fp@1707: /******************************************************************************
fp@1707:  *
fp@1707:  *  $Id:$
fp@1707:  *
fp@1707:  *  Copyright (C) 2008  Olav Zarges, imc Meßsysteme GmbH
fp@1707:  *
fp@1707:  *  This file is part of the IgH EtherCAT Master.
fp@1707:  *
fp@1707:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1707:  *  and/or modify it under the terms of the GNU General Public License
fp@1707:  *  as published by the Free Software Foundation; either version 2 of the
fp@1707:  *  License, or (at your option) any later version.
fp@1707:  *
fp@1707:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1707:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1707:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1707:  *  GNU General Public License for more details.
fp@1707:  *
fp@1707:  *  You should have received a copy of the GNU General Public License
fp@1707:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1707:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1707:  *
fp@1707:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1707:  *  charge under condition of compatibility of product made by
fp@1707:  *  Licensee. People intending to distribute/sell products based on the
fp@1707:  *  code, have to sign an agreement to guarantee that products using
fp@1707:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1707:  *  EtherCAT specification (which are released themselves as an open
fp@1707:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1707:  *  Technology, IP and trade marks.
fp@1707:  *
fp@1707:  *****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    \file
fp@1707:    EtherCAT FoE state machines.
fp@1707: */
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: #include "globals.h"
fp@1707: #include "master.h"
fp@1707: #include "mailbox.h"
fp@1707: #include "fsm_foe.h"
fp@1707: #include "foe.h"
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /** Maximum time in ms to wait for responses when reading out the dictionary.
fp@1707:  */
fp@1707: #define EC_FSM_FOE_TIMEOUT 3000
fp@1707: 
fp@1707: #define EC_MBOX_TYPE_FILEACCESS 0x04
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: int		ec_foe_prepare_data_send( ec_fsm_foe_t * );
fp@1707: int		ec_foe_prepare_wrq_send( ec_fsm_foe_t * );
fp@1707: int		ec_foe_prepare_rrq_send( ec_fsm_foe_t * );
fp@1707: int		ec_foe_prepare_send_ack( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_foe_set_tx_error( ec_fsm_foe_t *, uint32_t );
fp@1707: void	ec_foe_set_rx_error( ec_fsm_foe_t *, uint32_t );
fp@1707: 
fp@1707: void	ec_fsm_foe_write(ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_read(ec_fsm_foe_t * );
fp@1707: void 	ec_fsm_foe_end( ec_fsm_foe_t * );
fp@1707: void 	ec_fsm_foe_error( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_fsm_foe_state_ack_check( ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_state_ack_read( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_fsm_foe_state_data_sent( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_fsm_foe_state_data_check( ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_state_data_read ( ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_state_sent_ack( ec_fsm_foe_t * );
fp@1707: 
fp@1707: void	ec_fsm_foe_write_start( ec_fsm_foe_t * );
fp@1707: void	ec_fsm_foe_read_start(ec_fsm_foe_t * );
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    Constructor.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_init(ec_fsm_foe_t *fsm, /**< finite state machine */
fp@1707:                      ec_datagram_t *datagram /**< datagram */
fp@1707:                      )
fp@1707: {
fp@1707:     fsm->state     = NULL;
fp@1707:     fsm->datagram  = datagram;
fp@1707:     fsm->rx_errors = 0;
fp@1707:     fsm->tx_errors = 0;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    Destructor.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_clear(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    Executes the current state of the state machine.
fp@1707:    \return false, if state machine has terminated
fp@1707: */
fp@1707: 
fp@1707: int ec_fsm_foe_exec(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707:     fsm->state(fsm);
fp@1707: 
fp@1707:     return fsm->state != ec_fsm_foe_end && fsm->state != ec_fsm_foe_error;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    Returns, if the state machine terminated with success.
fp@1707:    \return non-zero if successful.
