fp@1335: /******************************************************************************
fp@1335:  *
fp@1336:  *  $Id$
fp@1335:  *
fp@1363:  *  Copyright (C) 2008  Olav Zarges, imc Messsysteme GmbH
fp@1335:  *
fp@1335:  *  This file is part of the IgH EtherCAT Master.
fp@1335:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1335:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1335:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1335:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1335:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1335:  *
fp@1335:  *****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    \file
fp@1335:    EtherCAT FoE state machines.
fp@1335: */
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: #include "globals.h"
fp@1335: #include "master.h"
fp@1335: #include "mailbox.h"
fp@1335: #include "fsm_foe.h"
fp@1335: #include "foe.h"
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /** Maximum time in ms to wait for responses when reading out the dictionary.
fp@1335:  */
fp@1335: #define EC_FSM_FOE_TIMEOUT 3000
fp@1335: 
fp@1465: /** Mailbox type FoE.
fp@1465:  */
fp@1335: #define EC_MBOX_TYPE_FILEACCESS 0x04
fp@1335: 
fp@1465: /** Size of the FoE header.
fp@1465:  */
fp@1343: #define EC_FOE_HEADER_SIZE 6
fp@1343: // uint8_t  OpCode
fp@1343: // uint8_t  reserved
fp@1343: // uint32_t PacketNo, Password, ErrorCode
fp@1343: 
fp@1343: //#define DEBUG_FOE
fp@1343: 
fp@1343: /*****************************************************************************/
fp@1343: 
fp@1416: /** FoE OpCodes.
fp@1416:  */
fp@1343: enum {
fp@1416:     EC_FOE_OPCODE_RRQ  = 1, /**< Read request. */
fp@1416:     EC_FOE_OPCODE_WRQ  = 2, /**< Write request. */
fp@1416:     EC_FOE_OPCODE_DATA = 3, /**< Data. */
fp@1416:     EC_FOE_OPCODE_ACK  = 4, /**< Acknowledge. */
fp@1416:     EC_FOE_OPCODE_ERR  = 5, /**< Error. */
fp@1416:     EC_FOE_OPCODE_BUSY = 6  /**< Busy. */
fp@1343: } ec_foe_opcode_t;
fp@1343: 
fp@1343: /*****************************************************************************/
fp@1343: 
fp@1343: int ec_foe_prepare_data_send(ec_fsm_foe_t *);
fp@1343: int ec_foe_prepare_wrq_send(ec_fsm_foe_t *);
fp@1343: int ec_foe_prepare_rrq_send(ec_fsm_foe_t *);
fp@1343: int ec_foe_prepare_send_ack(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_foe_set_tx_error(ec_fsm_foe_t *, uint32_t);
fp@1343: void ec_foe_set_rx_error(ec_fsm_foe_t *, uint32_t);
fp@1343: 
fp@1343: void ec_fsm_foe_write(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_read(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_end(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_error(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_state_rrq_sent(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_fsm_foe_state_data_check(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_state_data_read(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_state_sent_ack(ec_fsm_foe_t *);
fp@1343: 
fp@1343: void ec_fsm_foe_write_start(ec_fsm_foe_t *);
fp@1343: void ec_fsm_foe_read_start(ec_fsm_foe_t *);
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    Constructor.
fp@1335: */
fp@1335: 
fp@1335: void ec_fsm_foe_init(ec_fsm_foe_t *fsm, /**< finite state machine */
fp@1335:                      ec_datagram_t *datagram /**< datagram */
fp@1335:                      )
fp@1335: {
fp@1335:     fsm->state     = NULL;
fp@1335:     fsm->datagram  = datagram;
fp@1335:     fsm->rx_errors = 0;
fp@1335:     fsm->tx_errors = 0;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    Destructor.
fp@1335: */
fp@1335: 
fp@1335: void ec_fsm_foe_clear(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1335: {
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    Executes the current state of the state machine.
fp@1335:    \return false, if state machine has terminated
fp@1335: */
fp@1335: 
fp@1335: int ec_fsm_foe_exec(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1335: {
fp@1335:     fsm->state(fsm);
fp@1335: 
fp@1335:     return fsm->state != ec_fsm_foe_end && fsm->state != ec_fsm_foe_error;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    Returns, if the state machine terminated with success.
fp@1335:    \return non-zero if successful.
fp@1335: */
fp@1335: 
fp@1335: int ec_fsm_foe_success(ec_fsm_foe_t *fsm /**< Finite state machine */)
fp@1335: {
fp@1335:     return fsm->state == ec_fsm_foe_end;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Prepares an FoE transfer.
