--- a/master/fsm_soe.c Fri Mar 19 13:27:08 2010 +0100
+++ b/master/fsm_soe.c Thu Apr 29 14:05:15 2010 +0200
@@ -45,16 +45,21 @@
*/
#define EC_MBOX_TYPE_SOE 0x05
-#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
-
+/** SoE operations
+ */
+enum ec_soe_opcodes {
+ OPCODE_READ_REQUEST = 0x01, /**< Read request. */
+ OPCODE_READ_RESPONSE = 0x02, /**< Read response. */
+ OPCODE_WRITE_REQUEST = 0x03, /**< Write request. */
+ OPCODE_WRITE_RESPONSE = 0x04 /**< Write response. */
+};
+
+/** Size of all SoE headers.
+ */
+#define EC_SOE_SIZE 0x04
+
+/** SoE response timeout [ms].
+ */
#define EC_SOE_RESPONSE_TIMEOUT 1000
/*****************************************************************************/
@@ -74,12 +79,35 @@
/*****************************************************************************/
+extern const ec_code_msg_t soe_error_codes[];
+
+/*****************************************************************************/
+
+/** Outputs an SoE error code.
+*/
+void ec_print_soe_error(uint16_t error_code)
+{
+ const ec_code_msg_t *error_msg;
+
+ for (error_msg = soe_error_codes; error_msg->code; error_msg++) {
+ if (error_msg->code == error_code) {
+ EC_ERR("SoE error 0x%04X: \"%s\".\n",
+ error_msg->code, error_msg->message);
+ return;
+ }
+ }
+
+ EC_ERR("Unknown SoE error 0x%04X.\n", error_code);
+}
+
+/*****************************************************************************/
+
/** Constructor.
*/
void ec_fsm_soe_init(
- ec_fsm_soe_t *fsm, /**< finite state machine */
- ec_datagram_t *datagram /**< datagram */
- )
+ ec_fsm_soe_t *fsm, /**< finite state machine */
+ ec_datagram_t *datagram /**< datagram */
+ )
{
fsm->state = NULL;
fsm->datagram = datagram;
@@ -90,8 +118,8 @@
/** Destructor.
*/
void ec_fsm_soe_clear(
- ec_fsm_soe_t *fsm /**< finite state machine */
- )
+ ec_fsm_soe_t *fsm /**< finite state machine */
+ )
{
}
@@ -109,9 +137,9 @@
fsm->request = request;
if (request->dir == EC_DIR_OUTPUT) {
fsm->state = ec_fsm_soe_write_start;
- } else {
+ } else {
fsm->state = ec_fsm_soe_read_start;
- }
+ }
}
/*****************************************************************************/
@@ -140,6 +168,26 @@
return fsm->state == ec_fsm_soe_end;
}
+/*****************************************************************************/
+
+/** Output information about a failed SoE transfer.
+ */
+void ec_fsm_soe_print_error(ec_fsm_soe_t *fsm /**< Finite state machine */)
+{
+ ec_soe_request_t *request = fsm->request;
+
+ EC_ERR("");
+
+ if (request->dir == EC_DIR_OUTPUT) {
+ printk("Writing");
+ } else {
+ printk("Reading");
+ }
+
+ printk(" IDN 0x%04X failed on slave %u.\n",
+ request->idn, fsm->slave->ring_position);
+}
+
/******************************************************************************
* SoE read state machine
*****************************************************************************/
@@ -159,25 +207,27 @@
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;
+ EC_ERR("Slave does not support SoE!\n");
+ fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
- EC_SOE_READ_REQUEST_SIZE);
+ EC_SOE_SIZE);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
- return;
- }
-
- EC_WRITE_U8(data, EC_SOE_OPCODE_READ_REQUEST);
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
+
+ EC_WRITE_U8(data, OPCODE_READ_REQUEST);
EC_WRITE_U8(data + 1, 1 << 6); // request value
EC_WRITE_U16(data + 2, request->idn);
if (master->debug_level) {
EC_DBG("SCC read request:\n");
- ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);
+ ec_print_data(data, EC_SOE_SIZE);
}
fsm->request->data_size = 0;
@@ -201,9 +251,9 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_soe_error;
- EC_ERR("Failed to receive SoE read request for slave %u: ",
- slave->ring_position);
+ EC_ERR("Failed to receive SoE read request: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -217,11 +267,10 @@
}
}
fsm->state = ec_fsm_soe_error;
- EC_ERR("Reception of SoE read request for IDN 0x%04x failed"
- " after %u ms on slave %u: ",
- fsm->request->idn, (u32) diff_ms,
- fsm->slave->ring_position);
+ EC_ERR("Reception of SoE read request failed after %u ms: ",
+ (u32) diff_ms);
