fp@2597: /******************************************************************************
fp@2597:  *
fp@2597:  *  $Id$
fp@2597:  *
fp@2597:  *  Copyright (C) 2006-2014  Florian Pose, Ingenieurgemeinschaft IgH
fp@2597:  *
fp@2597:  *  This file is part of the IgH EtherCAT Master.
fp@2597:  *
fp@2597:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@2597:  *  modify it under the terms of the GNU General Public License version 2, as
fp@2597:  *  published by the Free Software Foundation.
fp@2597:  *
fp@2597:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@2597:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@2597:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@2597:  *  Public License for more details.
fp@2597:  *
fp@2597:  *  You should have received a copy of the GNU General Public License along
fp@2597:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@2597:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@2597:  *
fp@2597:  *  ---
fp@2597:  *
fp@2597:  *  The license mentioned above concerns the source code only. Using the
fp@2597:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@2597:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@2597:  *
fp@2597:  *****************************************************************************/
fp@2597: 
fp@2597: /**
fp@2597:    \file
fp@2597:    EtherCAT EoE state machines.
fp@2597: */
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: #include "globals.h"
fp@2597: #include "master.h"
fp@2597: #include "mailbox.h"
fp@2597: #include "fsm_eoe.h"
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Maximum time to wait for a set IP parameter response.
fp@2597:  */
fp@2597: #define EC_EOE_RESPONSE_TIMEOUT 3000 // [ms]
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: void ec_fsm_eoe_set_ip_start(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: void ec_fsm_eoe_set_ip_request(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: void ec_fsm_eoe_set_ip_check(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: void ec_fsm_eoe_set_ip_response(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: 
fp@2597: void ec_fsm_eoe_end(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: void ec_fsm_eoe_error(ec_fsm_eoe_t *, ec_datagram_t *);
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Constructor.
fp@2597:  */
fp@2597: void ec_fsm_eoe_init(
fp@2597:         ec_fsm_eoe_t *fsm /**< finite state machine */
fp@2597:         )
fp@2597: {
fp@2597:     fsm->slave = NULL;
fp@2597:     fsm->retries = 0;
fp@2597:     fsm->state = NULL;
fp@2597:     fsm->datagram = NULL;
fp@2597:     fsm->jiffies_start = 0;
fp@2597:     fsm->request = NULL;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Destructor.
fp@2597:  */
fp@2597: void ec_fsm_eoe_clear(
fp@2597:         ec_fsm_eoe_t *fsm /**< finite state machine */
fp@2597:         )
fp@2597: {
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Starts to set the EoE IP partameters of a slave.
fp@2597:  */
fp@2597: void ec_fsm_eoe_set_ip_param(
fp@2597:         ec_fsm_eoe_t *fsm, /**< State machine. */
fp@2597:         ec_slave_t *slave, /**< EtherCAT slave. */
fp@2597:         ec_eoe_request_t *request /**< EoE request. */
fp@2597:         )
fp@2597: {
fp@2597:     fsm->slave = slave;
fp@2597:     fsm->request = request;
fp@2597:     fsm->state = ec_fsm_eoe_set_ip_start;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Executes the current state of the state machine.
fp@2597:  *
fp@2597:  * \return 1 if the datagram was used, else 0.
fp@2597:  */
fp@2597: int ec_fsm_eoe_exec(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     int datagram_used = 0;
fp@2597: 
fp@2597:     if (fsm->datagram &&
fp@2597:             (fsm->datagram->state == EC_DATAGRAM_INIT ||
fp@2597:              fsm->datagram->state == EC_DATAGRAM_QUEUED ||
fp@2597:              fsm->datagram->state == EC_DATAGRAM_SENT)) {
fp@2597:         // datagram not received yet
fp@2597:         return datagram_used;
fp@2597:     }
fp@2597: 
fp@2597:     fsm->state(fsm, datagram);
fp@2597: 
fp@2597:     datagram_used =
fp@2597:         fsm->state != ec_fsm_eoe_end && fsm->state != ec_fsm_eoe_error;
fp@2597: 
fp@2597:     if (datagram_used) {
fp@2597:         fsm->datagram = datagram;
fp@2597:     } else {
fp@2597:         fsm->datagram = NULL;
fp@2597:     }
fp@2597: 
fp@2597:     return datagram_used;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** Returns, if the state machine terminated with success.
fp@2597:  *
fp@2597:  * \return non-zero if successful.
fp@2597:  */
fp@2597: int ec_fsm_eoe_success(const ec_fsm_eoe_t *fsm /**< Finite state machine */)
fp@2597: {
fp@2597:     return fsm->state == ec_fsm_eoe_end;
fp@2597: }
fp@2597: 
fp@2597: /******************************************************************************
fp@2597:  * EoE set IP parameter state machine
fp@2597:  *****************************************************************************/
fp@2597: 
fp@2597: /** Prepare a set IP parameters operation.
fp@2597:  *
fp@2597:  * \return 0 on success, otherwise a negative error code.
