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ethercat/master/fsm_foe.c

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/******************************************************************************
*
* $Id:$
*
* Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT FoE state machines.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "fsm_foe.h"
#include "foe.h"
/*****************************************************************************/
/** Maximum time in ms to wait for responses when reading out the dictionary.
*/
#define EC_FSM_FOE_TIMEOUT 3000
#define EC_MBOX_TYPE_FILEACCESS 0x04
/*****************************************************************************/
int ec_foe_prepare_data_send( ec_fsm_foe_t * );
int ec_foe_prepare_wrq_send( ec_fsm_foe_t * );
int ec_foe_prepare_rrq_send( ec_fsm_foe_t * );
int ec_foe_prepare_send_ack( ec_fsm_foe_t * );
void ec_foe_set_tx_error( ec_fsm_foe_t *, uint32_t );
void ec_foe_set_rx_error( ec_fsm_foe_t *, uint32_t );
void ec_fsm_foe_write(ec_fsm_foe_t * );
void ec_fsm_foe_read(ec_fsm_foe_t * );
void ec_fsm_foe_end( ec_fsm_foe_t * );
void ec_fsm_foe_error( ec_fsm_foe_t * );
void ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t * );
void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t * );
void ec_fsm_foe_state_ack_check( ec_fsm_foe_t * );
void ec_fsm_foe_state_ack_read( ec_fsm_foe_t * );
void ec_fsm_foe_state_data_sent( ec_fsm_foe_t * );
void ec_fsm_foe_state_data_check( ec_fsm_foe_t * );
void ec_fsm_foe_state_data_read ( ec_fsm_foe_t * );
void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t * );
void ec_fsm_foe_write_start( ec_fsm_foe_t * );
void ec_fsm_foe_read_start(ec_fsm_foe_t * );
/*****************************************************************************/
/**
Constructor.
*/
void ec_fsm_foe_init(ec_fsm_foe_t *fsm, /**< finite state machine */
ec_datagram_t *datagram /**< datagram */
)
{
fsm->state = NULL;
fsm->datagram = datagram;
fsm->rx_errors = 0;
fsm->tx_errors = 0;
}
/*****************************************************************************/
/**
Destructor.
*/
void ec_fsm_foe_clear(ec_fsm_foe_t *fsm /**< finite state machine */)
{
}
/*****************************************************************************/
/**
Executes the current state of the state machine.
\return false, if state machine has terminated
*/
int ec_fsm_foe_exec(ec_fsm_foe_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
return fsm->state != ec_fsm_foe_end && fsm->state != ec_fsm_foe_error;
}
/*****************************************************************************/
/**
Returns, if the state machine terminated with success.
\return non-zero if successful.
*/
int ec_fsm_foe_success(ec_fsm_foe_t *fsm /**< Finite state machine */)
{
return fsm->state == ec_fsm_foe_end;
}
/*****************************************************************************/
void ec_fsm_foe_transfer(
ec_fsm_foe_t *fsm, /**< State machine. */
ec_slave_t *slave, /**< EtherCAT slave. */
ec_foe_request_t *request /**< Sdo request. */
)
{
fsm->slave = slave;
fsm->request = request;
if (request->dir == EC_DIR_OUTPUT) {
fsm->state = ec_fsm_foe_write;
}
else {
fsm->state = ec_fsm_foe_read;
}
}
/*****************************************************************************/
/**
State: ERROR.
*/
void ec_fsm_foe_error(ec_fsm_foe_t *fsm /**< finite state machine */)
{
#ifdef myDEBUG
printk("ec_fsm_foe_error()\n");
#endif
}
/*****************************************************************************/
/**
State: END.
*/
void ec_fsm_foe_end(ec_fsm_foe_t *fsm /**< finite state machine */)
{
#ifdef myDEBUG
printk("ec_fsm_foe_end\n");
#endif
}
/*****************************************************************************/
#define EC_MBOX_HEADER_SIZE 6
// uint16_t Length
// uint16_t Address
// uint8_t reserved
// uint8_t Type:4
// uint8_t Counter:4
#define EC_FOE_HEADER_SIZE 6
// uint8_t OpMode
// 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;
/*****************************************************************************/
/**
Sends a file or the next fragment.
