[etherlab-dev] [PATCH] FoE omnibus patch
Dave Page
dave.page at gleeble.com
Wed Jan 22 07:33:07 CET 2014
Hi,
The attached patch against 51ad16e57f8f includes Gavin Lambert's
FoE patches as folows:
http://lists.etherlab.org/pipermail/etherlab-dev/attachments/20131129/f8938a33/attachment.obj
http://lists.etherlab.org/pipermail/etherlab-dev/attachments/20130826/64fa4096/attachment.obj
http://lists.etherlab.org/pipermail/etherlab-dev/attachments/20130826/64fa4096/attachment-0001.obj
And includes a one-liner PacketNo read busy sequence patch as well
as a FoE spurious timeout patch.
This patch is tested to work with my (proprietary) slave which
emits BUSY FoE opcodes on read and write.
Cheers - Dave
On 2014-01-22 18:18, Dave Page wrote:
>
> Yes... I see you beat me to it:
>
> @@ -778,6 +792,8 @@ void ec_fsm_foe_state_data_read(
> if (opCode == EC_FOE_OPCODE_BUSY) {
> if (ec_foe_prepare_send_ack(fsm, datagram)) {
> ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
> + } else {
> + fsm->state = ec_fsm_foe_state_sent_ack;
> }
> return;
> }
>
> (except for the PacketNo issue). Sorry I missed that one.
>
> My stack is configured to test this at the moment, so its no
> problem to combine and test for me.
>
> Best regards - Dave
>
> On 2014-01-22 18:13, Gavin Lambert wrote:
>> Mere moments ago, quoth I:
>>> Did you see my other patch specifically for FoE busy? My slave is
>>> working fine for busy reads with both of my patches applied. (There was
>>> a third patch included in the same email as the busy patch, but that's
>>> optional and just increases debug logging.)
>>>
>>> My patch also fixes handling of error packets.
>> These are at
>> http://lists.etherlab.org/pipermail/etherlab-dev/2013/000324.html, if
>> you're
>> having trouble finding it.
>>
>>> As for incrementing the packet number or not, it's been a while since I
>>> looked at that so I don't remember whether it increments or not with my
>>> patches applied, but I think I remember making it do whatever the SSC
>>> was expecting.
>> I had a quick look at my SSC patches, so now I think I remember -- my
>> version would continue incrementing the packet number (which is
>> partly why I
>> ran into the 256 packet limit that prompted the other patch).
>>
>> You're correct that ETG.1020 indicates that the packet number should
>> not be
>> increasing though; I missed that part. (It worries me a bit when both
>> master AND slave code have to be changed to make something
>> fundamental like
>> this work, and it makes me wonder about existing devices -- but I
>> guess FoE
>> read is not implemented all that often.)
>>
>> One of us should probably make a combined patch set that fixes all three
>> issues, for ease of future players (and maybe even merging, one of these
>> days). I'll probably get to it in a few days when I (hopefully) get
>> back to
>> EtherCAT-related work, if you don't beat me to it. :)
>>
>>
>
-------------- next part --------------
diff --git a/master/fsm_foe.c b/master/fsm_foe.c
--- a/master/fsm_foe.c
+++ b/master/fsm_foe.c
@@ -37,19 +37,19 @@
#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.
+/** Maximum time in jiffies to wait for responses when reading out the dictionary.
*/
-#define EC_FSM_FOE_TIMEOUT 3000
+#define EC_FSM_FOE_TIMEOUT (3*HZ)
/** Mailbox type FoE.
*/
#define EC_MBOX_TYPE_FILEACCESS 0x04
/** Size of the FoE header.
*/
#define EC_FOE_HEADER_SIZE 6
@@ -256,16 +256,19 @@ int ec_foe_prepare_data_send(
datagram, EC_MBOX_TYPE_FILEACCESS,
current_size + EC_FOE_HEADER_SIZE);
if (IS_ERR(data)) {
return -1;
}
EC_WRITE_U16(data, EC_FOE_OPCODE_DATA); // OpCode = DataBlock req.
