--- a/master/fsm_soe.c Fri Mar 05 13:44:57 2010 +0100
+++ b/master/fsm_soe.c Fri Mar 05 15:32:56 2010 +0100
@@ -45,11 +45,15 @@
*/
#define EC_MBOX_TYPE_SOE 0x05
-#define EC_SOE_OPCODE_READ_REQUEST 0x01
-#define EC_SOE_OPCODE_READ_RESPONSE 0x02
-
-#define EC_SOE_READ_REQUEST_SIZE 0x04
-#define EC_SOE_READ_RESPONSE_SIZE 0x04
+#define EC_SOE_OPCODE_READ_REQUEST 0x01
+#define EC_SOE_OPCODE_READ_RESPONSE 0x02
+#define EC_SOE_OPCODE_WRITE_REQUEST 0x03
+#define EC_SOE_OPCODE_WRITE_RESPONSE 0x04
+
+#define EC_SOE_READ_REQUEST_SIZE 0x04
+#define EC_SOE_READ_RESPONSE_SIZE 0x04
+#define EC_SOE_WRITE_REQUEST_SIZE 0x04
+#define EC_SOE_WRITE_RESPONSE_SIZE 0x04
#define EC_SOE_RESPONSE_TIMEOUT 1000
@@ -60,6 +64,11 @@
void ec_fsm_soe_read_check(ec_fsm_soe_t *);
void ec_fsm_soe_read_response(ec_fsm_soe_t *);
+void ec_fsm_soe_write_start(ec_fsm_soe_t *);
+void ec_fsm_soe_write_request(ec_fsm_soe_t *);
+void ec_fsm_soe_write_check(ec_fsm_soe_t *);
+void ec_fsm_soe_write_response(ec_fsm_soe_t *);
+
void ec_fsm_soe_end(ec_fsm_soe_t *);
void ec_fsm_soe_error(ec_fsm_soe_t *);
@@ -99,7 +108,7 @@
fsm->slave = slave;
fsm->request = request;
if (request->dir == EC_DIR_OUTPUT) {
- //fsm->state = ec_fsm_soe_write_start;
+ fsm->state = ec_fsm_soe_write_start;
} else {
fsm->state = ec_fsm_soe_read_start;
}
@@ -370,6 +379,241 @@
fsm->state = ec_fsm_soe_end; // success
}
+/******************************************************************************
+ * SoE write state machine
+ *****************************************************************************/
+
+/** SoE state: WRITE START.
+ */
+void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_soe_request_t *request = fsm->request;
+ uint8_t *data;
+
+ if (master->debug_level)
+ EC_DBG("Writing IDN 0x%04X to slave %u.\n",
+ request->idn, slave->ring_position);
+
+ if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
+ EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
+ EC_SOE_WRITE_REQUEST_SIZE + request->data_size);
+ if (IS_ERR(data)) {
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST);
+ EC_WRITE_U8(data + 1, 1 << 6); // only value included
+ EC_WRITE_U16(data + 2, request->idn);
+ memcpy(data + 4, request->data, request->data_size);
+
+ if (master->debug_level) {
+ EC_DBG("SCC write request:\n");
+ ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + request->data_size);
+ }
+
+ fsm->request->jiffies_sent = jiffies;
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_soe_write_request;
+}
+
+/*****************************************************************************/
+
+/** SoE state: WRITE REQUEST.
+ */
+void ec_fsm_soe_write_request(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ unsigned long diff_ms;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return; // FIXME: check for response first?
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Failed to receive SoE write request for slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_state(datagram);
+ return;
+ }
+
+ diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+
+ if (datagram->working_counter != 1) {
+ if (!datagram->working_counter) {
+ if (diff_ms < EC_SOE_RESPONSE_TIMEOUT) {
+ // no response; send request datagram again
+ return;
+ }
+ }
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Reception of SoE write request for IDN 0x%04x failed"
+ " after %u ms on slave %u: ",
+ fsm->request->idn, (u32) diff_ms,
+ fsm->slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ fsm->jiffies_start = datagram->jiffies_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_soe_write_check;
+}
+
+/*****************************************************************************/
+
+/** CoE state: WRITE CHECK.
+ */
+void ec_fsm_soe_write_check(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Failed to receive SoE mailbox check datagram from slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_state(datagram);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Reception of SoE mailbox check datagram failed on slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ if (!ec_slave_mbox_check(datagram)) {
+ unsigned long diff_ms =
+ (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
+ if (diff_ms >= EC_SOE_RESPONSE_TIMEOUT) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Timeout after %u ms while waiting for IDN 0x%04x"
+ " write response on slave %u.\n", (u32) diff_ms,
+ fsm->request->idn, slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_soe_write_response;
+}
+
+/*****************************************************************************/
+
+/** SoE state: WRITE RESPONSE.
+ */
+void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ uint8_t *data, mbox_prot, opcode, error_flag;
+ uint16_t idn;
+ size_t rec_size;
+ ec_soe_request_t *req = fsm->request;
+
+ if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ return; // FIXME: request again?
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Failed to receive SoE write response datagram for"
+ " slave %u: ", slave->ring_position);
+ ec_datagram_print_state(datagram);
+ return;
+ }
+
+ if (datagram->working_counter != 1) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Reception of SoE write response failed on slave %u: ",
+ slave->ring_position);
+ ec_datagram_print_wc_error(datagram);
+ return;
+ }
+
+ data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ if (IS_ERR(data)) {
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("SCC write response:\n");
+ ec_print_data(data, rec_size);
+ }
+
+ if (mbox_prot != EC_MBOX_TYPE_SOE) {
+ fsm->state = ec_fsm_soe_error;
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ return;
+ }
+
+ if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Received currupted SoE write response (%zu bytes)!\n",
+ rec_size);
+ ec_print_data(data, rec_size);
+ return;
+ }
+
+ opcode = EC_READ_U8(data) & 0x3;
+ if (opcode != EC_SOE_OPCODE_WRITE_RESPONSE) {
+ EC_ERR("Received no write response (opcode %x).\n", opcode);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ idn = EC_READ_U16(data + 2);
+ if (idn != req->idn) {
+ EC_ERR("Received response for wrong IDN 0x%04x.\n", idn);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ error_flag = (EC_READ_U8(data) >> 4) & 1;
+ if (error_flag) {
+ req->error_code = EC_READ_U16(data + rec_size - 2);
+ EC_ERR("Received error response: 0x%04x.\n",
+ req->error_code);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ } else {
+ req->error_code = 0x0000;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("IDN data:\n");
+ ec_print_data(req->data, req->data_size);
+ }
+
+ fsm->state = ec_fsm_soe_end; // success
+}
+
/*****************************************************************************/
/** State: ERROR.