--- a/master/cdev.c Mon Jan 19 10:18:41 2009 +0000
+++ b/master/cdev.c Mon Jan 19 12:36:18 2009 +0000
@@ -1228,6 +1228,11 @@
up(&master->master_sem);
+ if (master->debug_level) {
+ EC_DBG("Scheduled FoE read request on slave %u.\n",
+ request.slave->ring_position);
+ }
+
// wait for processing through FSM
if (wait_event_interruptible(master->foe_queue,
request.req.state != EC_REQUEST_QUEUED)) {
@@ -1246,11 +1251,12 @@
// wait until master FSM has finished processing
wait_event(master->foe_queue, request.req.state != EC_REQUEST_BUSY);
- data.abort_code = request.req.abort_code;
+ data.result = request.req.result;
+ data.error_code = request.req.error_code;
if (master->debug_level) {
- EC_DBG("%d bytes read via FoE (abort_code = 0x%x).\n",
- request.req.data_size, request.req.abort_code);
+ EC_DBG("Read %d bytes via FoE (result = 0x%x).\n",
+ request.req.data_size, request.req.result);
}
if (request.req.state != EC_REQUEST_SUCCESS) {
@@ -1275,7 +1281,12 @@
retval = -EFAULT;
}
+ if (master->debug_level)
+ EC_DBG("FoE read request finished on slave %u.\n",
+ request.slave->ring_position);
+
ec_foe_request_clear(&request.req);
+
return retval;
}
@@ -1350,7 +1361,8 @@
// wait until master FSM has finished processing
wait_event(master->foe_queue, request.req.state != EC_REQUEST_BUSY);
- data.abort_code = request.req.abort_code;
+ data.result = request.req.result;
+ data.error_code = request.req.error_code;
retval = request.req.state == EC_REQUEST_SUCCESS ? 0 : -EIO;
--- a/master/foe.h Mon Jan 19 10:18:41 2009 +0000
+++ b/master/foe.h Mon Jan 19 12:36:18 2009 +0000
@@ -38,7 +38,7 @@
FOE_PROT_ERROR = 5,
FOE_NODATA_ERROR = 6,
FOE_PACKETNO_ERROR = 7,
- FOE_OPMODE_ERROR = 8,
+ FOE_OPCODE_ERROR = 8,
FOE_TIMEOUT_ERROR = 9,
FOE_SEND_RX_DATA_ERROR = 10,
FOE_RX_DATA_ACK_ERROR = 11,
--- a/master/foe_request.c Mon Jan 19 10:18:41 2009 +0000
+++ b/master/foe_request.c Mon Jan 19 12:36:18 2009 +0000
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id:$
+ * $Id$
*
* Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH
*
@@ -41,6 +41,7 @@
#include <linux/jiffies.h>
#include "foe_request.h"
+#include "foe.h"
/*****************************************************************************/
@@ -68,7 +69,8 @@
req->issue_timeout = 0; // no timeout
req->response_timeout = EC_FOE_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_REQUEST_INIT;
- req->abort_code = 0x00000000;
+ req->result = FOE_BUSY;
+ req->error_code = 0x00000000;
}
/*****************************************************************************/
@@ -184,7 +186,7 @@
{
req->dir = EC_DIR_INPUT;
req->state = EC_REQUEST_QUEUED;
- req->abort_code = 0x00000000;
+ req->result = FOE_BUSY;
req->jiffies_start = jiffies;
}
@@ -194,7 +196,7 @@
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_REQUEST_QUEUED;
- req->abort_code = 0x00000000;
+ req->result = FOE_BUSY;
req->jiffies_start = jiffies;
}
--- a/master/foe_request.h Mon Jan 19 10:18:41 2009 +0000
+++ b/master/foe_request.h Mon Jan 19 12:36:18 2009 +0000
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id:$
+ * $Id$
*
* Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH
*
@@ -68,7 +68,8 @@
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
uint8_t *file_name; /**< Pointer to the filename. */
- uint32_t abort_code; /**< FoE request abort code. Zero on success. */