EC_WRITE_U32(data + 2, fsm->tx_packet_no); // PacketNo, Password
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "sending opcode %u packet %u\n", EC_FOE_OPCODE_DATA, fsm->tx_packet_no);
+#endif
memcpy(data + EC_FOE_HEADER_SIZE,
fsm->tx_buffer + fsm->tx_buffer_offset, current_size);
fsm->tx_current_size = current_size;
return 0;
}
@@ -293,16 +296,19 @@ int ec_foe_prepare_wrq_send(
data = ec_slave_mbox_prepare_send(fsm->slave, datagram,
EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);
if (IS_ERR(data)) {
return -1;
}
EC_WRITE_U16( data, EC_FOE_OPCODE_WRQ); // fsm write request
EC_WRITE_U32( data + 2, fsm->tx_packet_no );
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "sending opcode %u packet %u\n", EC_FOE_OPCODE_WRQ, fsm->tx_packet_no);
+#endif
memcpy(data + EC_FOE_HEADER_SIZE, fsm->tx_filename, current_size);
return 0;
}
/*****************************************************************************/
@@ -365,19 +371,17 @@ void ec_fsm_foe_state_ack_check(
EC_SLAVE_ERR(slave, "Reception of FoE mailbox check datagram"
" failed: ");
ec_datagram_print_wc_error(fsm->datagram);
return;
}
if (!ec_slave_mbox_check(fsm->datagram)) {
// slave did not put anything in the mailbox yet
- unsigned long diff_ms = (fsm->datagram->jiffies_received -
- fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
+ if (time_after(datagram->jiffies_received, fsm->jiffies_start+EC_FSM_FOE_TIMEOUT)) {
ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
EC_SLAVE_ERR(slave, "Timeout while waiting for ack response.\n");
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
@@ -431,28 +435,45 @@ void ec_fsm_foe_state_ack_read(
if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
ec_foe_set_tx_error(fsm, FOE_MBOX_PROT_ERROR);
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
return;
}
opCode = EC_READ_U8(data);
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "received opcode %u\n", opCode);
+#endif
if (opCode == EC_FOE_OPCODE_BUSY) {
// slave not ready
if (ec_foe_prepare_data_send(fsm, datagram)) {
ec_foe_set_tx_error(fsm, FOE_PROT_ERROR);
EC_SLAVE_ERR(slave, "Slave is busy.\n");
return;
}
fsm->state = ec_fsm_foe_state_data_sent;
return;
}
+ if (opCode == EC_FOE_OPCODE_ERR) {
+ fsm->request->error_code = EC_READ_U32(data + 2);
+ EC_SLAVE_ERR(slave, "Received FoE Error Request (code 0x%08x).\n",
+ fsm->request->error_code);
+ if (rec_size > 6 && data[6]) {
+ uint8_t text[256];
+ strncpy(text, data + 6, min(rec_size - 6, sizeof(text)));
+ text[sizeof(text)-1] = 0;
+ EC_SLAVE_ERR(slave, "FoE Error Text: %s\n", text);
+ }
+ ec_foe_set_tx_error(fsm, FOE_OPCODE_ERROR);
+ return;
+ }
+
if (opCode == EC_FOE_OPCODE_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;
}
@@ -566,16 +587,19 @@ int ec_foe_prepare_rrq_send(
EC_MBOX_TYPE_FILEACCESS, current_size + EC_FOE_HEADER_SIZE);
if (IS_ERR(data)) {
return -1;
}
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);
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "sending opcode %u\n", EC_FOE_OPCODE_RRQ);
+#endif
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "FoE Read Request:\n");
ec_print_data(data, current_size + EC_FOE_HEADER_SIZE);
}
return 0;
}
@@ -596,16 +620,19 @@ int ec_foe_prepare_send_ack(
data = ec_slave_mbox_prepare_send(fsm->slave, datagram,
EC_MBOX_TYPE_FILEACCESS, EC_FOE_HEADER_SIZE);
if (IS_ERR(data)) {
return -1;
}
EC_WRITE_U16(data, EC_FOE_OPCODE_ACK);
EC_WRITE_U32(data + 2, fsm->rx_expected_packet_no);
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "sending opcode %u packet %u\n", EC_FOE_OPCODE_ACK, fsm->rx_expected_packet_no);
+#endif
return 0;
}
/*****************************************************************************/
/** State: RRQ SENT.
