

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    EC_FOE_OPCODE_BUSY = 6  /**< Busy. */

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} ec_foe_opcode_t;

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

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int ec_foe_prepare_data_send(ec_fsm_foe_t *);

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int ec_foe_prepare_wrq_send(ec_fsm_foe_t *);

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int ec_foe_prepare_rrq_send(ec_fsm_foe_t *);

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int ec_foe_prepare_send_ack(ec_fsm_foe_t *);

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void ec_foe_set_tx_error(ec_fsm_foe_t *, uint32_t);

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void ec_foe_set_rx_error(ec_fsm_foe_t *, uint32_t);

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void ec_fsm_foe_write(ec_fsm_foe_t *);

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void ec_fsm_foe_read(ec_fsm_foe_t *);

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void ec_fsm_foe_end(ec_fsm_foe_t *);

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void ec_fsm_foe_error(ec_fsm_foe_t *);

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void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *);

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void ec_fsm_foe_state_rrq_sent(ec_fsm_foe_t *);

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void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *);

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void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *);

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void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *);

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void ec_fsm_foe_state_data_check(ec_fsm_foe_t *);

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void ec_fsm_foe_state_data_read(ec_fsm_foe_t *);

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void ec_fsm_foe_state_sent_ack(ec_fsm_foe_t *);

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void ec_fsm_foe_write_start(ec_fsm_foe_t *);

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void ec_fsm_foe_read_start(ec_fsm_foe_t *);

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

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   107

/** Constructor.

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 */

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

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                     )

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{

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}

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

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/** Destructor.

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 */

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

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{

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}

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

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/** Executes the current state of the state machine.

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_foe_exec(ec_fsm_foe_t *fsm /**< finite state machine */)

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{

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    fsm->state(fsm);

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    return fsm->state != ec_fsm_foe_end && fsm->state != ec_fsm_foe_error;

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}

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

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/** Returns, if the state machine terminated with success.

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 * \return non-zero if successful.

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 */

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int ec_fsm_foe_success(ec_fsm_foe_t *fsm /**< Finite state machine */)

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{

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    return fsm->state == ec_fsm_foe_end;

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}

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

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/** Prepares an FoE transfer.

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 */

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void ec_fsm_foe_transfer(

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        ec_fsm_foe_t *fsm, /**< State machine. */

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        ec_slave_t *slave, /**< EtherCAT slave. */

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        ec_foe_request_t *request /**< Sdo request. */

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        )

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{

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    fsm->slave = slave;

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    fsm->request = request;

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    if (request->dir == EC_DIR_OUTPUT) {

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        fsm->state = ec_fsm_foe_write;

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    }

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    else {

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        fsm->state = ec_fsm_foe_read;

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    }

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}

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

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/** State: ERROR.

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 */

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

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{

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_error()\n");

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#endif

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}

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

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/** State: END.

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 */

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

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{

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_end\n");

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#endif

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}

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

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/** Sends a file or the next fragment.

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 */

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int ec_foe_prepare_data_send(ec_fsm_foe_t *fsm)

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{

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    size_t remaining_size, current_size;

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    uint8_t *data;

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

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    if (remaining_size < fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {

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        current_size = remaining_size;

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        fsm->tx_last_packet = 1;

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    } else {

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        current_size = fsm->slave->configured_tx_mailbox_size

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            - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;

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    }

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    data = ec_slave_mbox_prepare_send(fsm->slave,

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            current_size + EC_FOE_HEADER_SIZE);

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    if (IS_ERR(data))

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        return -1;

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    EC_WRITE_U8 ( data, EC_FOE_OPCODE_DATA );    // OpCode = DataBlock req.

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

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    memcpy(data + EC_FOE_HEADER_SIZE,

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            fsm->tx_buffer + fsm->tx_buffer_offset, current_size);

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    fsm->tx_current_size = current_size;

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    return 0;

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}

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

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/** Prepare a write request (WRQ) with filename

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 */

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int ec_foe_prepare_wrq_send(ec_fsm_foe_t *fsm)

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{

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    size_t current_size;

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    uint8_t *data;

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    fsm->tx_buffer_offset = 0;

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    fsm->tx_current_size = 0;

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    fsm->tx_packet_no = 0;

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    fsm->tx_last_packet = 0;

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    current_size = fsm->tx_filename_len;

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            EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);

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    if (IS_ERR(data))

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        return -1;

   245

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

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

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   249

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

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    return 0;

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}

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

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/** Start a write operation.

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 */

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void ec_fsm_foe_write(

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

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        )

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{

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

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

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    fsm->tx_buffer_offset = 0;

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

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

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    fsm->state = ec_fsm_foe_write_start;

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}

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

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   274

/** Initializes the FoE write state machine.

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 */

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

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{

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    ec_slave_t *slave = fsm->slave;

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    fsm->tx_buffer_offset = 0;

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    fsm->tx_current_size = 0;

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    fsm->tx_packet_no = 0;

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    fsm->tx_last_packet = 0;

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_write_start()\n");

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#endif

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   289

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

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        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

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        EC_SLAVE_ERR(slave, "Slave does not support FoE!\n");

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        return;

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    }

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    if (ec_foe_prepare_wrq_send(fsm)) {

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        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

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        return;

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    }

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    fsm->state = ec_fsm_foe_state_wrq_sent;

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}

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

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/** Check for acknowledge.