*/
int ec_foe_prepare_data_send( ec_fsm_foe_t *fsm ) {
size_t remaining_size, current_size;
uint8_t* data;
remaining_size = fsm->tx_buffer_size - fsm->tx_buffer_offset;
if (remaining_size < fsm->slave->sii.tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) {
current_size = remaining_size;
fsm->tx_last_packet = 1;
}
else {
current_size = fsm->slave->sii.tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE;
}
if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
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_U32( data + 2, fsm->tx_packet_no ); // PacketNo, Password
memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
fsm->tx_current_size = current_size;
return 0;
}
/*****************************************************************************/
/**
Prepare a write request (WRQ) with filename
*/
int ec_foe_prepare_wrq_send( ec_fsm_foe_t *fsm ) {
size_t current_size;
uint8_t *data;
fsm->tx_buffer_offset = 0;
fsm->tx_current_size = 0;
fsm->tx_packet_no = 0;
fsm->tx_last_packet = 0;
current_size = fsm->tx_filename_len;
if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
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_U32( data + 2, fsm->tx_packet_no );
memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
return 0;
}
/*****************************************************************************/
char tx_buffer[0x1000];
void ec_fsm_foe_write(ec_fsm_foe_t *fsm /**< finite state machine */)
{
fsm->tx_buffer = fsm->request->buffer;
fsm->tx_buffer_size = fsm->request->data_size;
fsm->tx_buffer_offset = 0;
fsm->tx_filename = fsm->request->file_name;
fsm->tx_filename_len = strlen(fsm->tx_filename);
fsm->state = ec_fsm_foe_write_start;
#ifdef use_ext_buffer
{
int i;
fsm->tx_data = tx_buffer;
for (i=0 ; i<sizeof(tx_buffer) ; i++) {
tx_buffer[i] = (uint8_t)(i);
}
fsm->tx_data_len = sizeof(tx_buffer);
}
#endif
}
/*****************************************************************************/
/**
Initializes the SII write state machine.
*/
void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
fsm->tx_buffer_offset = 0;
fsm->tx_current_size = 0;
fsm->tx_packet_no = 0;
fsm->tx_last_packet = 0;
#ifdef myDEBUG
printk("ec_fsm_foe_write_start()\n");
#endif
if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
return;
}
if (ec_foe_prepare_wrq_send(fsm)) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
return;
}
fsm->state = ec_fsm_foe_state_wrq_sent;
}
/*****************************************************************************/
void ec_fsm_foe_state_ack_check( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
// printk("ec_fsm_foe_ack_check()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to receive FoE mailbox check datagram for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
// slave hat noch nichts in die Mailbox getan
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE mailbox check datagram failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
EC_ERR("Timeout while waiting for ack response "
"on slave %u.\n", slave->ring_position);
return;
}
// EC_ERR("WAIT!!!!!!!!!!!!!\n");
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_ack_read;
}
/*****************************************************************************/
void ec_fsm_foe_state_ack_read( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
uint16_t opMode;
size_t rec_size;
#ifdef myDEBUG
printk("ec_fsm_foe_ack_read()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to receive FoE ack response datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE ack response failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!(data = ec_slave_mbox_fetch(fsm->slave, datagram, &mbox_prot, &rec_size))) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
return;
}
if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
return;
}
opMode = EC_READ_U16(data);
if ( opMode == EC_FOE_OPMODE_BUSY ) {
// slave ist noch nicht bereit
if (ec_foe_prepare_data_send(fsm)) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
EC_ERR("Slave is busy.\n");
return;
}
fsm->state = ec_fsm_foe_state_data_sent;
return;
}
if ( opMode == EC_FOE_OPMODE_ACK ) {
fsm->tx_packet_no++;
fsm->tx_buffer_offset += fsm->tx_current_size;
if (fsm->tx_last_packet) {
fsm->state = ec_fsm_foe_end;
return;
}
if (ec_foe_prepare_data_send(fsm)) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
return;
}
fsm->state = ec_fsm_foe_state_data_sent;
return;
}
ec_foe_set_tx_error(fsm, FOE_ACK_ERROR);
}
/*****************************************************************************/
/**
State: WRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_wrq_sent( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
printk("ec_foe_state_sent_wrq()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to send FoE WRQ for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
// slave hat noch nichts in die Mailbox getan
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE WRQ failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_ack_check;
}
/*****************************************************************************/
/**
State: WRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_data_sent( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
printk("ec_fsm_foe_state_data_sent()\n");
#endif
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_tx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to receive FoE ack response datagram for"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (fsm->datagram->working_counter != 1) {
ec_foe_set_tx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE data send failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
ec_slave_mbox_prepare_check(fsm->slave, fsm->datagram);
fsm->jiffies_start = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_ack_check;
}
/*****************************************************************************/
/**
Prepare a read request (RRQ) with filename
*/
int ec_foe_prepare_rrq_send( ec_fsm_foe_t *fsm ) {
size_t current_size;
uint8_t *data;
current_size = fsm->rx_filename_len;
if (!(data = ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram,
