ethercatfoe.c

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/*
 * Simple Open EtherCAT Master Library 
 *
 * File    : ethercatfoe.c
 * Version : 1.3.0
 * Date    : 24-02-2013
 * Copyright (C) 2005-2013 Speciaal Machinefabriek Ketels v.o.f.
 * Copyright (C) 2005-2013 Arthur Ketels
 * Copyright (C) 2008-2009 TU/e Technische Universiteit Eindhoven 
 *
 * SOEM is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License version 2 as published by the Free
 * Software Foundation.
 *
 * SOEM 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.
 *
 * As a special exception, if other files instantiate templates or use macros
 * or inline functions from this file, or you compile this file and link it
 * with other works to produce a work based on this file, this file does not
 * by itself cause the resulting work to be covered by the GNU General Public
 * License. However the source code for this file must still be made available
 * in accordance with section (3) of the GNU General Public License.
 *
 * This exception does not invalidate any other reasons why a work based on
 * this file might be covered by the GNU General Public License.
 *
 * The EtherCAT Technology, the trade name and logo “EtherCAT” are the intellectual
 * property of, and protected by Beckhoff Automation GmbH. You can use SOEM for
 * the sole purpose of creating, using and/or selling or otherwise distributing
 * an EtherCAT network master provided that an EtherCAT Master License is obtained
 * from Beckhoff Automation GmbH.
 *
 * In case you did not receive a copy of the EtherCAT Master License along with
 * SOEM write to Beckhoff Automation GmbH, Eiserstraße 5, D-33415 Verl, Germany
 * (www.beckhoff.com).
 *
 * 14-06-2010 : fixed bug in FOEread() by Torsten Bitterlich
 */

#include <stdio.h>
#include <string.h>
#include "ethercat_soem/osal.h"
#include "ethercat_soem/oshw.h"
#include "ethercat_soem/ethercattype.h"
#include "ethercat_soem/ethercatbase.h"
#include "ethercat_soem/ethercatmain.h"
#include "ethercat_soem/ethercatfoe.h"

#define EC_MAXFOEDATA 512

PACKED_BEGIN
typedef struct PACKED
{
   ec_mbxheadert MbxHeader;
   uint8         OpCode;
   uint8         Reserved;
   union
   {   
      uint32        Password;
      uint32        PacketNumber;
      uint32        ErrorCode;
   };
   union
   {   
      char          FileName[EC_MAXFOEDATA];
      uint8         Data[EC_MAXFOEDATA];
      char          ErrorText[EC_MAXFOEDATA];
   };   
} ec_FOEt;
PACKED_END

int ecx_FOEdefinehook(ecx_contextt *context, void *hook)
{
  context->FOEhook = hook; 
  return 1;
}

int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
{
   ec_FOEt *FOEp, *aFOEp;
   int wkc;
   int32 dataread = 0;
   int32 buffersize, packetnumber, prevpacket = 0;
   uint16 fnsize, maxdata, segmentdata;
   ec_mbxbuft MbxIn, MbxOut;
   uint8 cnt;
   boolean worktodo;

   buffersize = *psize;
   ec_clearmbx(&MbxIn);
   /* Empty slave out mailbox if something is in. Timout set to 0 */
   wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
   ec_clearmbx(&MbxOut);
   aFOEp = (ec_FOEt *)&MbxIn;
   FOEp = (ec_FOEt *)&MbxOut;
   fnsize = strlen(filename);
   maxdata = context->slavelist[slave].mbx_l - 12;
   if (fnsize > maxdata)
   {
      fnsize = maxdata;
   }
   FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
   FOEp->MbxHeader.address = htoes(0x0000);
   FOEp->MbxHeader.priority = 0x00;
   /* get new mailbox count value, used as session handle */
   cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
   context->slavelist[slave].mbx_cnt = cnt;
   FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
   FOEp->OpCode = ECT_FOE_READ;
   FOEp->Password = htoel(password);
   /* copy filename in mailbox */
   memcpy(&FOEp->FileName[0], filename, fnsize);
   /* send FoE request to slave */
   wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
   if (wkc > 0) /* succeeded to place mailbox in slave ? */
   {
      do
      {   
         worktodo = FALSE;
         /* clean mailboxbuffer */
         ec_clearmbx(&MbxIn);
         /* read slave response */
         wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
         if (wkc > 0) /* succeeded to read slave response ? */
         {
            /* slave response should be FoE */
            if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
            {
               if(aFOEp->OpCode == ECT_FOE_DATA)
               {
                  segmentdata = etohs(aFOEp->MbxHeader.length) - 0x0006;
                  packetnumber = etohl(aFOEp->PacketNumber);
                  if ((packetnumber == ++prevpacket) && (dataread + segmentdata <= buffersize))
                  {
                     memcpy(p, &aFOEp->Data[0], segmentdata);
                     dataread += segmentdata;
                     p = (uint8 *)p + segmentdata;
                     if (segmentdata == maxdata)
                     {
                        worktodo = TRUE; 
                     }
                     FOEp->MbxHeader.length = htoes(0x0006);
                     FOEp->MbxHeader.address = htoes(0x0000);
                     FOEp->MbxHeader.priority = 0x00;
                     /* get new mailbox count value */
                     cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
                     context->slavelist[slave].mbx_cnt = cnt;
                     FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
                     FOEp->OpCode = ECT_FOE_ACK;
                     FOEp->PacketNumber = htoel(packetnumber);
                     /* send FoE ack to slave */
                     wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
                     if (wkc <= 0)
                     {   
                        worktodo = FALSE;
                     }
                     if (context->FOEhook)
                     {
                        context->FOEhook(slave, packetnumber, dataread);
                     }
                  }
                  else
                  {
                     /* FoE error */
                     wkc = -EC_ERR_TYPE_FOE_BUF2SMALL;
                  }
               }
               else
               {
                  if(aFOEp->OpCode == ECT_FOE_ERROR)
                  {
                     /* FoE error */
                     wkc = -EC_ERR_TYPE_FOE_ERROR;
                  }
                  else
                  {
                     /* unexpected mailbox received */
                     wkc = -EC_ERR_TYPE_PACKET_ERROR;
                  }
               }
            }
            else
            {
               /* unexpected mailbox received */
               wkc = -EC_ERR_TYPE_PACKET_ERROR;
            }
            *psize = dataread;
         }
      } while (worktodo);   
   }
   