fp@1465:  */
fp@1335: void ec_fsm_foe_transfer(
fp@1335:         ec_fsm_foe_t *fsm, /**< State machine. */
fp@1335:         ec_slave_t *slave, /**< EtherCAT slave. */
fp@1335:         ec_foe_request_t *request /**< Sdo request. */
fp@1335:         )
fp@1335: {
fp@1335:     fsm->slave = slave;
fp@1335:     fsm->request = request;
fp@1335:     if (request->dir == EC_DIR_OUTPUT) {
fp@1335:         fsm->state = ec_fsm_foe_write;
fp@1335:     }
fp@1335:     else {
fp@1335:         fsm->state = ec_fsm_foe_read;
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    State: ERROR.
fp@1335: */
fp@1335: 
fp@1335: void ec_fsm_foe_error(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1335: {
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_error()\n");
fp@1335: #endif
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    State: END.
fp@1335: */
fp@1335: 
fp@1335: void ec_fsm_foe_end(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1335: {
fp@1343: #ifdef DEBUG_FOE
fp@1335:     printk("ec_fsm_foe_end\n");
fp@1335: #endif
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: /**
fp@1335:    Sends a file or the next fragment.
fp@1335: */
fp@1335: 
fp@1446: int ec_foe_prepare_data_send(ec_fsm_foe_t *fsm)
fp@1446: {
fp@1446:     size_t remaining_size, current_size;
fp@1446:     uint8_t *data;
fp@1335: 
fp@1335:     remaining_size = fsm->tx_buffer_size - fsm->tx_buffer_offset;
fp@1335: 
fp@1338:     if (remaining_size < fsm->slave->configured_tx_mailbox_size
fp@1337:             - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {
fp@1335:         current_size = remaining_size;
fp@1335:         fsm->tx_last_packet = 1;
fp@1337:     } else {
fp@1338:         current_size = fsm->slave->configured_tx_mailbox_size
fp@1337:             - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;
fp@1335:     }
fp@1335: 
fp@1446:     data = ec_slave_mbox_prepare_send(fsm->slave,
fp@1446:             fsm->datagram, EC_MBOX_TYPE_FILEACCESS,
fp@1446:             current_size + EC_FOE_HEADER_SIZE);
fp@1446:     if (IS_ERR(data))
fp@1335:         return -1;
fp@1335: 
fp@1343:     EC_WRITE_U8 ( data, EC_FOE_OPCODE_DATA );    // OpCode = DataBlock req.
fp@1343:     EC_WRITE_U32( data + 2, fsm->tx_packet_no ); // PacketNo, Password
fp@1343: 
fp@1343:     memcpy(data + EC_FOE_HEADER_SIZE,
fp@1343:             fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
fp@1335:     fsm->tx_current_size = current_size;
fp@1335: 
fp@1335:     return 0;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: /**
fp@1335:    Prepare a write request (WRQ) with filename
fp@1335: */
fp@1335: 
fp@1446: int ec_foe_prepare_wrq_send(ec_fsm_foe_t *fsm)
fp@1446: {
fp@1335:     size_t current_size;
fp@1335:     uint8_t *data;
fp@1335: 
fp@1335:     fsm->tx_buffer_offset = 0;
fp@1335:     fsm->tx_current_size = 0;
fp@1335:     fsm->tx_packet_no = 0;
fp@1343:     fsm->tx_last_packet = 0;
fp@1335: 
fp@1335:     current_size = fsm->tx_filename_len;
fp@1335: 
fp@1446:     data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
fp@1446:             EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);
fp@1446:     if (IS_ERR(data))
fp@1335:         return -1;
fp@1335: 
fp@1336:     EC_WRITE_U16( data, EC_FOE_OPCODE_WRQ); // fsm write request
fp@1335:     EC_WRITE_U32( data + 2, fsm->tx_packet_no );
fp@1335: 
fp@1335:     memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
fp@1335: 
fp@1335:     return 0;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Start a write operation.
fp@1465:  */
fp@1465: void ec_fsm_foe_write(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1335: {
fp@1335:     fsm->tx_buffer = fsm->request->buffer;
fp@1335:     fsm->tx_buffer_size = fsm->request->data_size;
fp@1335:     fsm->tx_buffer_offset = 0;
fp@1335: 
fp@1343:     fsm->tx_filename = fsm->request->file_name;
fp@1343:     fsm->tx_filename_len = strlen(fsm->tx_filename);
fp@1343: 
fp@1343:     fsm->state = ec_fsm_foe_write_start;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1465: 
fp@1465: /** Initializes the FoE write state machine.
