fp@145: /******************************************************************************
fp@145:  *
fp@145:  *  $Id$
fp@145:  *
fp@1618:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1618:  *
fp@1618:  *  This file is part of the IgH EtherCAT Master.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1618:  *  and/or modify it under the terms of the GNU General Public License
fp@1618:  *  as published by the Free Software Foundation; version 2 of the License.
fp@1618:  *
fp@1618:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1618:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1618:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1618:  *  GNU General Public License for more details.
fp@1618:  *
fp@1618:  *  You should have received a copy of the GNU General Public License
fp@1618:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1618:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1618:  *
fp@145:  *****************************************************************************/
fp@145: 
fp@1618: /**
fp@1618:    \file
fp@1618:    Ethernet-over-EtherCAT (EoE).
fp@1618: */
fp@1618: 
fp@1618: /*****************************************************************************/
fp@1618: 
fp@145: #include "../include/ecrt.h"
fp@145: #include "globals.h"
fp@145: #include "master.h"
fp@145: #include "slave.h"
fp@145: #include "mailbox.h"
fp@145: #include "ethernet.h"
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@1618: /**
fp@1618:    EoE constructor.
fp@1618: */
fp@1618: 
fp@145: void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
fp@145: {
fp@145:     eoe->slave = slave;
fp@145:     eoe->rx_state = EC_EOE_IDLE;
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@1618: /**
fp@1618:    EoE destructor.
fp@1618: */
fp@1618: 
fp@145: void ec_eoe_clear(ec_eoe_t *eoe)
fp@145: {
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@1618: /**
fp@1618:    Runs the EoE state machine.
fp@1618: */
fp@1618: 
fp@145: void ec_eoe_run(ec_eoe_t *eoe)
fp@145: {
fp@145:     uint8_t *data;
fp@145:     ec_master_t *master;
fp@145:     size_t rec_size;
fp@146: #if 0
fp@146:     unsigned int i;
fp@146:     uint8_t fragment_number;
fp@146:     uint8_t complete_size;
fp@146:     uint8_t frame_number;
fp@146:     uint8_t last_fragment;
fp@146: #endif
fp@145: 
fp@145:     master = eoe->slave->master;
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_IDLE) {
fp@145:         ec_slave_mbox_prepare_check(eoe->slave);
fp@145:         ec_master_queue_command(master, &eoe->slave->mbox_command);
fp@145:         eoe->rx_state = EC_EOE_CHECKING;
fp@145:         return;
fp@145:     }
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_CHECKING) {
fp@145:         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         if (!ec_slave_mbox_check(eoe->slave)) {
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         ec_slave_mbox_prepare_fetch(eoe->slave);
fp@145:         ec_master_queue_command(master, &eoe->slave->mbox_command);
fp@145:         eoe->rx_state = EC_EOE_FETCHING;
fp@145:         return;
fp@145:     }
fp@145: 
fp@145:     if (eoe->rx_state == EC_EOE_FETCHING) {
fp@145:         if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@145:         if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) {
fp@145:             master->stats.eoe_errors++;
fp@145:             eoe->rx_state = EC_EOE_IDLE;
fp@145:             return;
fp@145:         }
fp@146: 
fp@146: #if 0
fp@146:         fragment_number = EC_READ_U16(data + 2) & 0x003F;
fp@146:         complete_size = (EC_READ_U16(data + 2) >> 6) & 0x003F;
fp@146:         frame_number = (EC_READ_U16(data + 2) >> 12) & 0x0003;
fp@146:         last_fragment = (EC_READ_U16(data + 2) >> 15) & 0x0001;
fp@146: 
fp@146:         EC_DBG("EOE %s received, fragment: %i, complete size: %i (0x%02X),"
fp@146:                " frame %i%s\n",
fp@146:                fragment_number ? "fragment" : "initiate", fragment_number,
fp@146:                (complete_size - 31) / 32, complete_size, frame_number,
fp@146:                last_fragment ? ", last fragment" : "");
fp@146:         EC_DBG("");
fp@146:         for (i = 0; i < rec_size - 2; i++) {
fp@146:             printk("%02X ", data[i + 2]);
fp@146:             if ((i + 1) % 16 == 0) {
fp@146:                 printk("\n");
fp@146:                 EC_DBG("");
fp@146:             }
fp@146:         }
fp@146:         printk("\n");
fp@146: #endif
fp@146: 
fp@145:         eoe->rx_state = EC_EOE_IDLE;
fp@145:         return;
fp@145:     }
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/
fp@145: 
fp@1618: /**
fp@1618:    Prints EoE object information.
fp@1618: */
fp@1618: 
fp@145: void ec_eoe_print(const ec_eoe_t *eoe)
fp@145: {
fp@145:     EC_INFO("  EoE slave %i\n", eoe->slave->ring_position);
fp@145:     EC_INFO("    RX State %i\n", eoe->rx_state);
fp@145: }
fp@145: 
fp@145: /*****************************************************************************/