   return wkc;
}   

int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)
{
   ec_FOEt *FOEp, *aFOEp;
   int wkc;
   int32 packetnumber, sendpacket = 0;
   uint16 fnsize, maxdata;
   int segmentdata;
   ec_mbxbuft MbxIn, MbxOut;
   uint8 cnt;
   boolean worktodo, dofinalzero;
   int tsize;

   ec_clearmbx(&MbxIn);
   /* Empty slave out mailbox if something is in. Timout set to 0 */
   wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
   ec_clearmbx(&MbxOut);
   aFOEp = (ec_FOEt *)&MbxIn;
   FOEp = (ec_FOEt *)&MbxOut;
   dofinalzero = FALSE;
   fnsize = strlen(filename);
   maxdata = context->slavelist[slave].mbx_l - 12;
   if (fnsize > maxdata)
   {
      fnsize = maxdata;
   }
   FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
   FOEp->MbxHeader.address = htoes(0x0000);
   FOEp->MbxHeader.priority = 0x00;
   /* get new mailbox count value, used as session handle */
   cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
   context->slavelist[slave].mbx_cnt = cnt;
   FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
   FOEp->OpCode = ECT_FOE_WRITE;
   FOEp->Password = htoel(password);
   /* copy filename in mailbox */
   memcpy(&FOEp->FileName[0], filename, fnsize);
   /* send FoE request to slave */
   wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
   if (wkc > 0) /* succeeded to place mailbox in slave ? */
   {
      do
      {   
         worktodo = FALSE;
         /* clean mailboxbuffer */
         ec_clearmbx(&MbxIn);
         /* read slave response */
         wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
         if (wkc > 0) /* succeeded to read slave response ? */
         {
            /* slave response should be FoE */
            if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
            {
               switch (aFOEp->OpCode)
               {
                  case ECT_FOE_ACK:
                  {
                     packetnumber = etohl(aFOEp->PacketNumber);
                     if (packetnumber == sendpacket)
                     {
                        if (context->FOEhook)
                        {
                           context->FOEhook(slave, packetnumber, psize);
                        }
                        tsize = psize;
                        if (tsize > maxdata)
                        {
                           tsize = maxdata;
                        }
                        if(tsize || dofinalzero)
                        {
                           worktodo = TRUE; 
                           dofinalzero = FALSE;
                           segmentdata = tsize;
                           psize -= segmentdata;
                           /* if last packet was full size, add a zero size packet as final */
                           /* EOF is defined as packetsize < full packetsize */
                           if (!psize && (segmentdata == maxdata))
                           {
                              dofinalzero = TRUE;
                           }
                           FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
                           FOEp->MbxHeader.address = htoes(0x0000);
                           FOEp->MbxHeader.priority = 0x00;
                           /* get new mailbox count value */
                           cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
                           context->slavelist[slave].mbx_cnt = cnt;
                           FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
                           FOEp->OpCode = ECT_FOE_DATA;
                           sendpacket++;
                           FOEp->PacketNumber = htoel(sendpacket);
                           memcpy(&FOEp->Data[0], p, segmentdata);
                           p = (uint8 *)p + segmentdata;
                           /* send FoE data to slave */
                           wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
                           if (wkc <= 0)
                           {   
                              worktodo = FALSE;
                           }
                        }
                     }
                     else
                     {
                        /* FoE error */
                        wkc = -EC_ERR_TYPE_FOE_PACKETNUMBER;
                     }
                     break;
                  }
                  case ECT_FOE_BUSY:
                  {
                     /* resend if data has been send before */
                     /* otherwise ignore */
                     if (sendpacket)
                     {
                        if (!psize)
                        {
                           dofinalzero = TRUE;
                        }
                        psize += segmentdata;
                        p = (uint8 *)p - segmentdata;
                        --sendpacket;
                     }
                     break;
                  }
                  case ECT_FOE_ERROR:
                  {
                     /* FoE error */
                     wkc = -EC_ERR_TYPE_FOE_ERROR;
                     break;
                  }
                  default:
                  {
                     /* unexpected mailbox received */
                     wkc = -EC_ERR_TYPE_PACKET_ERROR;
                  }
               }
            }
            else
            {
               /* unexpected mailbox received */
               wkc = -EC_ERR_TYPE_PACKET_ERROR;
            }
         }
      } while (worktodo);   
   }
   
   return wkc;
}

#ifdef EC_VER1
int ec_FOEdefinehook(void *hook)
{
   return ecx_FOEdefinehook(&ecx_context, hook);
}

int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
{
   return ecx_FOEread(&ecx_context, slave, filename, password, psize, p, timeout);
}

int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)
{
   return ecx_FOEwrite(&ecx_context, slave, filename, password, psize, p, timeout);
}
#endif