www.pudn.com > ethercat-slave-source-code.rar > ecatfoe.c, change:2013-05-03,size:15471b


/** 
\addtogroup FoE FileTransfer over EtherCAT 
@{ 
*/ 
 
/** 
\file ecatfoe.c 
\author EthercatSSC@beckhoff.com 
\brief Implementation 
This file contains the FoE mailbox interface 
 
\version 5.10 
 
<br>Changes to version V5.0:<br> 
V5.10 MBX1: Remove multiple swapping of length filed in mailbox header<br> 
<br>Changes to version V4.40:<br> 
V5.0 FOE1: Free memory if FoE_ServciceInd() is left.<br> 
V5.0 FOE2: Update error code (Bit 15 shall not be set).<br> 
V5.0 FOE3: Update byte swapping for big endian and big endian 16 configurations.<br> 
V5.0 FOE4: Update Error text handling for 16Bit operations.<br> 
<br>Changes to version V4.11:<br> 
V4.40 FOE1: correct FoE busy values<br> 
V4.40 MBX2: HW_CopyToSendMailbox merge to a generic function (new: MBX_CopyToSendMailbox)<br> 
<br>Changes to version V4.10:<br> 
V4.11 FOE 1 fixed a problem with a huge FOE_MADATA define<br> 
V4.11 FOE 2 u16PacketNo is now a 32bit variable (u32PacketNo) to conform with the spec<br> 
<br>Changes to version V4.00:<br> 
V4.10 FOE 1-3 when downloading the firmware the FoE state machine was not set to FOE_READY<br> 
              when the last data segment was downloaded so that the next FoE service failed<br> 
<br>Changes to version V3.20:<br> 
V4.00 FOE 1 - if a FoE Error service is received it should not be acknowledged<br> 
V4.00 FOE 2 - if a FoE service response could not be sent because the mailbox is full<br> 
              it has to be re-transmit otherwise the response get lost<br> 
 
*/ 
 
/*----------------------------------------------------------------------------------------- 
------ 
------    Includes 
------ 
-----------------------------------------------------------------------------------------*/ 
 
#include "ecat_def.h" 
 
#if FOE_SUPPORTED 
 
#include "ecatslv.h" 
 
#define    _ECATFOE_ 1 
#include "ecatfoe.h" 
#undef    _ECATFOE_ 
#define    _ECATFOE_ 0 
 
#include "foeappl.h" 
/*----------------------------------------------------------------------------------------- 
------ 
------    functions 
------ 
-----------------------------------------------------------------------------------------*/ 
 
///////////////////////////////////////////////////////////////////////////////////////// 
/** 
 
 \brief    This function intialize the FoE Interface. 
*//////////////////////////////////////////////////////////////////////////////////////// 
 
void FOE_Init(void) 
{ 
    /* no file transmission sequence is running */ 
    u16FileAccessState    = FOE_READY; 
    /* initialize the expected packet number */ 
    u32PacketNo = 0; 
    pFoeSendStored = NULL; 
} 
 
 
///////////////////////////////////////////////////////////////////////////////////////// 
/** 
 \param     pFoeInd      Pointer to the received mailbox data from the master. 
 
 \return    result of the operation (0 (success) or mailbox error code (MBXERR_.... defined in 
            mailbox.h)) 
 
 \brief    This function is called when a FoE (File Access over EtherCAT) service is received from 
             the master. 
*//////////////////////////////////////////////////////////////////////////////////////// 
 
UINT8 FOE_ServiceInd(TFOEMBX MBXMEM * pFoeInd) 
{ 
    /* initialize the result of the service checking */ 
    UINT16 nextState = ECAT_FOE_ERRCODE_ILLEGAL; 
    /* dataSize contains the size of the file data */ 
/*ECATCHANGE_START(V5.10) MBX1*/ 
    UINT16 dataSize = SWAPWORD(pFoeInd->MbxHeader.Length) - FOE_HEADER_SIZE; 
/*ECATCHANGE_END(V5.10) MBX1*/ 
 
