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

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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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 *  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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    57

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)

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{

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    voe->dir = EC_DIR_OUTPUT;

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    voe->data_size = size;

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    voe->state = ec_voe_handler_state_write_start;

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    voe->request_state = EC_INT_REQUEST_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)

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    } else {

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        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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    }

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    return ec_request_state_translation_table[voe->request_state];

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}

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

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 * State functions.

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

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/** Start writing VoE data.

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 */

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void ec_voe_handler_state_write_start(ec_voe_handler_t *voe)

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{

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

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    uint8_t *data;

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    if (slave->master->debug_level) {

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        EC_SLAVE_DBG(slave, 0, "Writing %zu bytes of VoE data.\n",

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               voe->data_size);

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

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    }

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

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

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        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

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    }

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            EC_MBOX_TYPE_VOE, EC_VOE_HEADER_SIZE + voe->data_size);

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    if (IS_ERR(data)) {

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        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

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    }

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    EC_WRITE_U32(data,     voe->vendor_id);

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

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    /* data already in datagram */

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    voe->retries = EC_FSM_RETRIES;

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    voe->jiffies_start = jiffies;

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    voe->state = ec_voe_handler_state_write_response;

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}

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

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/** Wait for the mailbox response.

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 */

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void ec_voe_handler_state_write_response(ec_voe_handler_t *voe)

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{

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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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        EC_SLAVE_ERR(slave, "Failed to receive VoE write request datagram: ");

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            unsigned long diff_ms =

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

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            if (diff_ms < EC_VOE_RESPONSE_TIMEOUT) {

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                EC_SLAVE_DBG(slave, 1, "Slave did not respond to"

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                        " VoE write request. Retrying after %lu ms...\n",

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                        diff_ms);

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                // no response; send request datagram again

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                return;

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            }

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        }

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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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        EC_SLAVE_ERR(slave, "Reception of VoE write request failed: ");

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        return;

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    }

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    EC_CONFIG_DBG(voe->config, 1, "VoE write request successful.\n");

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    voe->request_state = EC_INT_REQUEST_SUCCESS;

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    voe->state = ec_voe_handler_state_end;

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}

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

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/** Start reading VoE data.

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 */

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void ec_voe_handler_state_read_start(ec_voe_handler_t *voe)

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{

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

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    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

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

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

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        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

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    }

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    voe->jiffies_start = jiffies;

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    voe->retries = EC_FSM_RETRIES;

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    voe->state = ec_voe_handler_state_read_check;

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}

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

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/** Check for new data in the mailbox.

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 */

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void ec_voe_handler_state_read_check(ec_voe_handler_t *voe)

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{

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

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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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        EC_SLAVE_ERR(slave, "Reception of VoE mailbox check"

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                " datagram failed: ");

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        unsigned long diff_ms =

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        if (diff_ms >= EC_VOE_RESPONSE_TIMEOUT) {

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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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            EC_SLAVE_ERR(slave, "Timeout while waiting for VoE data.\n");

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            return;

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        }

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        voe->retries = EC_FSM_RETRIES;

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        return;

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    }

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    // Fetch response

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    voe->retries = EC_FSM_RETRIES;

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    voe->state = ec_voe_handler_state_read_response;

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}

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

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/** Read the pending mailbox data.

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 */

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void ec_voe_handler_state_read_response(ec_voe_handler_t *voe)

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{

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

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

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    uint8_t *data, mbox_prot;

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    size_t rec_size;

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   382

        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

   384

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

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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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        EC_SLAVE_ERR(slave, "Reception of VoE read response failed: ");

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    if (IS_ERR(data)) {

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        voe->state = ec_voe_handler_state_error;

   400

        voe->request_state = EC_INT_REQUEST_FAILURE;

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        return;

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    }

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    if (mbox_prot != EC_MBOX_TYPE_VOE) {

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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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        EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"

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                " as response.\n", mbox_prot);

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        ec_print_data(data, rec_size);

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        return;

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    }

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   413

    if (rec_size < EC_VOE_HEADER_SIZE) {

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        voe->state = ec_voe_handler_state_error;

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        voe->request_state = EC_INT_REQUEST_FAILURE;

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        EC_SLAVE_ERR(slave, "Received VoE header is"

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                " incomplete (%zu bytes)!\n", rec_size);

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        return;

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    }

   420

   421

    if (master->debug_level) {

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        EC_CONFIG_DBG(voe->config, 0, "VoE data:\n");

   423

        ec_print_data(data, rec_size);

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    }

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   426

    voe->data_size = rec_size - EC_VOE_HEADER_SIZE;

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    voe->request_state = EC_INT_REQUEST_SUCCESS;

   428

    voe->state = ec_voe_handler_state_end; // success

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}

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

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   433

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

   434

 */

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void ec_voe_handler_state_read_nosync_start(ec_voe_handler_t *voe)

   436

{

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

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   440

    EC_SLAVE_DBG(slave, 1, "Reading VoE data.\n");

   441

   442

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

   443

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

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        voe->state = ec_voe_handler_state_error;

   445

        voe->request_state = EC_INT_REQUEST_FAILURE;

   446

        return;

   447

    }

   448

   450

   451

    voe->jiffies_start = jiffies;

   452

    voe->retries = EC_FSM_RETRIES;

   453

    voe->state = ec_voe_handler_state_read_nosync_response;

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}

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

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

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 *  might lead to an empty reponse from the client.

   460

 */

   461

void ec_voe_handler_state_read_nosync_response(ec_voe_handler_t *voe)

   462

{

   464

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

   465

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

   466

    uint8_t *data, mbox_prot;

   467

    size_t rec_size;

   468

   473

        voe->state = ec_voe_handler_state_error;

   474

        voe->request_state = EC_INT_REQUEST_FAILURE;

   475

        EC_SLAVE_ERR(slave, "Failed to receive VoE read datagram: ");

   481

        voe->state = ec_voe_handler_state_error;

   482

        voe->request_state = EC_INT_REQUEST_FAILURE;

   483

        EC_SLAVE_DBG(slave, 1, "Slave did not send VoE data.\n");

   484

        return;

   485

    }

   486

   488

        voe->state = ec_voe_handler_state_error;

   489

        voe->request_state = EC_INT_REQUEST_FAILURE;

   490

        EC_SLAVE_WARN(slave, "Reception of VoE read response failed: ");

   496

                    &mbox_prot, &rec_size))) {

   497

        voe->state = ec_voe_handler_state_error;

   498

        voe->request_state = EC_INT_REQUEST_FAILURE;

   499

        return;

   500

    }

   501

   502