etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:09c6fce1ae45
+:e27b37e80a99
 /******************************************************************************
 *
-*  $Id:$
+*  $Id$
 *
 *  Copyright (C) 2008  Olav Zarges, imc Meßsysteme GmbH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 */
 #define EC_FSM_FOE_TIMEOUT 3000
 #define EC_MBOX_TYPE_FILEACCESS 0x04
+#define myDEBUG
 /*****************************************************************************/
 int		ec_foe_prepare_data_send( ec_fsm_foe_t * );
 int		ec_foe_prepare_wrq_send( ec_fsm_foe_t * );
 int		ec_foe_prepare_rrq_send( ec_fsm_foe_t * );
 // uint8_t	reserved
 // uint8_t	Type:4
 // uint8_t	Counter:4
 #define	EC_FOE_HEADER_SIZE		6
-// uint8_t	OpMode
+// uint8_t	OpCode
 // uint8_t	reserved
 // uint32_t	PacketNo, Password, ErrorCode
 enum {
-	EC_FOE_OPMODE_RRQ  = 1,
+	EC_FOE_OPCODE_RRQ  = 1,
-	EC_FOE_OPMODE_WRQ  = 2,
+	EC_FOE_OPCODE_WRQ  = 2,
-	EC_FOE_OPMODE_DATA = 3,
+	EC_FOE_OPCODE_DATA = 3,
-	EC_FOE_OPMODE_ACK  = 4,
+	EC_FOE_OPCODE_ACK  = 4,
-	EC_FOE_OPMODE_ERR  = 5,
+	EC_FOE_OPCODE_ERR  = 5,
-	EC_FOE_OPMODE_BUSY = 6
+	EC_FOE_OPCODE_BUSY = 6
-} ec_foe_opmode_t;
+} ec_foe_opcode_t;
 /*****************************************************************************/
 /**
 Sends a file or the next fragment.
 */
 if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
 		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
 return -1;
-EC_WRITE_U8 ( data, EC_FOE_OPMODE_DATA ); 		// OpMode = DataBlock req.
+EC_WRITE_U8 ( data, EC_FOE_OPCODE_DATA ); 		// OpCode = DataBlock req.
 EC_WRITE_U32( data + 2, fsm->tx_packet_no );	// PacketNo, Password
 memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
 fsm->tx_current_size = current_size;
 if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
 		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
 return -1;
-EC_WRITE_U16( data, EC_FOE_OPMODE_WRQ); // fsm write request
+EC_WRITE_U16( data, EC_FOE_OPCODE_WRQ); // fsm write request
 EC_WRITE_U32( data + 2, fsm->tx_packet_no );
 memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
 return 0;
 void ec_fsm_foe_state_ack_read( ec_fsm_foe_t *fsm ) {
 ec_datagram_t *datagram = fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 uint8_t *data, mbox_prot;
-uint16_t opMode;
+uint8_t opCode;
 size_t rec_size;
 #ifdef	myDEBUG
 	printk("ec_fsm_foe_ack_read()\n");
 #endif
 	ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 return;
 }
-opMode = EC_READ_U16(data);
+opCode = EC_READ_U8(data);
-if ( opMode == EC_FOE_OPMODE_BUSY ) {
+if (opCode == EC_FOE_OPCODE_BUSY) {
 	// slave ist noch nicht bereit
 if (ec_foe_prepare_data_send(fsm)) {
 	ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
 EC_ERR("Slave is busy.\n");
 	return;
 }
 fsm->state = ec_fsm_foe_state_data_sent;
 return;
 }
-if ( opMode == EC_FOE_OPMODE_ACK ) {
+if (opCode == EC_FOE_OPCODE_ACK) {
 fsm->tx_packet_no++;
 fsm->tx_buffer_offset += fsm->tx_current_size;
 if (fsm->tx_last_packet) {
 	fsm->state = ec_fsm_foe_end;
 if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
 		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
 return -1;
-EC_WRITE_U16( data, EC_FOE_OPMODE_RRQ); // fsm read request
+EC_WRITE_U16(data, EC_FOE_OPCODE_RRQ); // fsm read request
-EC_WRITE_U32( data + 2, 0 );
+EC_WRITE_U32(data + 2, 0x00000000); // no passwd
 memcpy(data + EC_FOE_HEADER_SIZE, fsm->rx_filename, current_size);
+if (fsm->slave->master->debug_level) {
+EC_DBG("FoE Read Request:\n");
+ec_print_data(data, current_size + EC_FOE_HEADER_SIZE);
+}
 return 0;
 }
 if (!(data = ec_slave_mbox_prepare_send(foe->slave, foe->datagram,
 		EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE)))
 return -1;
-EC_WRITE_U16( data, EC_FOE_OPMODE_ACK);
+EC_WRITE_U16( data, EC_FOE_OPCODE_ACK);
 EC_WRITE_U32( data + 2, foe->rx_expected_packet_no  );
 return 0;
 }
 /*****************************************************************************/
 void ec_fsm_foe_state_data_read ( ec_fsm_foe_t *fsm ) {
 size_t 	rec_size;
-uint8_t *data, opMode, packet_no, mbox_prot;
+uint8_t *data, opCode, packet_no, mbox_prot;
 ec_datagram_t *datagram = fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 #ifdef	myDEBUG
 	printk("ec_fsm_foe_state_data_read()\n");
 #endif
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