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -245,17 +294,17 @@
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_ERR("Failed to receive SoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
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_ERR("Reception of SoE mailbox check datagram failed: ");
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -264,9 +313,9 @@
(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"
- " read response on slave %u.\n", (u32) diff_ms,
- fsm->request->idn, slave->ring_position);
+ EC_ERR("Timeout after %u ms while waiting for read response.\n",
+ (u32) diff_ms);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -300,23 +349,24 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_soe_error;
- EC_ERR("Failed to receive SoE read response datagram for"
- " slave %u: ", slave->ring_position);
+ EC_ERR("Failed to receive SoE read response datagram: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_soe_error;
- EC_ERR("Reception of SoE read response failed on slave %u: ",
- slave->ring_position);
+ EC_ERR("Reception of SoE read response failed: ");
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -327,53 +377,59 @@
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_READ_RESPONSE_SIZE) {
- fsm->state = ec_fsm_soe_error;
- EC_ERR("Received currupted SoE read response (%zu bytes)!\n",
- rec_size);
+ EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
+
+ if (rec_size < EC_SOE_SIZE) {
+ fsm->state = ec_fsm_soe_error;
+ EC_ERR("Received currupted SoE read response"
+ " (%zu bytes)!\n", rec_size);
ec_print_data(data, rec_size);
+ ec_fsm_soe_print_error(fsm);
return;
}
header = EC_READ_U8(data);
- opcode = header & 0x7;
+ opcode = header & 0x7;
incomplete = (header >> 3) & 1;
- error_flag = (header >> 4) & 1;
-
- if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {
+ error_flag = (header >> 4) & 1;
+
+ if (opcode != OPCODE_READ_RESPONSE) {
EC_ERR("Received no read response (opcode %x).\n", opcode);
ec_print_data(data, rec_size);
- fsm->state = ec_fsm_soe_error;
- return;
- }
-
- 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;
- }
-
- value_included = (EC_READ_U8(data + 1) >> 6) & 1;
- if (!value_included) {
- EC_ERR("No value included!\n");
- fsm->state = ec_fsm_soe_error;
- return;
- }
-
- data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;
- if (ec_soe_request_append_data(req,
- data + EC_SOE_READ_RESPONSE_SIZE, data_size)) {
- fsm->state = ec_fsm_soe_error;
- return;
- }
+ ec_fsm_soe_print_error(fsm);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ if (error_flag) {
+ req->error_code = EC_READ_U16(data + rec_size - 2);
+ EC_ERR("Received error response:\n");
+ ec_print_soe_error(req->error_code);
+ ec_fsm_soe_print_error(fsm);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ } else {
+ req->error_code = 0x0000;
+ }
+
+ value_included = (EC_READ_U8(data + 1) >> 6) & 1;
+ if (!value_included) {
+ EC_ERR("No value included!\n");
+ ec_fsm_soe_print_error(fsm);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ data_size = rec_size - EC_SOE_SIZE;
+ if (ec_soe_request_append_data(req,
+ data + EC_SOE_SIZE, data_size)) {
+ fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
if (incomplete) {
if (master->debug_level) {
@@ -412,11 +468,12 @@
size_t header_size, max_fragment_size, remaining_size, fragment_size;
uint16_t fragments_left;
- header_size = EC_MBOX_HEADER_SIZE + EC_SOE_WRITE_REQUEST_SIZE;
+ header_size = EC_MBOX_HEADER_SIZE + EC_SOE_SIZE;
if (slave->configured_rx_mailbox_size <= header_size) {
EC_ERR("Mailbox size (%u) too small for SoE write.\n",
slave->configured_rx_mailbox_size);
fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -430,21 +487,22 @@
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
- EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
+ EC_SOE_SIZE + fragment_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
- return;
- }
-
- EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST | incomplete << 3);
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
+
+ EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);