fp@1707: */
fp@1707: 
fp@1707: int ec_fsm_foe_success(ec_fsm_foe_t *fsm /**< Finite state machine */)
fp@1707: {
fp@1707:     return fsm->state == ec_fsm_foe_end;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_transfer(
fp@1707:         ec_fsm_foe_t *fsm, /**< State machine. */
fp@1707:         ec_slave_t *slave, /**< EtherCAT slave. */
fp@1707:         ec_foe_request_t *request /**< Sdo request. */
fp@1707:         )
fp@1707: {
fp@1707:     fsm->slave = slave;
fp@1707:     fsm->request = request;
fp@1707:     if (request->dir == EC_DIR_OUTPUT) {
fp@1707:         fsm->state = ec_fsm_foe_write;
fp@1707:     }
fp@1707:     else {
fp@1707:         fsm->state = ec_fsm_foe_read;
fp@1707:     }
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    State: ERROR.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_error(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_error()\n");
fp@1707: #endif
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    State: END.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_end(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707: #ifdef	myDEBUG
fp@1707:     printk("ec_fsm_foe_end\n");
fp@1707: #endif
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: #define	EC_MBOX_HEADER_SIZE		6
fp@1707: // uint16_t	Length
fp@1707: // uint16_t	Address
fp@1707: // uint8_t	reserved
fp@1707: // uint8_t	Type:4
fp@1707: // uint8_t	Counter:4
fp@1707: 
fp@1707: #define	EC_FOE_HEADER_SIZE		6
fp@1707: // uint8_t	OpMode
fp@1707: // uint8_t	reserved
fp@1707: // uint32_t	PacketNo, Password, ErrorCode
fp@1707: 
fp@1707: enum {
fp@1707: 	EC_FOE_OPMODE_RRQ  = 1,
fp@1707: 	EC_FOE_OPMODE_WRQ  = 2,
fp@1707: 	EC_FOE_OPMODE_DATA = 3,
fp@1707: 	EC_FOE_OPMODE_ACK  = 4,
fp@1707: 	EC_FOE_OPMODE_ERR  = 5,
fp@1707: 	EC_FOE_OPMODE_BUSY = 6
fp@1707: } ec_foe_opmode_t;
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    Sends a file or the next fragment.
fp@1707: */
fp@1707: 
fp@1707: int ec_foe_prepare_data_send( ec_fsm_foe_t *fsm ) {
fp@1707:     size_t       remaining_size, current_size;
fp@1707:     uint8_t*     data;
fp@1707: 
fp@1707:     remaining_size = fsm->tx_buffer_size - fsm->tx_buffer_offset;
fp@1707: 
fp@1707:     if (remaining_size < fsm->slave->sii.tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {
fp@1707:         current_size = remaining_size;
fp@1707:         fsm->tx_last_packet = 1;
fp@1707:     }
fp@1707:     else {
fp@1707:         current_size = fsm->slave->sii.tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;
fp@1707:     }
fp@1707: 
fp@1707:     if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
fp@1707:     		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
fp@1707:         return -1;
fp@1707: 
fp@1707:     EC_WRITE_U8 ( data, EC_FOE_OPMODE_DATA ); 		// OpMode = DataBlock req.