 EC_ERR("Failed to receive FoE DATA READ datagram for"
 " slave %u (datagram state %u).\n",
 slave->ring_position, datagram->state);
 EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
 ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
 return;
 }
-opMode = EC_READ_U16(data);
+opCode = EC_READ_U8(data);
-if (opMode == EC_FOE_OPMODE_BUSY) {
+if (opCode == EC_FOE_OPCODE_BUSY) {
 if (ec_foe_prepare_send_ack(fsm)) {
 ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
 }
 return;
 }
-if (opMode != EC_FOE_OPMODE_DATA) {
+if (opCode == EC_FOE_OPCODE_ERR) {
-ec_foe_set_rx_error(fsm, FOE_OPMODE_ERROR);
+fsm->request->error_code = EC_READ_U32(data + 2);
+EC_ERR("Received FoE Error Request (code %08x) on slave %u.\n",
+fsm->request->error_code, slave->ring_position);
+if (rec_size > 6) {
+uint8_t text[1024];
+strncpy(text, data + 6, min(rec_size - 6, sizeof(text)));
+EC_ERR("FoE Error Text: %s\n", text);
+}
+ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
+return;
+}
+if (opCode != EC_FOE_OPCODE_DATA) {
+EC_ERR("Received OPCODE %x, expected %x on slave %u.\n",
+opCode, EC_FOE_OPCODE_DATA, slave->ring_position);
+fsm->request->error_code = 0x00000000;
+ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
 return;
 }
 packet_no = EC_READ_U16(data + 2);
 if (packet_no != fsm->rx_expected_packet_no) {
+EC_ERR("Received unexpected packet number on slave %u.\n",
+slave->ring_position);
 ec_foe_set_rx_error(fsm, FOE_PACKETNO_ERROR);
 return;
 }
 rec_size -= EC_FOE_HEADER_SIZE;
-if ( fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size ) {
+if (fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size) {
-memcpy ( fsm->rx_buffer + fsm->rx_buffer_offset, data + EC_FOE_HEADER_SIZE, rec_size );
+memcpy(fsm->rx_buffer + fsm->rx_buffer_offset,
+data + EC_FOE_HEADER_SIZE, rec_size);
 fsm->rx_buffer_offset += rec_size;
 }
-fsm->rx_last_packet = (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE != fsm->slave->sii.rx_mailbox_size);
+fsm->rx_last_packet =
+(rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE
+!= fsm->slave->sii.rx_mailbox_size);
 if (fsm->rx_last_packet ||
-	slave->sii.rx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE  + fsm->rx_buffer_offset <= fsm->rx_buffer_size) {
+	(slave->sii.rx_mailbox_size - EC_MBOX_HEADER_SIZE
+- EC_FOE_HEADER_SIZE + fsm->rx_buffer_offset) <= fsm->rx_buffer_size) {
 	// either it was the last packet or a new packet will fit into the delivered buffer
 #ifdef	myDEBUG
 	printk ("last_packet=true\n");
 #endif
 	    if (ec_foe_prepare_send_ack(fsm)) {
 	    }
 	    fsm->state = ec_fsm_foe_state_sent_ack;
 }
 else {
-	// no more data fits into the deliverd buffer
+	// no more data fits into the delivered buffer
-	// ... wait for new read request (an den Treiber)
+	// ... wait for new read request
 	printk ("ERROR: data doesn't fit in receive buffer\n");
 	printk ("       rx_buffer_size  = %d\n", fsm->rx_buffer_size);
 	printk ("       rx_buffer_offset= %d\n", fsm->rx_buffer_offset);
 	printk ("       rec_size        = %d\n", rec_size);
 	printk ("       rx_mailbox_size = %d\n", slave->sii.rx_mailbox_size);
 	printk ("       rx_last_packet  = %d\n", fsm->rx_last_packet);
 //    	fsm->state = ec_fsm_state_wait_next_read;
-	fsm->request->abort_code = FOE_READY;
+	fsm->request->result = FOE_READY;
 }
 }
 /*****************************************************************************/
 }
 }
 /*****************************************************************************/
-void ec_foe_set_tx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
+void ec_foe_set_tx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
+{
 	fsm->tx_errors++;
-	fsm->request->abort_code = errorcode;
+	fsm->request->result = errorcode;
 	fsm->state = ec_fsm_foe_error;
 }
 /*****************************************************************************/
-void ec_foe_set_rx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
+void ec_foe_set_rx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
+{
 	fsm->rx_errors++;
-	fsm->request->abort_code = errorcode;
+	fsm->request->result = errorcode;
 	fsm->state = ec_fsm_foe_error;
 }
 /*****************************************************************************/

changeset 1336	e27b37e80a99
parent 1335	09c6fce1ae45
child 1337	0253c74d0940