fp@2597:  */
fp@2597: int ec_fsm_eoe_prepare_set(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     uint8_t *data, *cur;
fp@2597:     ec_slave_t *slave = fsm->slave;
fp@2597:     ec_master_t *master = slave->master;
fp@2597:     ec_eoe_request_t *req = fsm->request;
fp@2597:     size_t size = 8;
fp@2597: 
fp@2597:     if (req->mac_address_included) {
fp@2597:         size += ETH_ALEN;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->ip_address_included) {
fp@2597:         size += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->subnet_mask_included) {
fp@2597:         size += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->gateway_included) {
fp@2597:         size += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->dns_included) {
fp@2597:         size += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->name_included) {
fp@2597:         size += EC_MAX_HOSTNAME_SIZE;
fp@2597:     }
fp@2597: 
fp@2597:     data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_EOE,
fp@2597:             size);
fp@2597:     if (IS_ERR(data)) {
fp@2597:         return PTR_ERR(data);
fp@2597:     }
fp@2597: 
fp@2597:     EC_WRITE_U8(data, EC_EOE_FRAMETYPE_SET_IP_REQ); // Set IP parameter req.
fp@2597:     EC_WRITE_U8(data + 1, 0x01); // last fragment, no timestamps
fp@2597:     EC_WRITE_U16(data + 2, 0x0000); // fragment no., offset, frame no.
fp@2597: 
fp@2597:     EC_WRITE_U32(data + 4,
fp@2597:             ((req->mac_address_included != 0) << 0) |
fp@2597:             ((req->ip_address_included != 0) << 1) |
fp@2597:             ((req->subnet_mask_included != 0) << 2) |
fp@2597:             ((req->gateway_included != 0) << 3) |
fp@2597:             ((req->dns_included != 0) << 4) |
fp@2597:             ((req->name_included != 0) << 5)
fp@2597:             );
fp@2597: 
fp@2597:     cur = data + 8;
fp@2597: 
fp@2597:     if (req->mac_address_included) {
fp@2597:         memcpy(cur, req->mac_address, ETH_ALEN);
fp@2597:         cur += ETH_ALEN;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->ip_address_included) {
fp@2642:         uint32_t swapped = htonl(req->ip_address);
fp@2642:         memcpy(cur, &swapped, 4);
fp@2597:         cur += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->subnet_mask_included) {
fp@2642:         uint32_t swapped = htonl(req->subnet_mask);
fp@2642:         memcpy(cur, &swapped, 4);
fp@2597:         cur += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->gateway_included) {
fp@2642:         uint32_t swapped = htonl(req->gateway);
fp@2642:         memcpy(cur, &swapped, 4);
fp@2597:         cur += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->dns_included) {
fp@2642:         uint32_t swapped = htonl(req->dns);
fp@2642:         memcpy(cur, &swapped, 4);
fp@2597:         cur += 4;
fp@2597:     }
fp@2597: 
fp@2597:     if (req->name_included) {
fp@2597:         memcpy(cur, req->name, EC_MAX_HOSTNAME_SIZE);
fp@2597:         cur += EC_MAX_HOSTNAME_SIZE;
fp@2597:     }
fp@2597: 
fp@2597:     if (master->debug_level) {
fp@2597:         EC_SLAVE_DBG(slave, 0, "Set IP parameter request:\n");
fp@2597:         ec_print_data(data, cur - data);
fp@2597:     }
fp@2597: 
fp@2597:     fsm->request->jiffies_sent = jiffies;
fp@2597: 
fp@2597:     return 0;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** EoE state: SET IP START.
fp@2597:  */
fp@2597: void ec_fsm_eoe_set_ip_start(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     ec_slave_t *slave = fsm->slave;
fp@2597: 
fp@2597:     EC_SLAVE_DBG(slave, 1, "Setting IP parameters.\n");
fp@2597: 
fp@2597:     if (!(slave->sii.mailbox_protocols & EC_MBOX_EOE)) {
fp@2597:         EC_SLAVE_ERR(slave, "Slave does not support EoE!\n");
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (ec_fsm_eoe_prepare_set(fsm, datagram)) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     fsm->retries = EC_FSM_RETRIES;
fp@2597:     fsm->state = ec_fsm_eoe_set_ip_request;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** EoE state: SET IP REQUEST.