fp@1465:  */
fp@1335: void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */)
fp@1335: {
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1335:     fsm->tx_buffer_offset = 0;
fp@1335:     fsm->tx_current_size = 0;
fp@1335:     fsm->tx_packet_no = 0;
fp@1343:     fsm->tx_last_packet = 0;
fp@1343: 
fp@1343: #ifdef DEBUG_FOE
fp@1335:     printk("ec_fsm_foe_write_start()\n");
fp@1335: #endif
fp@1335: 
fp@1335:     if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
fp@1335:         ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1335:         EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (ec_foe_prepare_wrq_send(fsm)) {
fp@1335:         ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     fsm->state = ec_fsm_foe_state_wrq_sent;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Check for acknowledge.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_ack_check(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1446: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_ack_check()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to receive FoE mailbox check datagram for slave %u"
fp@1335:                 " (datagram state %u).\n",
fp@1335:                slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1343:         // slave did not put anything in the mailbox yet
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE mailbox check datagram failed on slave %u: ",
fp@1335:                slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1343:         return;
fp@1343:     }
fp@1335: 
fp@1335:     if (!ec_slave_mbox_check(datagram)) {
fp@1335:         unsigned long diff_ms =
fp@1335:             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
fp@1335:         if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
fp@1343:             ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
fp@1335:             EC_ERR("Timeout while waiting for ack response "
fp@1335:                     "on slave %u.\n", slave->ring_position);
fp@1335:             return;
fp@1335:         }
fp@1343: 
fp@1335:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1335:         fsm->retries = EC_FSM_RETRIES;
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     // Fetch response
fp@1335:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1335: 
fp@1335:     fsm->retries = EC_FSM_RETRIES;
fp@1335:     fsm->state = ec_fsm_foe_state_ack_read;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Acknowledge a read operation.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_ack_read(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1465: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335:     uint8_t *data, mbox_prot;
fp@1336:     uint8_t opCode;
fp@1335:     size_t rec_size;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_ack_read()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to receive FoE ack response datagram for"
fp@1335:                " slave %u (datagram state %u).\n",
fp@1335:                slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE ack response failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1343:     if (!(data = ec_slave_mbox_fetch(fsm->slave, datagram,
fp@1343:                     &mbox_prot, &rec_size))) {
fp@1343:         ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
fp@1343:         ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1335:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1336:     opCode = EC_READ_U8(data);
fp@1336: 
fp@1336:     if (opCode == EC_FOE_OPCODE_BUSY) {
fp@1343:         // slave not ready
fp@1335:         if (ec_foe_prepare_data_send(fsm)) {
fp@1343:             ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1335:             EC_ERR("Slave is busy.\n");
fp@1343:             return;
fp@1335:         }
fp@1335:         fsm->state = ec_fsm_foe_state_data_sent;
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1336:     if (opCode == EC_FOE_OPCODE_ACK) {
fp@1335:         fsm->tx_packet_no++;
fp@1335:         fsm->tx_buffer_offset += fsm->tx_current_size;
fp@1335: 
fp@1335:         if (fsm->tx_last_packet) {
fp@1343:             fsm->state = ec_fsm_foe_end;
fp@1343:             return;
fp@1335:         }
fp@1335: 
fp@1335:         if (ec_foe_prepare_data_send(fsm)) {
fp@1343:             ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
fp@1343:             return;
fp@1343:         }
fp@1335:         fsm->state = ec_fsm_foe_state_data_sent;
fp@1343:         return;
fp@1343:     }
fp@1343:     ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1465: 
fp@1465: /** State: WRQ SENT.
fp@1465:  *
fp@1465:  * Checks is the previous transmit datagram succeded and sends the next
fp@1465:  * fragment, if necessary.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_wrq_sent(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1446: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_foe_state_sent_wrq()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to send FoE WRQ for slave %u"
fp@1335:                 " (datagram state %u).\n",
fp@1335:                 slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1343:         // slave did not put anything in the mailbox yet
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE WRQ failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1343:         return;
fp@1335:     }
fp@1335: 
fp@1335:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1335: 
fp@1335:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1335: 
fp@1335:     fsm->retries = EC_FSM_RETRIES;
fp@1335:     fsm->state = ec_fsm_foe_state_ack_check;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1465: 
fp@1465: /** State: WRQ SENT.