- memcpy(data + 4, req->data + fsm->offset, fragment_size);
+ memcpy(data + 4, req->data + fsm->offset, fragment_size);
fsm->offset += fragment_size;
if (master->debug_level) {
EC_DBG("SCC write request:\n");
- ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
+ ec_print_data(data, EC_SOE_SIZE + fragment_size);
}
req->jiffies_sent = jiffies;
@@ -467,8 +525,9 @@
req->idn, req->data_size, 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;
+ EC_ERR("Slave does not support SoE!\n");
+ fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -491,9 +550,9 @@
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_ERR("Failed to receive SoE write request: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -507,11 +566,10 @@
}
}
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_ERR("Reception of SoE write request failed after %u ms: ",
+ (u32) diff_ms);
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -537,17 +595,17 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_soe_error;
- EC_ERR("Failed to receive SoE write request datagram from slave %u: ",
- slave->ring_position);
+ EC_ERR("Failed to receive SoE write request datagram: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_soe_error;
- EC_ERR("Reception of SoE write request datagram failed on slave %u: ",
- slave->ring_position);
+ EC_ERR("Reception of SoE write request datagram: ");
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -559,9 +617,9 @@
(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);
+ EC_ERR("Timeout after %u ms while waiting"
+ " for write response.\n", (u32) diff_ms);
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -588,7 +646,7 @@
ec_master_t *master = slave->master;
ec_soe_request_t *req = fsm->request;
uint8_t *data, mbox_prot, opcode, error_flag;
- uint16_t idn;
+ uint16_t idn;
size_t rec_size;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
@@ -596,23 +654,24 @@
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_ERR("Failed to receive SoE write response datagram: ");
ec_datagram_print_state(datagram);
+ ec_fsm_soe_print_error(fsm);
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_ERR("Reception of SoE write response failed: ");
ec_datagram_print_wc_error(datagram);
+ ec_fsm_soe_print_error(fsm);
return;
}
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
+ ec_fsm_soe_print_error(fsm);
return;
}
@@ -623,50 +682,55 @@
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) {
+ EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
+
+ if (rec_size < EC_SOE_SIZE) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Received currupted SoE write response (%zu bytes)!\n",
- rec_size);
+ rec_size);
ec_print_data(data, rec_size);
- return;
- }
-
- opcode = EC_READ_U8(data) & 0x7;
- if (opcode != EC_SOE_OPCODE_WRITE_RESPONSE) {
+ ec_fsm_soe_print_error(fsm);
+ return;
+ }
+
+ opcode = EC_READ_U8(data) & 0x7;
+ if (opcode != 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_fsm_soe_print_error(fsm);
+ 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) {
- if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE + 2) {
- EC_ERR("Received corrupted error response - error flag set,"
- " but received size is %zu.\n", rec_size);
- } else {
- req->error_code = EC_READ_U16(data + EC_SOE_WRITE_RESPONSE_SIZE);
- EC_ERR("Received error response: 0x%04x.\n",
- req->error_code);
- }
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_soe_error;
- return;
- } else {
- req->error_code = 0x0000;
- }
+ ec_fsm_soe_print_error(fsm);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ error_flag = (EC_READ_U8(data) >> 4) & 1;
+ if (error_flag) {
+ if (rec_size < EC_SOE_SIZE + 2) {
+ EC_ERR("Received corrupted error response - error flag set,"
+ " but received size is %zu.\n", rec_size);
+ } else {
+ req->error_code = EC_READ_U16(data + EC_SOE_SIZE);
+ EC_ERR("Received error response:\n");
+ ec_print_soe_error(req->error_code);
+ }
+ ec_print_data(data, rec_size);
+ ec_fsm_soe_print_error(fsm);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ } else {
+ req->error_code = 0x0000;
+ }
fsm->state = ec_fsm_soe_end; // success
}