fp@1707:     EC_WRITE_U32( data + 2, fsm->tx_packet_no );	// PacketNo, Password
fp@1707: 
fp@1707:     memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
fp@1707: 
fp@1707:     fsm->tx_current_size = current_size;
fp@1707: 
fp@1707:     return 0;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    Prepare a write request (WRQ) with filename
fp@1707: */
fp@1707: 
fp@1707: int ec_foe_prepare_wrq_send( ec_fsm_foe_t *fsm ) {
fp@1707:     size_t current_size;
fp@1707:     uint8_t *data;
fp@1707: 
fp@1707:     fsm->tx_buffer_offset = 0;
fp@1707:     fsm->tx_current_size = 0;
fp@1707:     fsm->tx_packet_no = 0;
fp@1707: 	fsm->tx_last_packet = 0;
fp@1707: 
fp@1707:     current_size = fsm->tx_filename_len;
fp@1707: 
fp@1707:     if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
fp@1707:     		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
fp@1707:         return -1;
fp@1707: 
fp@1707:     EC_WRITE_U16( data, EC_FOE_OPMODE_WRQ); // fsm write request
fp@1707:     EC_WRITE_U32( data + 2, fsm->tx_packet_no );
fp@1707: 
fp@1707:     memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
fp@1707: 
fp@1707:     return 0;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: char		tx_buffer[0x1000];
fp@1707: void ec_fsm_foe_write(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707:     fsm->tx_buffer = fsm->request->buffer;
fp@1707:     fsm->tx_buffer_size = fsm->request->data_size;
fp@1707:     fsm->tx_buffer_offset = 0;
fp@1707: 
fp@1707: 	fsm->tx_filename = fsm->request->file_name;
fp@1707: 	fsm->tx_filename_len = strlen(fsm->tx_filename);
fp@1707: 
fp@1707: 	fsm->state = ec_fsm_foe_write_start;
fp@1707: 
fp@1707: #ifdef use_ext_buffer
fp@1707: 	{
fp@1707: 		int i;
fp@1707: 		fsm->tx_data = tx_buffer;
fp@1707: 		for (i=0 ; i<sizeof(tx_buffer) ; i++) {
fp@1707: 			tx_buffer[i] = (uint8_t)(i);
fp@1707: 		}
fp@1707: 		fsm->tx_data_len = sizeof(tx_buffer);
fp@1707: 	}
fp@1707: #endif
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    Initializes the SII write state machine.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707:     fsm->tx_buffer_offset = 0;
fp@1707:     fsm->tx_current_size = 0;
fp@1707:     fsm->tx_packet_no = 0;
fp@1707: 	fsm->tx_last_packet = 0;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707:     printk("ec_fsm_foe_write_start()\n");
fp@1707: #endif
fp@1707: 
fp@1707:     if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
fp@1707:         ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1707:         EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (ec_foe_prepare_wrq_send(fsm)) {
fp@1707:         ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->state = ec_fsm_foe_state_wrq_sent;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_state_ack_check( ec_fsm_foe_t *fsm ) {
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: //	printk("ec_fsm_foe_ack_check()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to receive FoE mailbox check datagram for slave %u"
fp@1707:                 " (datagram state %u).\n",
fp@1707:                slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:     	// slave hat noch nichts in die Mailbox getan
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE mailbox check datagram failed on slave %u: ",
fp@1707:                slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707: 	    return;
fp@1707: 	}
fp@1707: 
fp@1707:     if (!ec_slave_mbox_check(datagram)) {
fp@1707:         unsigned long diff_ms =
fp@1707:             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
fp@1707:         if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
fp@1707:         	ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
fp@1707:             EC_ERR("Timeout while waiting for ack response "
fp@1707:                     "on slave %u.\n", slave->ring_position);
fp@1707:             return;
fp@1707:         }
fp@1707: //        EC_ERR("WAIT!!!!!!!!!!!!!\n");
fp@1707:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1707:         fsm->retries = EC_FSM_RETRIES;
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     // Fetch response
fp@1707:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1707: 
fp@1707:     fsm->retries = EC_FSM_RETRIES;
fp@1707:     fsm->state = ec_fsm_foe_state_ack_read;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_state_ack_read( ec_fsm_foe_t *fsm ) {
fp@1707: 
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707:     uint8_t *data, mbox_prot;
fp@1707:     uint16_t opMode;
fp@1707:     size_t rec_size;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_ack_read()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to receive FoE ack response datagram for"
fp@1707:                " slave %u (datagram state %u).\n",
fp@1707:                slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE ack response failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707: 	if (!(data = ec_slave_mbox_fetch(fsm->slave, datagram, &mbox_prot, &rec_size))) {
fp@1707:     	ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
fp@1707:     	ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1707:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     opMode = EC_READ_U16(data);
fp@1707: 
fp@1707:     if ( opMode == EC_FOE_OPMODE_BUSY ) {
fp@1707:     	// slave ist noch nicht bereit
fp@1707:         if (ec_foe_prepare_data_send(fsm)) {
fp@1707:         	ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1707:             EC_ERR("Slave is busy.\n");
fp@1707:         	return;
fp@1707:         }
fp@1707:         fsm->state = ec_fsm_foe_state_data_sent;
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if ( opMode == EC_FOE_OPMODE_ACK ) {
fp@1707:         fsm->tx_packet_no++;
fp@1707:         fsm->tx_buffer_offset += fsm->tx_current_size;
fp@1707: 
fp@1707:         if (fsm->tx_last_packet) {
fp@1707:         	fsm->state = ec_fsm_foe_end;
fp@1707:         	return;
fp@1707:         }
fp@1707: 
fp@1707:         if (ec_foe_prepare_data_send(fsm)) {
fp@1707:         	ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1707: 	    	return;
fp@1707: 	    }
fp@1707:         fsm->state = ec_fsm_foe_state_data_sent;
fp@1707:     	return;
fp@1707:     }
fp@1707: 	ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    State: WRQ SENT.