fp@1465:  *
fp@1465:  * Checks is the previous transmit datagram succeded and sends the next
fp@1465:  * fragment, if necessary.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_data_sent(
fp@1465:         ec_fsm_foe_t *fsm /**< Foe statemachine. */
fp@1465:         )
fp@1446: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_state_data_sent()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to receive FoE ack response datagram for"
fp@1335:                " slave %u (datagram state %u).\n",
fp@1335:                slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (fsm->datagram->working_counter != 1) {
fp@1343:         ec_foe_set_tx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE data send failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     ec_slave_mbox_prepare_check(fsm->slave, fsm->datagram);
fp@1335:     fsm->jiffies_start = jiffies;
fp@1335:     fsm->retries = EC_FSM_RETRIES;
fp@1335:     fsm->state = ec_fsm_foe_state_ack_check;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: /**
fp@1335:    Prepare a read request (RRQ) with filename
fp@1335: */
fp@1335: 
fp@1446: int ec_foe_prepare_rrq_send(ec_fsm_foe_t *fsm)
fp@1446: {
fp@1335:     size_t current_size;
fp@1335:     uint8_t *data;
fp@1335: 
fp@1335:     current_size = fsm->rx_filename_len;
fp@1335: 
fp@1446:     data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
fp@1446:             EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);
fp@1446:     if (IS_ERR(data))
fp@1335:         return -1;
fp@1335: 
fp@1336:     EC_WRITE_U16(data, EC_FOE_OPCODE_RRQ); // fsm read request
fp@1336:     EC_WRITE_U32(data + 2, 0x00000000); // no passwd
fp@1335:     memcpy(data + EC_FOE_HEADER_SIZE, fsm->rx_filename, current_size);
fp@1335: 
fp@1336:     if (fsm->slave->master->debug_level) {
fp@1336:         EC_DBG("FoE Read Request:\n");
fp@1336:         ec_print_data(data, current_size + EC_FOE_HEADER_SIZE);
fp@1336:     }
fp@1336: 
fp@1335:     return 0;
fp@1335: }
fp@1335: 
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Prepare to send an acknowledge.
fp@1465:  */
fp@1465: int ec_foe_prepare_send_ack(
fp@1465:         ec_fsm_foe_t *foe /**< FoE statemachine. */
fp@1465:         )
fp@1446: {
fp@1335:     uint8_t *data;
fp@1335: 
fp@1446:     data = ec_slave_mbox_prepare_send(foe->slave, foe->datagram,
fp@1446:             EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE);
fp@1446:     if (IS_ERR(data))
fp@1335:         return -1;
fp@1335: 
fp@1446:     EC_WRITE_U16(data, EC_FOE_OPCODE_ACK);
fp@1446:     EC_WRITE_U32(data + 2, foe->rx_expected_packet_no);
fp@1335: 
fp@1335:     return 0;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1465: 
fp@1465: /** State: RRQ SENT.
fp@1465:  *
fp@1465:  * Checks is the previous transmit datagram succeded and sends the next
fp@1465:  * fragment, if necessary.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_rrq_sent(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1465: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_foe_state_rrq_sent()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to send FoE RRQ for slave %u"
fp@1335:                 " (datagram state %u).\n",
fp@1335:                 slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1343:         // slave did not put anything in the mailbox yet
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE RRQ failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1343:         return;
fp@1335:     }
fp@1335: 
fp@1335:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1335: 
fp@1335:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1335: 
fp@1335:     fsm->retries = EC_FSM_RETRIES;
fp@1335:     fsm->state = ec_fsm_foe_state_data_check;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Start a read operation.
fp@1465:  */
fp@1465: void ec_fsm_foe_read(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE state machine. */
fp@1465:         )
fp@1335: {
fp@1343:     fsm->state = ec_fsm_foe_read_start;
fp@1343:     fsm->rx_filename = fsm->request->file_name;
fp@1343:     fsm->rx_filename_len = strlen(fsm->rx_filename);
fp@1343: 
fp@1343:     fsm->rx_buffer = fsm->request->buffer;
fp@1343:     fsm->rx_buffer_size = fsm->request->buffer_size;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Starting state for read operations.