 
    /* it has to be checked if the mailbox protocol is correct, the sent mailbox data length has to 
       great enough for the service header of the FoE service */ 
    if ( SWAPWORD(pFoeInd->MbxHeader.Length) < FOE_HEADER_SIZE ) 
        return MBXERR_SIZETOOSHORT; 
 
    switch ( SWAPWORD(pFoeInd->FoeHeader.OpMode) ) 
    { 
    case ECAT_FOE_OPMODE_RRQ: 
        /* file read is requested */ 
        if ( u16FileAccessState == FOE_READY ) 
        { 
            UINT32 u32Password = SWAPDWORD(pFoeInd->FoeHeader.Cmd.Password); 
#if BIG_ENDIAN_16BIT 
            u32Password = ((u32Password & 0x0000FFFF) << 16) + ((u32Password & 0xFFFF0000) >> 16); 
#endif 
            /* last FoE sequence was finished, call application function */ 
            nextState = FOE_Read(pFoeInd->Data, dataSize, pFoeInd->Data, SWAPDWORD(u32Password)); 
            /* the first data packet shall be sent */ 
            u32PacketNo    = 1; 
            /* u32LastFileOffset contains the offset of the file which is sent now */ 
            u32LastFileOffset = 0; 
            /* u32FileOffset contains the offset of the file which shall be sent when the next FoE ACK is received */ 
            u32FileOffset = nextState; 
        } 
        break; 
 
    case ECAT_FOE_OPMODE_WRQ: 
        /* file write is requested */ 
        if ( u16FileAccessState == FOE_READY ) 
        { 
            UINT32 u32Password = SWAPDWORD(pFoeInd->FoeHeader.Cmd.Password); 
#if BIG_ENDIAN_16BIT 
            u32Password = ((u32Password & 0x0000FFFF) << 16) + ((u32Password & 0xFFFF0000) >> 16); 
#endif 
            /* last FoE sequence was finished, call application function */ 
            nextState = FOE_Write(pFoeInd->Data, dataSize, SWAPDWORD(u32Password)); 
            if ( nextState == 0 ) 
            { 
                /* checking was successful, sent a FoE Ack service */ 
                nextState = FOE_ACK; 
            } 
            /* initialize the packet number */ 
            u32PacketNo    = 0; 
        } 
        break; 
 
    case ECAT_FOE_OPMODE_DATA: 
        /* file data is received */ 
        if ( u16FileAccessState == FOE_WAIT_FOR_DATA 
          || u16FileAccessState == FOE_WAIT_FOR_LAST_DATA ) 
        { 
            UINT32 u32CmdPacketNo = SWAPDWORD(pFoeInd->FoeHeader.Cmd.PacketNo); 
#if BIG_ENDIAN_16BIT 
            u32CmdPacketNo = ((u32CmdPacketNo & 0x0000FFFF) << 16) + ((u32CmdPacketNo & 0xFFFF0000) >> 16); 
#endif 
            /* we are waiting for file data, service is correct */ 
            if ( u32CmdPacketNo == u32PacketNo ) 
            { 
                /* the packet number is correct, call application function to store the file data */ 
                nextState = FOE_Data(pFoeInd->Data, dataSize); 
                if ( nextState == 0 ) 
                { 
                    /* checking was successful, sent a FoE Ack service */ 
                    nextState = FOE_ACK; 
                } 
            } 
            else 
                nextState = ECAT_FOE_ERRCODE_PACKENO; 
        } 
        break; 
 
    case ECAT_FOE_OPMODE_ACK: 
        /* acknowledge is received, next file part can be sent */ 
        if ( u16FileAccessState == FOE_WAIT_FOR_ACK ) 
        { 
            /* we are waiting for an acknowledge, service is correct, call the application function 
               to get the next part of the file */ 
            nextState = FOE_Ack( u32FileOffset, pFoeInd->Data ); 
            /* u32LastFileOffset contains the offset of the file which is sent now */ 
            u32LastFileOffset = u32FileOffset; 
            /* u32FileOffset contains the offset of the file which shall be sent when the next FoE ACK is received */ 
            u32FileOffset += nextState; 
            /* increment the packet number */ 
            u32PacketNo++; 
        } 
        else if ( u16FileAccessState == FOE_WAIT_FOR_LAST_ACK ) 
        { 
            /* we were waiting for the last acknowledge, now the sequence is finished */ 
            nextState = FOE_FINISHED_NOACK; 
        } 
        break; 
 
    case ECAT_FOE_OPMODE_ERR: 
        /* a FoE Error service is received */ 
        if ( u16FileAccessState != FOE_READY ) 
        { 
            UINT32 u32CmdErrorCode = SWAPDWORD(pFoeInd->FoeHeader.Cmd.ErrorCode); 
#if BIG_ENDIAN_16BIT 
            u32CmdErrorCode = ((u32CmdErrorCode & 0x0000FFFF) << 16) + ((u32CmdErrorCode & 0xFFFF0000) >> 16); 
#endif 
            /* a file transmission sequence is active, inform the application, that this sequence 
               was stopped */ 
            FOE_Error( u32CmdErrorCode ); 
            nextState = FOE_FINISHED; 
        } 
        break; 
 