fp@1707:    Checks is the previous transmit datagram succeded and sends the next
fp@1707:    fragment, if necessary.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t *fsm ) {
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_foe_state_sent_wrq()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to send FoE WRQ for slave %u"
fp@1707:                 " (datagram state %u).\n",
fp@1707:                 slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:     	// slave hat noch nichts in die Mailbox getan
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE WRQ failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:     	return;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1707: 
fp@1707:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1707: 
fp@1707:     fsm->retries = EC_FSM_RETRIES;
fp@1707:     fsm->state = ec_fsm_foe_state_ack_check;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    State: WRQ SENT.
fp@1707:    Checks is the previous transmit datagram succeded and sends the next
fp@1707:    fragment, if necessary.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_state_data_sent( ec_fsm_foe_t *fsm ) {
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_state_data_sent()\n");
fp@1707: #endif
fp@1707:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to receive FoE ack response datagram for"
fp@1707:                " slave %u (datagram state %u).\n",
fp@1707:                slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (fsm->datagram->working_counter != 1) {
fp@1707: 	    ec_foe_set_tx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE data send failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     ec_slave_mbox_prepare_check(fsm->slave, fsm->datagram);
fp@1707:     fsm->jiffies_start = jiffies;
fp@1707:     fsm->retries = EC_FSM_RETRIES;
fp@1707:     fsm->state = ec_fsm_foe_state_ack_check;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    Prepare a read request (RRQ) with filename
fp@1707: */
fp@1707: 
fp@1707: int ec_foe_prepare_rrq_send( ec_fsm_foe_t *fsm ) {
fp@1707:     size_t current_size;
fp@1707:     uint8_t *data;
fp@1707: 
fp@1707:     current_size = fsm->rx_filename_len;
fp@1707: 
fp@1707:     if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
fp@1707:     		EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
fp@1707:         return -1;
fp@1707: 
fp@1707:     EC_WRITE_U16( data, EC_FOE_OPMODE_RRQ); // fsm read request
fp@1707:     EC_WRITE_U32( data + 2, 0 );
fp@1707: 
fp@1707:     memcpy(data + EC_FOE_HEADER_SIZE, fsm->rx_filename, current_size);
fp@1707: 
fp@1707:     return 0;
fp@1707: }
fp@1707: 
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: int ec_foe_prepare_send_ack( ec_fsm_foe_t *foe ) {
fp@1707:     uint8_t *data;
fp@1707: 
fp@1707:     if (!(data = ec_slave_mbox_prepare_send(foe->slave, foe->datagram,
fp@1707:     		EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE)))
fp@1707:         return -1;
fp@1707: 
fp@1707:     EC_WRITE_U16( data, EC_FOE_OPMODE_ACK);
fp@1707:     EC_WRITE_U32( data + 2, foe->rx_expected_packet_no  );
fp@1707: 
fp@1707:     return 0;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: /**
fp@1707:    State: RRQ SENT.
fp@1707:    Checks is the previous transmit datagram succeded and sends the next
fp@1707:    fragment, if necessary.