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 );
memcpy(data + EC_FOE_HEADER_SIZE, fsm->rx_filename, current_size);
return 0;
}
/*****************************************************************************/
int ec_foe_prepare_send_ack( ec_fsm_foe_t *foe ) {
uint8_t *data;
if (!(data = ec_slave_mbox_prepare_send(foe->slave, foe->datagram,
EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE)))
return -1;
EC_WRITE_U16( data, EC_FOE_OPMODE_ACK);
EC_WRITE_U32( data + 2, foe->rx_expected_packet_no );
return 0;
}
/*****************************************************************************/
/**
State: RRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
printk("ec_foe_state_rrq_sent()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to send FoE RRQ for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
// slave hat noch nichts in die Mailbox getan
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE RRQ failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_data_check;
}
/*****************************************************************************/
#ifdef myDEBUG
char rx_buffer[0x8000];
#endif
void ec_fsm_foe_read(ec_fsm_foe_t *fsm /**< finite state machine */)
{
fsm->state = ec_fsm_foe_read_start;
fsm->rx_filename = fsm->request->file_name;
fsm->rx_filename_len = strlen(fsm->rx_filename);
fsm->rx_buffer = fsm->request->buffer;
fsm->rx_buffer_size = fsm->request->buffer_size;
#ifdef use_ext_buffer
fsm->rx_buffer = rx_buffer;
fsm->rx_buffer_size = sizeof(rx_buffer);
#endif
}
/*****************************************************************************/
void ec_fsm_foe_read_start(ec_fsm_foe_t *fsm /**< finite state machine */)
{
size_t current_size;
ec_slave_t *slave = fsm->slave;
fsm->rx_buffer_offset = 0;
fsm->rx_current_size = 0;
fsm->rx_packet_no = 0;
fsm->rx_expected_packet_no = 1;
fsm->rx_last_packet = 0;
current_size = fsm->rx_filename_len;
#ifdef myDEBUG
printk("ec_fsm_foe_read_start()\n");
#endif
if (!(slave->sii.mailbox_protocols & EC_MBOX_FOE)) {
ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
EC_ERR("Slave %u does not support FoE!\n", slave->ring_position);
return;
}
if (ec_foe_prepare_rrq_send(fsm)) {
ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
return;
}
fsm->state = ec_fsm_foe_state_rrq_sent;
}
/*****************************************************************************/
void ec_fsm_foe_state_data_check ( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
printk("ec_fsm_foe_state_data_check()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to send FoE DATA READ for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE DATA READ on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
EC_ERR("Timeout while waiting for ack response "
"on slave %u.\n", slave->ring_position);
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_data_read;
}
/*****************************************************************************/
void ec_fsm_foe_state_data_read ( ec_fsm_foe_t *fsm ) {
size_t rec_size;
uint8_t *data, opMode, packet_no, mbox_prot;
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#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"
" slave %u (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE DATA READ failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
if (!(data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size))) {
ec_foe_set_rx_error(fsm, FOE_MBOX_FETCH_ERROR);
return;
}
if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
EC_ERR("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
return;
}
opMode = EC_READ_U16(data);
if (opMode == EC_FOE_OPMODE_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);
return;
}
packet_no = EC_READ_U16(data + 2);
if (packet_no != fsm->rx_expected_packet_no) {
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 );
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);
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) {
// either it was the last packet or a new packet will fit into the delivered buffer
#ifdef myDEBUG
printk ("last_packet=true\n");
#endif
if (ec_foe_prepare_send_ack(fsm)) {
ec_foe_set_rx_error(fsm, FOE_RX_DATA_ACK_ERROR);
return;
}
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)
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);
printk (" rec_size = %d\n", rec_size);
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;
}
}
/*****************************************************************************/
void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t *fsm ) {
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
#ifdef myDEBUG
printk("ec_foe_state_sent_ack()\n");
#endif
if (datagram->state != EC_DATAGRAM_RECEIVED) {
ec_foe_set_rx_error(fsm, FOE_RECEIVE_ERROR);
EC_ERR("Failed to send FoE ACK for slave %u"
" (datagram state %u).\n",
slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
// slave hat noch nichts in die Mailbox getan
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_ERR("Reception of FoE ACK failed on slave %u: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->jiffies_start = datagram->jiffies_sent;
ec_slave_mbox_prepare_check(fsm->slave, datagram); // can not fail.
if (fsm->rx_last_packet) {
fsm->rx_expected_packet_no = 0;
fsm->request->data_size = fsm->rx_buffer_offset;
fsm->state = ec_fsm_foe_end;
}
else {
fsm->rx_expected_packet_no++;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_foe_state_data_check;
}
}
/*****************************************************************************/
void ec_foe_set_tx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
fsm->tx_errors++;
fsm->request->abort_code = errorcode;
fsm->state = ec_fsm_foe_error;
}
/*****************************************************************************/
void ec_foe_set_rx_error( ec_fsm_foe_t *fsm, uint32_t errorcode ) {
fsm->rx_errors++;
fsm->request->abort_code = errorcode;
fsm->state = ec_fsm_foe_error;
}
/*****************************************************************************/
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