fp@2597:  */
fp@2597: void ec_fsm_eoe_set_ip_request(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     ec_slave_t *slave = fsm->slave;
fp@2597: 
fp@2597:     if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
fp@2597:         if (ec_fsm_eoe_prepare_set(fsm, datagram)) {
fp@2597:             fsm->state = ec_fsm_eoe_error;
fp@2597:         }
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Failed to receive EoE set IP parameter"
fp@2597:                 " request: ");
fp@2597:         ec_datagram_print_state(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->working_counter != 1) {
fp@2597:         unsigned long diff_ms =
fp@2597:             (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
fp@2597: 
fp@2597:         if (!fsm->datagram->working_counter) {
fp@2597:             if (diff_ms < EC_EOE_RESPONSE_TIMEOUT) {
fp@2597:                 // no response; send request datagram again
fp@2597:                 if (ec_fsm_eoe_prepare_set(fsm, datagram)) {
fp@2597:                     fsm->state = ec_fsm_eoe_error;
fp@2597:                 }
fp@2597:                 return;
fp@2597:             }
fp@2597:         }
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Reception of EoE set IP parameter request"
fp@2597:                 " failed after %lu ms: ", diff_ms);
fp@2597:         ec_datagram_print_wc_error(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     fsm->jiffies_start = fsm->datagram->jiffies_sent;
fp@2597:     ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@2597:     fsm->retries = EC_FSM_RETRIES;
fp@2597:     fsm->state = ec_fsm_eoe_set_ip_check;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** EoE state: SET IP CHECK.
fp@2597:  */
fp@2597: void ec_fsm_eoe_set_ip_check(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     ec_slave_t *slave = fsm->slave;
fp@2597: 
fp@2597:     if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
fp@2597:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Failed to receive EoE mailbox check datagram: ");
fp@2597:         ec_datagram_print_state(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->working_counter != 1) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Reception of EoE mailbox check"
fp@2597:                 " datagram failed: ");
fp@2597:         ec_datagram_print_wc_error(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (!ec_slave_mbox_check(fsm->datagram)) {
fp@2597:         unsigned long diff_ms =
fp@2597:             (fsm->datagram->jiffies_received - fsm->jiffies_start) *
fp@2597:             1000 / HZ;
fp@2597:         if (diff_ms >= EC_EOE_RESPONSE_TIMEOUT) {
fp@2597:             fsm->state = ec_fsm_eoe_error;
fp@2597:             EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
fp@2597:                     " set IP parameter response.\n", diff_ms);
fp@2597:             return;
fp@2597:         }
fp@2597: 
fp@2597:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@2597:         fsm->retries = EC_FSM_RETRIES;
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     // fetch response
fp@2597:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@2597:     fsm->retries = EC_FSM_RETRIES;
fp@2597:     fsm->state = ec_fsm_eoe_set_ip_response;
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** EoE state: SET IP RESPONSE.
fp@2597:  */
fp@2597: void ec_fsm_eoe_set_ip_response(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597:     ec_slave_t *slave = fsm->slave;
fp@2597:     ec_master_t *master = slave->master;
fp@2597:     uint8_t *data, mbox_prot, frame_type;
fp@2597:     size_t rec_size;
fp@2597:     ec_eoe_request_t *req = fsm->request;
fp@2597: 
fp@2597:     if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
fp@2597:         ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Failed to receive EoE read response datagram: ");
fp@2597:         ec_datagram_print_state(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (fsm->datagram->working_counter != 1) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Reception of EoE read response failed: ");
fp@2597:         ec_datagram_print_wc_error(fsm->datagram);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     data = ec_slave_mbox_fetch(slave, fsm->datagram, &mbox_prot, &rec_size);
fp@2597:     if (IS_ERR(data)) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (master->debug_level) {
fp@2597:         EC_SLAVE_DBG(slave, 0, "Set IP parameter response:\n");
fp@2597:         ec_print_data(data, rec_size);
fp@2597:     }
fp@2597: 
fp@2597:     if (mbox_prot != EC_MBOX_TYPE_EOE) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
fp@2597:                 mbox_prot);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     if (rec_size < 4) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_ERR(slave, "Received currupted EoE set IP parameter response"
fp@2597:                 " (%zu bytes)!\n", rec_size);
fp@2597:         ec_print_data(data, rec_size);
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     frame_type = EC_READ_U8(data) & 0x0f;
fp@2597: 
fp@2597:     if (frame_type != EC_EOE_FRAMETYPE_SET_IP_RES) {
fp@2597:         EC_SLAVE_ERR(slave, "Received no set IP parameter response"
fp@2597:                 " (frame type %x).\n", frame_type);
fp@2597:         ec_print_data(data, rec_size);
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         return;
fp@2597:     }
fp@2597: 
fp@2597:     req->result = EC_READ_U16(data + 2);
fp@2597: 
fp@2597:     if (req->result) {
fp@2597:         fsm->state = ec_fsm_eoe_error;
fp@2597:         EC_SLAVE_DBG(slave, 1, "EoE set IP parameters failed with result code"
fp@2597:                 " 0x%04X.\n", req->result);
fp@2597:     } else {
fp@2597:         fsm->state = ec_fsm_eoe_end; // success
fp@2597:     }
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** State: ERROR.
fp@2597:  */
fp@2597: void ec_fsm_eoe_error(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/
fp@2597: 
fp@2597: /** State: END.
fp@2597:  */
fp@2597: void ec_fsm_eoe_end(
fp@2597:         ec_fsm_eoe_t *fsm, /**< finite state machine */
fp@2597:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2597:         )
fp@2597: {
fp@2597: }
fp@2597: 
fp@2597: /*****************************************************************************/