fp@1707: */
fp@1707: 
fp@1707: void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t *fsm ) {
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_foe_state_rrq_sent()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to send FoE RRQ for slave %u"
fp@1707:                 " (datagram state %u).\n",
fp@1707:                 slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:     	// slave hat noch nichts in die Mailbox getan
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE RRQ failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:     	return;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1707: 
fp@1707:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1707: 
fp@1707:     fsm->retries = EC_FSM_RETRIES;
fp@1707:     fsm->state = ec_fsm_foe_state_data_check;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: #ifdef myDEBUG
fp@1707: char		rx_buffer[0x8000];
fp@1707: #endif
fp@1707: 
fp@1707: void ec_fsm_foe_read(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707: 	fsm->state = ec_fsm_foe_read_start;
fp@1707: 	fsm->rx_filename = fsm->request->file_name;
fp@1707: 	fsm->rx_filename_len = strlen(fsm->rx_filename);
fp@1707: 
fp@1707: 	fsm->rx_buffer = fsm->request->buffer;
fp@1707: 	fsm->rx_buffer_size = fsm->request->buffer_size;
fp@1707: 
fp@1707: #ifdef use_ext_buffer
fp@1707: 	fsm->rx_buffer = rx_buffer;
fp@1707: 	fsm->rx_buffer_size = sizeof(rx_buffer);
fp@1707: #endif
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_read_start(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1707: {
fp@1707: 	size_t current_size;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707:     fsm->rx_buffer_offset = 0;
fp@1707:     fsm->rx_current_size = 0;
fp@1707:     fsm->rx_packet_no = 0;
fp@1707:     fsm->rx_expected_packet_no = 1;
fp@1707:     fsm->rx_last_packet = 0;
fp@1707: 
fp@1707:     current_size = fsm->rx_filename_len;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_read_start()\n");
fp@1707: #endif
fp@1707:     if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
fp@1707:     	ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1707:         EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (ec_foe_prepare_rrq_send(fsm)) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->state = ec_fsm_foe_state_rrq_sent;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_state_data_check ( ec_fsm_foe_t *fsm ) {
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_state_data_check()\n");
fp@1707: #endif
fp@1707: 	if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to send FoE DATA READ for slave %u"
fp@1707:                 " (datagram state %u).\n",
fp@1707:                 slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE DATA READ on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (!ec_slave_mbox_check(datagram)) {
fp@1707:         unsigned long diff_ms =
fp@1707:             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
fp@1707:         if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
fp@1707:         	ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
fp@1707:             EC_ERR("Timeout while waiting for ack response "
fp@1707:                     "on slave %u.\n", slave->ring_position);
fp@1707:             return;
fp@1707:         }
fp@1707: 
fp@1707:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1707:         fsm->retries = EC_FSM_RETRIES;
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     // Fetch response
fp@1707:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1707: 
fp@1707:     fsm->retries = EC_FSM_RETRIES;
fp@1707:     fsm->state = ec_fsm_foe_state_data_read;
fp@1707: 
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_state_data_read ( ec_fsm_foe_t *fsm ) {
fp@1707:     size_t 	rec_size;
fp@1707:     uint8_t *data, opMode, packet_no, mbox_prot;
fp@1707: 
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_fsm_foe_state_data_read()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to receive FoE DATA READ datagram for"
fp@1707:                " slave %u (datagram state %u).\n",
fp@1707:                slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE DATA READ failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707: 	if (!(data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size))) {
fp@1707:     	ec_foe_set_rx_error(fsm, FOE_MBOX_FETCH_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707: 	if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
fp@1707:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1707:         ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     opMode = EC_READ_U16(data);