+ uint32_t result; /**< FoE request abort code. Zero on success. */
+ uint32_t error_code; /**< Error code from an FoE Error Request. */
} ec_foe_request_t;
/*****************************************************************************/
--- a/master/fsm_foe.c Mon Jan 19 10:18:41 2009 +0000
+++ b/master/fsm_foe.c Mon Jan 19 12:36:18 2009 +0000
@@ -1,6 +1,6 @@
/******************************************************************************
*
- * $Id:$
+ * $Id$
*
* Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH
*
@@ -52,6 +52,8 @@
#define EC_MBOX_TYPE_FILEACCESS 0x04
+#define myDEBUG
+
/*****************************************************************************/
int ec_foe_prepare_data_send( ec_fsm_foe_t * );
@@ -188,18 +190,18 @@
// uint8_t Counter:4
#define EC_FOE_HEADER_SIZE 6
-// uint8_t OpMode
+// uint8_t OpCode
// uint8_t reserved
// uint32_t PacketNo, Password, ErrorCode
enum {
- EC_FOE_OPMODE_RRQ = 1,
- EC_FOE_OPMODE_WRQ = 2,
- EC_FOE_OPMODE_DATA = 3,
- EC_FOE_OPMODE_ACK = 4,
- EC_FOE_OPMODE_ERR = 5,
- EC_FOE_OPMODE_BUSY = 6
-} ec_foe_opmode_t;
+ EC_FOE_OPCODE_RRQ = 1,
+ EC_FOE_OPCODE_WRQ = 2,
+ EC_FOE_OPCODE_DATA = 3,
+ EC_FOE_OPCODE_ACK = 4,
+ EC_FOE_OPCODE_ERR = 5,
+ EC_FOE_OPCODE_BUSY = 6
+} ec_foe_opcode_t;
/*****************************************************************************/
/**
@@ -224,7 +226,7 @@
EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
return -1;
- EC_WRITE_U8 ( data, EC_FOE_OPMODE_DATA ); // OpMode = DataBlock req.
+ EC_WRITE_U8 ( data, EC_FOE_OPCODE_DATA ); // OpCode = DataBlock req.
EC_WRITE_U32( data + 2, fsm->tx_packet_no ); // PacketNo, Password
memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
@@ -254,7 +256,7 @@
EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
return -1;
- EC_WRITE_U16( data, EC_FOE_OPMODE_WRQ); // fsm write request
+ EC_WRITE_U16( data, EC_FOE_OPCODE_WRQ); // fsm write request
EC_WRITE_U32( data + 2, fsm->tx_packet_no );
memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
@@ -375,7 +377,7 @@
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
- uint16_t opMode;
+ uint8_t opCode;
size_t rec_size;
#ifdef myDEBUG
@@ -408,9 +410,9 @@
return;
}
- opMode = EC_READ_U16(data);
-
- if ( opMode == EC_FOE_OPMODE_BUSY ) {
+ opCode = EC_READ_U8(data);
+
+ if (opCode == EC_FOE_OPCODE_BUSY) {
// slave ist noch nicht bereit
if (ec_foe_prepare_data_send(fsm)) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
@@ -421,7 +423,7 @@
return;
}
- if ( opMode == EC_FOE_OPMODE_ACK ) {
+ if (opCode == EC_FOE_OPCODE_ACK) {
fsm->tx_packet_no++;
fsm->tx_buffer_offset += fsm->tx_current_size;
@@ -530,11 +532,15 @@
EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE)))
return -1;
- EC_WRITE_U16( data, EC_FOE_OPMODE_RRQ); // fsm read request
- EC_WRITE_U32( data + 2, 0 );
-
+ EC_WRITE_U16(data, EC_FOE_OPCODE_RRQ); // fsm read request
+ EC_WRITE_U32(data + 2, 0x00000000); // no passwd
memcpy(data + EC_FOE_HEADER_SIZE, fsm->rx_filename, current_size);
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("FoE Read Request:\n");
+ ec_print_data(data, current_size + EC_FOE_HEADER_SIZE);
+ }
+
return 0;
}
@@ -548,7 +554,7 @@
EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE)))
return -1;
- EC_WRITE_U16( data, EC_FOE_OPMODE_ACK);
+ EC_WRITE_U16( data, EC_FOE_OPCODE_ACK);
EC_WRITE_U32( data + 2, foe->rx_expected_packet_no );
return 0;
@@ -698,7 +704,7 @@