fp@1465:  */
fp@1465: void ec_fsm_foe_read_start(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1335: {
fp@1343:     size_t current_size;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1335:     fsm->rx_buffer_offset = 0;
fp@1335:     fsm->rx_current_size = 0;
fp@1335:     fsm->rx_packet_no = 0;
fp@1335:     fsm->rx_expected_packet_no = 1;
fp@1335:     fsm->rx_last_packet = 0;
fp@1335: 
fp@1335:     current_size = fsm->rx_filename_len;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_read_start()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
fp@1343:         ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
fp@1335:         EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (ec_foe_prepare_rrq_send(fsm)) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     fsm->state = ec_fsm_foe_state_rrq_sent;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Check for data.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_data_check(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1465: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_state_data_check()\n");
fp@1343: #endif
fp@1343: 
fp@1343:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to send FoE DATA READ for slave %u"
fp@1335:                 " (datagram state %u).\n",
fp@1335:                 slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE DATA READ on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (!ec_slave_mbox_check(datagram)) {
fp@1335:         unsigned long diff_ms =
fp@1335:             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
fp@1335:         if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
fp@1343:             ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
fp@1335:             EC_ERR("Timeout while waiting for ack response "
fp@1335:                     "on slave %u.\n", slave->ring_position);
fp@1335:             return;
fp@1335:         }
fp@1335: 
fp@1335:         ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fp@1335:         fsm->retries = EC_FSM_RETRIES;
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     // Fetch response
fp@1335:     ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fp@1335: 
fp@1335:     fsm->retries = EC_FSM_RETRIES;
fp@1335:     fsm->state = ec_fsm_foe_state_data_read;
fp@1335: 
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Start reading data.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_data_read(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1343: {
fp@1343:     size_t rec_size;
fp@1336:     uint8_t *data, opCode, packet_no, mbox_prot;
fp@1335: 
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_fsm_foe_state_data_read()\n");
fp@1335: #endif
fp@1336: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to receive FoE DATA READ datagram for"
fp@1335:                " slave %u (datagram state %u).\n",
fp@1335:                slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE DATA READ failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1343:     if (!(data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size))) {
fp@1343:         ec_foe_set_rx_error(fsm, FOE_MBOX_FETCH_ERROR);
fp@1343:         return;
fp@1343:     }
fp@1343: 
fp@1343:     if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
fp@1335:         EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
fp@1335:         ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1336:     opCode = EC_READ_U8(data);
fp@1336: 
fp@1336:     if (opCode == EC_FOE_OPCODE_BUSY) {
fp@1335:         if (ec_foe_prepare_send_ack(fsm)) {
fp@1335:             ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
fp@1335:         }
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1336:     if (opCode == EC_FOE_OPCODE_ERR) {
fp@1336:         fsm->request->error_code = EC_READ_U32(data + 2);
fp@1343:         EC_ERR("Received FoE Error Request (code 0x%08x) on slave %u.\n",
fp@1336:                 fsm->request->error_code, slave->ring_position);
fp@1336:         if (rec_size > 6) {
fp@1336:             uint8_t text[1024];
fp@1336:             strncpy(text, data + 6, min(rec_size - 6, sizeof(text)));
fp@1336:             EC_ERR("FoE Error Text: %s\n", text);
fp@1336:         }
fp@1336:         ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
fp@1336:         return;
fp@1336:     }
fp@1336: 
fp@1336:     if (opCode != EC_FOE_OPCODE_DATA) {
fp@1336:         EC_ERR("Received OPCODE %x, expected %x on slave %u.\n",
fp@1336:                 opCode, EC_FOE_OPCODE_DATA, slave->ring_position);
fp@1336:         fsm->request->error_code = 0x00000000;
fp@1336:         ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     packet_no = EC_READ_U16(data + 2);
fp@1335:     if (packet_no != fsm->rx_expected_packet_no) {
fp@1336:         EC_ERR("Received unexpected packet number on slave %u.\n",