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 */

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void ec_fsm_foe_state_ack_check(

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

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        )

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{

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    ec_slave_t *slave = fsm->slave;

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#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_ack_check()\n");

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#endif

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        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

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        EC_SLAVE_ERR(slave, "Failed to receive FoE mailbox check datagram: ");

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        ec_datagram_print_state(datagram);

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        return;

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    }

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        // slave did not put anything in the mailbox yet

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        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

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        EC_SLAVE_ERR(slave, "Reception of FoE mailbox check datagram"

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                " failed: ");

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        ec_datagram_print_wc_error(datagram);

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        return;

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    }

   334

   336

        unsigned long diff_ms =

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

   338

        if (diff_ms >= EC_FSM_FOE_TIMEOUT) {

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            ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);

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            EC_SLAVE_ERR(slave, "Timeout while waiting for ack response.\n");

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            return;

   342

        }

   343

   345

        fsm->retries = EC_FSM_RETRIES;

   346

        return;

   347

    }

   348

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    // Fetch response

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   352

    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_foe_state_ack_read;

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}

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   356

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

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   358

/** Acknowledge a read operation.

   359

 */

   360

void ec_fsm_foe_state_ack_read(

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

   362

        )

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{

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    ec_slave_t *slave = fsm->slave;

   367

    uint8_t *data, mbox_prot;

   368

    uint8_t opCode;

   369

    size_t rec_size;

   370

   371

#ifdef DEBUG_FOE

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    printk("ec_fsm_foe_ack_read()\n");

   373

#endif

   374

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        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

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        EC_SLAVE_ERR(slave, "Failed to receive FoE ack response datagram: ");

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        ec_datagram_print_state(datagram);

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        return;

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    }

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        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

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        EC_SLAVE_ERR(slave, "Reception of FoE ack response failed: ");

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        ec_datagram_print_wc_error(datagram);

   386

        return;

   387

    }

   388

   390

                    &mbox_prot, &rec_size))) {

   391

        ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   392

        return;

   393

    }

   394

   395

    if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE

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        ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);

   397

        EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",

   398

                mbox_prot);

   399

        return;

   400

    }

   401

   402

    opCode = EC_READ_U8(data);

   403

   404

    if (opCode == EC_FOE_OPCODE_BUSY) {

   405

        // slave not ready

   406

        if (ec_foe_prepare_data_send(fsm)) {

   407

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   408

            EC_SLAVE_ERR(slave, "Slave is busy.\n");

   409

            return;

   410

        }

   411

        fsm->state = ec_fsm_foe_state_data_sent;

   412

        return;

   413

    }

   414

   415

    if (opCode == EC_FOE_OPCODE_ACK) {

   416

        fsm->tx_packet_no++;

   417

        fsm->tx_buffer_offset += fsm->tx_current_size;

   418

   419

        if (fsm->tx_last_packet) {

   420

            fsm->state = ec_fsm_foe_end;

   421

            return;

   422

        }

   423

   424

        if (ec_foe_prepare_data_send(fsm)) {

   425

            ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);

   426

            return;

   427

        }

   428

        fsm->state = ec_fsm_foe_state_data_sent;

   429

        return;

   430

    }

   431

    ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);

   432

}

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   434

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

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   436

/** State: WRQ SENT.

   437

 *

   438

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

   439

 * fragment, if necessary.

   440

 */

   441

void ec_fsm_foe_state_wrq_sent(

   442

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

   443

        )

   444

{

   447

    ec_slave_t *slave = fsm->slave;

   448

   449

#ifdef DEBUG_FOE

   450

    printk("ec_foe_state_sent_wrq()\n");

   451

#endif

   452

   454

        ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);

   455

        EC_SLAVE_ERR(slave, "Failed to send FoE WRQ: ");

   456

        ec_datagram_print_state(datagram);

   457

        return;

   458

    }

   459

   461

        // slave did not put anything in the mailbox yet

   462

        ec_foe_set_rx_error(fsm, FOE_WC_ERROR);

   463

        EC_SLAVE_ERR(slave, "Reception of FoE WRQ failed: ");

   464

        ec_datagram_print_wc_error(datagram);

   465

        return;

   466

    }

   467

   468

    fsm->jiffies_start = datagram->jiffies_sent;

   469

   471

   472

    fsm->retries = EC_FSM_RETRIES;

   473

    fsm->state = ec_fsm_foe_state_ack_check;

   474

}

   475

   476

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

   477

   478

/** State: WRQ SENT.

   479

 *

   480

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

   481

 * fragment, if necessary.

   482

 */

   483

void ec_fsm_foe_state_data_sent(

   484

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

   485

        )

   486

{

   489

    ec_slave_t *slave = fsm->slave;

   490

   491

#ifdef DEBUG_FOE

   492

    printk("ec_fsm_foe_state_data_sent()\n");

   493

#endif

   494

   496

        ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);

   497

        EC_SLAVE_ERR(slave, "Failed to receive FoE ack response datagram: ");

   498

        ec_datagram_print_state(datagram);

   499

        return;

   500

    }

   501