void ec_fsm_foe_state_data_read ( ec_fsm_foe_t *fsm ) {
size_t rec_size;
- uint8_t *data, opMode, packet_no, mbox_prot;
+ uint8_t *data, opCode, packet_no, mbox_prot;
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -706,6 +712,7 @@
#ifdef myDEBUG
printk("ec_fsm_foe_state_data_read()\n");
#endif
+
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to receive FoE DATA READ datagram for"
@@ -733,37 +740,59 @@
return;
}
- opMode = EC_READ_U16(data);
-
- if (opMode == EC_FOE_OPMODE_BUSY) {
+ opCode = EC_READ_U8(data);
+
+ if (opCode == EC_FOE_OPCODE_BUSY) {
if (ec_foe_prepare_send_ack(fsm)) {
ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
}
return;
}
- if (opMode != EC_FOE_OPMODE_DATA) {
- ec_foe_set_rx_error(fsm, FOE_OPMODE_ERROR);
+ if (opCode == EC_FOE_OPCODE_ERR) {
+ fsm->request->error_code = EC_READ_U32(data + 2);
+ EC_ERR("Received FoE Error Request (code %08x) on slave %u.\n",
+ fsm->request->error_code, slave->ring_position);
+ if (rec_size > 6) {
+ uint8_t text[1024];
+ strncpy(text, data + 6, min(rec_size - 6, sizeof(text)));
+ EC_ERR("FoE Error Text: %s\n", text);
+ }
+ ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
+ return;
+ }
+
+ if (opCode != EC_FOE_OPCODE_DATA) {
+ EC_ERR("Received OPCODE %x, expected %x on slave %u.\n",
+ opCode, EC_FOE_OPCODE_DATA, slave->ring_position);
+ fsm->request->error_code = 0x00000000;
+ ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
return;
}
packet_no = EC_READ_U16(data + 2);
if (packet_no != fsm->rx_expected_packet_no) {
+ EC_ERR("Received unexpected packet number on slave %u.\n",
+ slave->ring_position);
ec_foe_set_rx_error(fsm, FOE_PACKETNO_ERROR);
return;
}
rec_size -= EC_FOE_HEADER_SIZE;
- if ( fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size ) {
- memcpy ( fsm->rx_buffer + fsm->rx_buffer_offset, data + EC_FOE_HEADER_SIZE, rec_size );
+ if (fsm->rx_buffer_size >= fsm->rx_buffer_offset + rec_size) {
+ memcpy(fsm->rx_buffer + fsm->rx_buffer_offset,
+ data + EC_FOE_HEADER_SIZE, rec_size);
fsm->rx_buffer_offset += rec_size;
}
- fsm->rx_last_packet = (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE != fsm->slave->sii.rx_mailbox_size);
+ fsm->rx_last_packet =
+ (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE
+ != fsm->slave->sii.rx_mailbox_size);
if (fsm->rx_last_packet ||
- slave->sii.rx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE + fsm->rx_buffer_offset <= fsm->rx_buffer_size) {
+ (slave->sii.rx_mailbox_size - EC_MBOX_HEADER_SIZE
+ - EC_FOE_HEADER_SIZE + fsm->rx_buffer_offset) <= fsm->rx_buffer_size) {
// either it was the last packet or a new packet will fit into the delivered buffer
#ifdef myDEBUG
printk ("last_packet=true\n");
@@ -776,8 +805,8 @@
fsm->state = ec_fsm_foe_state_sent_ack;
}
else {
- // no more data fits into the deliverd buffer
- // ... wait for new read request (an den Treiber)
+ // no more data fits into the delivered buffer
+ // ... wait for new read request
printk ("ERROR: data doesn't fit in receive buffer\n");
printk (" rx_buffer_size = %d\n", fsm->rx_buffer_size);
printk (" rx_buffer_offset= %d\n", fsm->rx_buffer_offset);
@@ -785,7 +814,7 @@
printk (" rx_mailbox_size = %d\n", slave->sii.rx_mailbox_size);
printk (" rx_last_packet = %d\n", fsm->rx_last_packet);
// fsm->state = ec_fsm_state_wait_next_read;
- fsm->request->abort_code = FOE_READY;