*
@@ -704,19 +731,17 @@ void ec_fsm_foe_state_data_check(
if (fsm->datagram->working_counter != 1) {
ec_foe_set_rx_error(fsm, FOE_WC_ERROR);
EC_SLAVE_ERR(slave, "Reception of FoE DATA READ: ");
ec_datagram_print_wc_error(fsm->datagram);
return;
}
if (!ec_slave_mbox_check(fsm->datagram)) {
- unsigned long diff_ms = (fsm->datagram->jiffies_received -
- fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= EC_FSM_FOE_TIMEOUT) {
+ if (time_after(datagram->jiffies_received, fsm->jiffies_start+EC_FSM_FOE_TIMEOUT)) {
ec_foe_set_tx_error(fsm, FOE_TIMEOUT_ERROR);
EC_SLAVE_ERR(slave, "Timeout while waiting for ack response.\n");
return;
}
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
@@ -734,17 +759,18 @@ void ec_fsm_foe_state_data_check(
/** Start reading data.
*/
void ec_fsm_foe_state_data_read(
ec_fsm_foe_t *fsm, /**< FoE statemachine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
size_t rec_size;
- uint8_t *data, opCode, packet_no, mbox_prot;
+ uint32_t packet_no;
+ uint8_t *data, opCode, mbox_prot;
ec_slave_t *slave = fsm->slave;
#ifdef DEBUG_FOE
EC_SLAVE_DBG(fsm->slave, 0, "%s()\n", __func__);
#endif
if (fsm->datagram->state != EC_DATAGRAM_RECEIVED) {
@@ -770,48 +796,56 @@ void ec_fsm_foe_state_data_read(
if (mbox_prot != EC_MBOX_TYPE_FILEACCESS) { // FoE
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
return;
}
opCode = EC_READ_U8(data);
+#ifdef DEBUG_FOE
+ EC_SLAVE_DBG(fsm->slave, 0, "received opcode %u\n", opCode);
+#endif
if (opCode == EC_FOE_OPCODE_BUSY) {
+ fsm->rx_expected_packet_no--;
if (ec_foe_prepare_send_ack(fsm, datagram)) {
ec_foe_set_rx_error(fsm, FOE_PROT_ERROR);
+ } else {
+ fsm->state = ec_fsm_foe_state_sent_ack;
}
return;
}
if (opCode == EC_FOE_OPCODE_ERR) {
fsm->request->error_code = EC_READ_U32(data + 2);
EC_SLAVE_ERR(slave, "Received FoE Error Request (code 0x%08x).\n",
fsm->request->error_code);
- if (rec_size > 6) {
+ if (rec_size > 6 && data[6]) {
uint8_t text[256];
strncpy(text, data + 6, min(rec_size - 6, sizeof(text)));
+ text[sizeof(text)-1] = 0;
EC_SLAVE_ERR(slave, "FoE Error Text: %s\n", text);
}
ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
return;
}
if (opCode != EC_FOE_OPCODE_DATA) {
EC_SLAVE_ERR(slave, "Received OPCODE %x, expected %x.\n",
opCode, EC_FOE_OPCODE_DATA);
fsm->request->error_code = 0x00000000;
ec_foe_set_rx_error(fsm, FOE_OPCODE_ERROR);
return;
}
- packet_no = EC_READ_U16(data + 2);
+ packet_no = EC_READ_U32(data + 2);
if (packet_no != fsm->rx_expected_packet_no) {
- EC_SLAVE_ERR(slave, "Received unexpected packet number.\n");
+ EC_SLAVE_ERR(slave, "Received packet number %u, expected %u.\n",
+ 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,
-------------- next part --------------
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