fp@1336:                 slave->ring_position);
fp@1335:         ec_foe_set_rx_error(fsm, FOE_PACKETNO_ERROR);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     rec_size -= EC_FOE_HEADER_SIZE;
fp@1335: 
fp@1336:     if (fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size) {
fp@1336:         memcpy(fsm->rx_buffer + fsm->rx_buffer_offset,
fp@1336:                 data + EC_FOE_HEADER_SIZE, rec_size);
fp@1335:         fsm->rx_buffer_offset += rec_size;
fp@1335:     }
fp@1335: 
fp@1336:     fsm->rx_last_packet =
fp@1336:         (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE
fp@1338:          != fsm->slave->configured_rx_mailbox_size);
fp@1335: 
fp@1335:     if (fsm->rx_last_packet ||
fp@1338:             (slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE
fp@1343:              - EC_FOE_HEADER_SIZE + fsm->rx_buffer_offset)
fp@1343:             <= fsm->rx_buffer_size) {
fp@1343:         // either it was the last packet or a new packet will fit into the
fp@1343:         // delivered buffer
fp@1343: #ifdef DEBUG_FOE
fp@1343:         printk ("last_packet=true\n");
fp@1343: #endif
fp@1343:         if (ec_foe_prepare_send_ack(fsm)) {
fp@1343:             ec_foe_set_rx_error(fsm, FOE_RX_DATA_ACK_ERROR);
fp@1343:             return;
fp@1343:         }
fp@1343: 
fp@1343:         fsm->state = ec_fsm_foe_state_sent_ack;
fp@1335:     }
fp@1335:     else {
fp@1343:         // no more data fits into the delivered buffer
fp@1343:         // ... wait for new read request
fp@1343:         printk ("ERROR: data doesn't fit in receive buffer\n");
fp@1343:         printk ("       rx_buffer_size  = %d\n", fsm->rx_buffer_size);
fp@1343:         printk ("       rx_buffer_offset= %d\n", fsm->rx_buffer_offset);
fp@1543:         printk ("       rec_size        = %zd\n", rec_size);
fp@1343:         printk ("       rx_mailbox_size = %d\n",
fp@1343:                 slave->configured_rx_mailbox_size);
fp@1343:         printk ("       rx_last_packet  = %d\n", fsm->rx_last_packet);
fp@1343:         fsm->request->result = FOE_READY;
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Sent an acknowledge.
fp@1465:  */
fp@1465: void ec_fsm_foe_state_sent_ack(
fp@1465:         ec_fsm_foe_t *fsm /**< FoE statemachine. */
fp@1465:         )
fp@1465: {
fp@1335:     ec_datagram_t *datagram = fsm->datagram;
fp@1335:     ec_slave_t *slave = fsm->slave;
fp@1335: 
fp@1343: #ifdef DEBUG_FOE
fp@1343:     printk("ec_foe_state_sent_ack()\n");
fp@1343: #endif
fp@1343: 
fp@1335:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1335:         ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
fp@1335:         EC_ERR("Failed to send FoE ACK for slave %u"
fp@1335:                 " (datagram state %u).\n",
fp@1335:                 slave->ring_position, datagram->state);
fp@1335:         return;
fp@1335:     }
fp@1335: 
fp@1335:     if (datagram->working_counter != 1) {
fp@1343:         // slave did not put anything into the mailbox yet
fp@1335:         ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
fp@1335:         EC_ERR("Reception of FoE ACK failed on slave %u: ",
fp@1335:                 slave->ring_position);
fp@1335:         ec_datagram_print_wc_error(datagram);
fp@1343:         return;
fp@1335:     }
fp@1335: 
fp@1335:     fsm->jiffies_start = datagram->jiffies_sent;
fp@1335: 
fp@1335:     ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fp@1335: 
fp@1335:     if (fsm->rx_last_packet) {
fp@1343:         fsm->rx_expected_packet_no = 0;
fp@1343:         fsm->request->data_size = fsm->rx_buffer_offset;
fp@1343:         fsm->state = ec_fsm_foe_end;
fp@1335:     }
fp@1335:     else {
fp@1343:         fsm->rx_expected_packet_no++;
fp@1335:         fsm->retries = EC_FSM_RETRIES;
fp@1335:         fsm->state = ec_fsm_foe_state_data_check;
fp@1335:     }
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Set an error code and go to the send error state.
fp@1465:  */
fp@1465: void ec_foe_set_tx_error(
fp@1465:         ec_fsm_foe_t *fsm, /**< FoE statemachine. */
fp@1465:         uint32_t errorcode /**< FoE error code. */
fp@1465:         )
fp@1336: {
fp@1343:     fsm->tx_errors++;
fp@1343:     fsm->request->result = errorcode;
fp@1343:     fsm->state = ec_fsm_foe_error;
fp@1335: }
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1465: /** Set an error code and go to the receive error state.
fp@1465:  */
fp@1465: void ec_foe_set_rx_error(
fp@1465:         ec_fsm_foe_t *fsm, /**< FoE statemachine. */
fp@1465:         uint32_t errorcode /**< FoE error code. */
fp@1465:         )
fp@1336: {
fp@1343:     fsm->rx_errors++;
fp@1343:     fsm->request->result = errorcode;
fp@1343:     fsm->state = ec_fsm_foe_error;
fp@1343: }
fp@1343: 
fp@1343: /*****************************************************************************/