+ fsm->request->result = FOE_READY;
}
}
@@ -834,17 +863,19 @@
/*****************************************************************************/
-void ec_foe_set_tx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
+void ec_foe_set_tx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
+{
fsm->tx_errors++;
- fsm->request->abort_code = errorcode;
+ fsm->request->result = errorcode;
fsm->state = ec_fsm_foe_error;
}
/*****************************************************************************/
-void ec_foe_set_rx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
+void ec_foe_set_rx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
+{
fsm->rx_errors++;
- fsm->request->abort_code = errorcode;
+ fsm->request->result = errorcode;
fsm->state = ec_fsm_foe_error;
}
--- a/master/fsm_master.c Mon Jan 19 10:18:41 2009 +0000
+++ b/master/fsm_master.c Mon Jan 19 12:36:18 2009 +0000
@@ -436,17 +436,14 @@
request->req.state = EC_REQUEST_BUSY;
slave = request->slave;
- EC_DBG("---- Master read command from queue ----\n");
- // found pending FOE write operation. execute it!
if (master->debug_level)
- EC_DBG("Writing FOE data to slave %u...\n",
- request->slave->ring_position);
+ EC_DBG("Processing FoE request for slave %u.\n",
+ slave->ring_position);
fsm->foe_request = &request->req;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_foe_request;
ec_fsm_foe_transfer(&fsm->fsm_foe, slave, &request->req);
- //(&fsm->fsm_foe, request->slave, request->offset, request->words);
ec_fsm_foe_exec(&fsm->fsm_foe);
return 1;
}
@@ -471,6 +468,10 @@
if (ec_fsm_master_action_process_sdo(fsm))
return;
+ // Check for pending FoE requests
+ if (ec_fsm_master_action_process_foe(fsm))
+ return;
+
// check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
@@ -850,10 +851,11 @@
ec_foe_request_t *request = fsm->foe_request;
ec_slave_t *slave = fsm->slave;
- if (ec_fsm_foe_exec(&fsm->fsm_foe)) return;
+ if (ec_fsm_foe_exec(&fsm->fsm_foe))
+ return;
if (!ec_fsm_foe_success(&fsm->fsm_foe)) {
- EC_ERR("Failed to handle FOE request to slave %u.\n",
+ EC_ERR("Failed to handle FoE request to slave %u.\n",
slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->foe_queue);
@@ -861,10 +863,10 @@
return;
}
- // finished writing FOE
+ // finished transferring FoE
if (master->debug_level)
- EC_DBG("Finished writing %u words of FOE data to slave %u.\n",
- request->data_size, slave->ring_position);
+ EC_DBG("Successfully transferred %u bytes of FoE data from/to"
+ " slave %u.\n", request->data_size, slave->ring_position);
request->state = EC_REQUEST_SUCCESS;
wake_up(&master->foe_queue);
--- a/master/ioctl.h Mon Jan 19 10:18:41 2009 +0000
+++ b/master/ioctl.h Mon Jan 19 12:36:18 2009 +0000
@@ -353,7 +353,8 @@
// outputs
uint32_t data_size;
- uint32_t abort_code;
+ uint32_t result;
+ uint32_t error_code;
char file_name[32];
} ec_ioctl_slave_foe_t;
--- a/tool/CommandFoeRead.cpp Mon Jan 19 10:18:41 2009 +0000
+++ b/tool/CommandFoeRead.cpp Mon Jan 19 12:36:18 2009 +0000
@@ -1,6 +1,6 @@
/*****************************************************************************
*
- * $Id:$
+ * $Id$
*
****************************************************************************/
@@ -10,6 +10,7 @@
#include "CommandFoeRead.h"
#include "byteorder.h"
+#include "foe.h"
/*****************************************************************************/
@@ -83,7 +84,19 @@