fp@1707: 
fp@1707:     if (opMode == EC_FOE_OPMODE_BUSY) {
fp@1707:         if (ec_foe_prepare_send_ack(fsm)) {
fp@1707:             ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1707:         }
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (opMode != EC_FOE_OPMODE_DATA) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_OPMODE_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     packet_no = EC_READ_U16(data + 2);
fp@1707:     if (packet_no != fsm->rx_expected_packet_no) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_PACKETNO_ERROR);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     rec_size -= EC_FOE_HEADER_SIZE;
fp@1707: 
fp@1707:     if ( fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size ) {
fp@1707:         memcpy ( fsm->rx_buffer + fsm->rx_buffer_offset, data + EC_FOE_HEADER_SIZE, rec_size );
fp@1707:         fsm->rx_buffer_offset += rec_size;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->rx_last_packet = (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE != fsm->slave->sii.rx_mailbox_size);
fp@1707: 
fp@1707:     if (fsm->rx_last_packet ||
fp@1707:     	slave->sii.rx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE  + fsm->rx_buffer_offset <= fsm->rx_buffer_size) {
fp@1707:     	// either it was the last packet or a new packet will fit into the delivered buffer
fp@1707: #ifdef	myDEBUG
fp@1707:     	printk ("last_packet=true\n");
fp@1707: #endif
fp@1707: 	    if (ec_foe_prepare_send_ack(fsm)) {
fp@1707: 	    	ec_foe_set_rx_error(fsm, FOE_RX_DATA_ACK_ERROR);
fp@1707: 	    	return;
fp@1707: 	    }
fp@1707: 
fp@1707: 	    fsm->state = ec_fsm_foe_state_sent_ack;
fp@1707:     }
fp@1707:     else {
fp@1707:     	// no more data fits into the deliverd buffer
fp@1707:     	// ... wait for new read request (an den Treiber)
fp@1707:     	printk ("ERROR: data doesn't fit in receive buffer\n");
fp@1707:     	printk ("       rx_buffer_size  = %d\n", fsm->rx_buffer_size);
fp@1707:     	printk ("       rx_buffer_offset= %d\n", fsm->rx_buffer_offset);
fp@1707:     	printk ("       rec_size        = %d\n", rec_size);
fp@1707:     	printk ("       rx_mailbox_size = %d\n", slave->sii.rx_mailbox_size);
fp@1707:     	printk ("       rx_last_packet  = %d\n", fsm->rx_last_packet);
fp@1707: //    	fsm->state = ec_fsm_state_wait_next_read;
fp@1707:     	fsm->request->abort_code = FOE_READY;
fp@1707:     }
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t *fsm ) {
fp@1707: 
fp@1707:     ec_datagram_t *datagram = fsm->datagram;
fp@1707:     ec_slave_t *slave = fsm->slave;
fp@1707: 
fp@1707: #ifdef	myDEBUG
fp@1707: 	printk("ec_foe_state_sent_ack()\n");
fp@1707: #endif
fp@1707:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1707:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1707:         EC_ERR("Failed to send FoE ACK for slave %u"
fp@1707:                 " (datagram state %u).\n",
fp@1707:                 slave->ring_position, datagram->state);
fp@1707:         return;
fp@1707:     }
fp@1707: 
fp@1707:     if (datagram->working_counter != 1) {
fp@1707:     	// slave hat noch nichts in die Mailbox getan
fp@1707:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1707:         EC_ERR("Reception of FoE ACK failed on slave %u: ",
fp@1707:                 slave->ring_position);
fp@1707:         ec_datagram_print_wc_error(datagram);
fp@1707:     	return;
fp@1707:     }
fp@1707: 
fp@1707:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1707: 
fp@1707:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1707: 
fp@1707:     if (fsm->rx_last_packet) {
fp@1707:     	fsm->rx_expected_packet_no = 0;
fp@1707:     	fsm->request->data_size = fsm->rx_buffer_offset;
fp@1707:     	fsm->state = ec_fsm_foe_end;
fp@1707:     }
fp@1707:     else {
fp@1707:     	fsm->rx_expected_packet_no++;
fp@1707:         fsm->retries = EC_FSM_RETRIES;
fp@1707:         fsm->state = ec_fsm_foe_state_data_check;
fp@1707:     }
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_foe_set_tx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
fp@1707: 	fsm->tx_errors++;
fp@1707: 	fsm->request->abort_code = errorcode;
fp@1707: 	fsm->state = ec_fsm_foe_error;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_foe_set_rx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
fp@1707: 	fsm->rx_errors++;
fp@1707: 	fsm->request->abort_code = errorcode;
fp@1707: 	fsm->state = ec_fsm_foe_error;
fp@1707: }
fp@1707: 
fp@1707: /*****************************************************************************/