    case ECAT_FOE_OPMODE_BUSY: 
        /* a FoE Busy service is received */ 
        if ( u16FileAccessState == FOE_WAIT_FOR_ACK 
          || u16FileAccessState == FOE_WAIT_FOR_LAST_ACK ) 
        { 
            /* we are waiting for an acknowledge, service is correct, call the application function 
               to resend the last part of the file */ 
            nextState = FOE_Busy( SWAPWORD(pFoeInd->FoeHeader.Cmd.Busy.Done), u32LastFileOffset, pFoeInd->Data ); 
        } 
        break; 
 
    } 
 
    if ( nextState <= FOE_MAXDATA ) 
    { 
        /* we send DATA and wait for ACK */ 
        UINT32 d = SWAPDWORD(u32PacketNo); 
 
        /* store the OpMode in the mailbox buffer */ 
        pFoeInd->FoeHeader.OpMode           = SWAPWORD(ECAT_FOE_OPMODE_DATA); 
        /* store the packet number in the mailbox buffer */ 
#if BIG_ENDIAN_16BIT 
        pFoeInd->FoeHeader.Cmd.PacketNo     = ((d & 0x0000FFFF) << 16) + ((d & 0xFFFF0000) >> 16); 
#else 
        pFoeInd->FoeHeader.Cmd.PacketNo     = d; 
#endif	 
      
        /* store the size of the mailbox data in the mailbox buffer */ 
/*ECATCHANGE_START(V5.10) MBX1*/ 
        pFoeInd->MbxHeader.Length           = FOE_HEADER_SIZE + nextState; 
/*ECATCHANGE_END(V5.10) MBX1*/ 
 
        if ( nextState == u16SendMbxSize - FOE_HEADER_SIZE - MBX_HEADER_SIZE ) 
        { 
            /* packets still following, we wait for an ACK */ 
            u16FileAccessState = FOE_WAIT_FOR_ACK; 
        } 
        else 
        { 
            /* it was the last Packet, we wait for the last ACK */ 
            u16FileAccessState = FOE_WAIT_FOR_LAST_ACK; 
        } 
    } 
    else if ( nextState <= FOE_MAXBUSY ) 
    { 
        /* we are still storing the received file data (in flash for example) and 
           send BUSY and wait for the DATA to be sent again */ 
        /* store the OpMode in the mailbox buffer */ 
        pFoeInd->FoeHeader.OpMode                   = SWAPWORD(ECAT_FOE_OPMODE_BUSY); 
        /* store the information how much progress we made until we can receive file data again */ 
        pFoeInd->FoeHeader.Cmd.Busy.Done            = SWAPWORD(nextState-FOE_MAXBUSY); 
        pFoeInd->FoeHeader.Cmd.Busy.Entire          = 0; 
        /* store the size of the mailbox data in the mailbox buffer */ 
 
/*ECATCHANGE_START(V5.10) MBX1*/ 
        pFoeInd->MbxHeader.Length                   = FOE_HEADER_SIZE; 
/*ECATCHANGE_END(V5.10) MBX1*/ 
    } 
    else if ( nextState == FOE_ACK || nextState == FOE_ACKFINISHED ) 
    { 
        /* we send ACK and wait for DATA 
            the next file data is expected with an incremented packet number, but 
            we have to acknowledge the old packet first */ 
        UINT32 d = SWAPDWORD(u32PacketNo++); 
        /* store the OpMode in the mailbox buffer */ 
        pFoeInd->FoeHeader.OpMode                   = SWAPWORD(ECAT_FOE_OPMODE_ACK); 
        /* store the packet number in the mailbox buffer */ 
#if BIG_ENDIAN_16BIT 
        pFoeInd->FoeHeader.Cmd.PacketNo             = ((d & 0x0000FFFF) << 16) + ((d & 0xFFFF0000) >> 16); 
#else 
        pFoeInd->FoeHeader.Cmd.PacketNo             = d; 
#endif 
        /* store the size of the mailbox data in the mailbox buffer */ 
/*ECATCHANGE_START(V5.10) MBX1*/ 
        pFoeInd->MbxHeader.Length                   = SIZEOF(TFOEHEADER); 
/*ECATCHANGE_END(V5.10) MBX1*/ 
 