m.readFoe(&data);
} catch (MasterDeviceException &e) {
delete [] data.buffer;
- throw e;
+ if (data.result) {
+ if (data.result == FOE_OPCODE_ERROR) {
+ err << "FoE read aborted with error code 0x"
+ << setw(8) << setfill('0') << hex << data.error_code
+ << ": " << errorText(data.error_code);
+ } else {
+ err << "Failed to write via FoE: "
+ << resultText(data.result);
+ }
+ throwCommandException(err);
+ } else {
+ throw e;
+ }
}
// TODO --output-file
--- a/tool/CommandFoeWrite.cpp Mon Jan 19 10:18:41 2009 +0000
+++ b/tool/CommandFoeWrite.cpp Mon Jan 19 12:36:18 2009 +0000
@@ -1,6 +1,6 @@
/*****************************************************************************
*
- * $Id:$
+ * $Id$
*
****************************************************************************/
@@ -13,6 +13,7 @@
#include "CommandFoeWrite.h"
#include "byteorder.h"
+#include "foe.h"
/*****************************************************************************/
@@ -120,9 +121,15 @@
} catch (MasterDeviceException &e) {
if (data.buffer_size)
delete [] data.buffer;
- if (data.abort_code) {
- err << "Failed to write via FoE: "
- << errorString(data.abort_code);
+ if (data.result) {
+ if (data.result == FOE_OPCODE_ERROR) {
+ err << "FoE write aborted with error code 0x"
+ << setw(8) << setfill('0') << hex << data.error_code
+ << ": " << errorText(data.error_code);
+ } else {
+ err << "Failed to write via FoE: "
+ << resultText(data.result);
+ }
throwCommandException(err);
} else {
throw e;
--- a/tool/FoeCommand.cpp Mon Jan 19 10:18:41 2009 +0000
+++ b/tool/FoeCommand.cpp Mon Jan 19 12:36:18 2009 +0000
@@ -16,9 +16,9 @@
/****************************************************************************/
-std::string FoeCommand::errorString(int abort_code)
+std::string FoeCommand::resultText(int result)
{
- switch (abort_code) {
+ switch (result) {
case FOE_BUSY:
return "FOE_BUSY";
case FOE_READY:
@@ -35,8 +35,8 @@
return "FOE_NODATA_ERROR";
case FOE_PACKETNO_ERROR:
return "FOE_PACKETNO_ERROR";
- case FOE_OPMODE_ERROR:
- return "FOE_OPMODE_ERROR";
+ case FOE_OPCODE_ERROR:
+ return "FOE_OPCODE_ERROR";
case FOE_TIMEOUT_ERROR:
return "FOE_TIMEOUT_ERROR";
case FOE_SEND_RX_DATA_ERROR:
@@ -57,3 +57,35 @@
}
/****************************************************************************/
+
+std::string FoeCommand::errorText(int errorCode)
+{
+ switch (errorCode) {
+ case 0x00008001:
+ return "Not found.";
+ case 0x00008002:
+ return "Access denied.";
+ case 0x00008003:
+ return "Disk full.";
+ case 0x00008004:
+ return "Illegal.";
+ case 0x00008005:
+ return "Packet number wrong.";
+ case 0x00008006:
+ return "Already exists.";
+ case 0x00008007:
+ return "No user.";
+ case 0x00008008:
+ return "Bootstrap only.";
+ case 0x00008009:
+ return "Not Bootstrap.";
+ case 0x0000800a:
+ return "No rights.";
+ case 0x0000800b:
+ return "Program Error.";
+ default:
+ return "Unknown error code";
+ }
+}
+
+/****************************************************************************/
--- a/tool/FoeCommand.h Mon Jan 19 10:18:41 2009 +0000
+++ b/tool/FoeCommand.h Mon Jan 19 12:36:18 2009 +0000
@@ -18,7 +18,8 @@
FoeCommand(const string &, const string &);
protected:
- static std::string errorString(int);
+ static std::string resultText(int);
+ static std::string errorText(int);
};
/****************************************************************************/