        /* we wait for the next data part */ 
        if ( nextState == FOE_ACK ) 
            /* we wait for the next data part */ 
            u16FileAccessState = FOE_WAIT_FOR_DATA; 
        else 
            /* the last data part was received */ 
            u16FileAccessState = FOE_READY; 
    } 
    else if ( nextState < FOE_ERROR ) 
    { 
        /* the file transmission sequence is finished, we have to send nothing */ 
        u16FileAccessState = FOE_READY; 
#if MAILBOX_QUEUE 
        APPL_FreeMailboxBuffer(pFoeInd); 
#endif 
        return 0; 
    } 
    else 
    { 
        UINT32 d = SWAPDWORD(nextState); 
        UINT8 b = 0; 
 
        /* store the OpMode in the mailbox buffer */ 
        pFoeInd->FoeHeader.OpMode                    = SWAPWORD(ECAT_FOE_OPMODE_ERR); 
        /* store the ErrorCode in the mailbox buffer */ 
#if BIG_ENDIAN_16BIT 
        pFoeInd->FoeHeader.Cmd.ErrorCode            = ((d & 0x0000FFFF) << 16) + ((d & 0xFFFF0000) >> 16); 
#else 
        pFoeInd->FoeHeader.Cmd.ErrorCode            = d; 
#endif 
        /* store the size of the mailbox data in the mailbox buffer */ 
/*ECATCHANGE_START(V5.10) MBX1*/ 
        pFoeInd->MbxHeader.Length                   = SIZEOF(TFOEHEADER); 
/*ECATCHANGE_END(V5.10) MBX1*/ 
 
        /* Error Text is returned in pFoeInd->Data */ 
        while (b < 32) 
        { 
            UINT16 data = ((UINT16 MBXMEM *) pFoeInd->Data)[(b >> 1)]; 
 
            if ((data & 0x00FF) == 0) 
                break; 
            b++; 
         
            if ((data & 0xFF00) == 0) 
                break; 
            b++; 
        } 
        if ( b < 32 ) 
        { 
            pFoeInd->MbxHeader.Length    += b+1; 
        } 
 
        /* the file transmission sequence is finished */ 
        u16FileAccessState = FOE_READY; 
    } 
 
#if BOOTSTRAPMODE_SUPPORTED 
    if ( bBootMode ) 
    { 
        /* in BOOT mode the mailbox buffer is not sent via the mailbox functions 
           because only FoE is allowed in BOOT mode, so we have to include the 
            mailbox data link layer counter */ 
        pFoeInd->MbxHeader.Flags[MBX_OFFS_COUNTER] &= ~MBX_MASK_COUNTER; 
        if ( (u8MbxReadCounter & 0x07) == 0 ) 
            /* counter 0 is not allowed if mailbox data link layer is supported */ 
            u8MbxReadCounter = 1; 
        /* store the counter in the mailbox header */ 
        pFoeInd->MbxHeader.Flags[MBX_OFFS_COUNTER] |= u8MbxReadCounter << MBX_SHIFT_COUNTER; 
        /* increment the counter for the next service */ 
          u8MbxReadCounter++; 
        /* call the function to send the mailbox service directly, 
           in BOOT mode we can be sure that the send mailbox is empty 
           because no parallel services are allowed */ 
        MBX_CopyToSendMailbox((TMBX MBXMEM *) pFoeInd); 
    } 
    else 
#endif 
    { 
        if ( MBX_MailboxSendReq((TMBX MBXMEM *) pFoeInd, FOE_SERVICE) != 0 ) 
        { 
            /* if the mailbox service could not be sent (or stored), the response will be 
               stored in the variable pFoeSendStored and will be sent automatically 
                from the mailbox handler (FOE_ContinueInd) when the send mailbox will be read 
                the next time from the master */ 
            pFoeSendStored = (TMBX MBXMEM *) pFoeInd; 
        } 
    } 
 
    return 0; 
} 
 
 
///////////////////////////////////////////////////////////////////////////////////////// 
/** 
 \param     pMbx      Pointer to the free mailbox buffer 
 
 \brief    This function is called when the next mailbox fragment can be sent. 
*//////////////////////////////////////////////////////////////////////////////////////// 
 
void FOE_ContinueInd(TMBX MBXMEM * pMbx) 
{ 
    if ( pFoeSendStored ) 
    { 
        /* send the stored FoE service which could not be sent before */ 
        MBX_MailboxSendReq(pFoeSendStored, 0); 
        pFoeSendStored = 0; 
    } 
} 
 
#endif // FOE_SUPPORTED 
/** @} */