master/fsm_sii.c
author Florian Pose <fp@igh-essen.com>
Sun, 04 Mar 2007 16:15:23 +0000
changeset 608 029d70ceaaf1
parent 600 b0660152f710
child 637 d5d04c868e0e
permissions -rw-r--r--
Updated TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave information interface FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "mailbox.h"
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#include "master.h"
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#include "fsm_sii.h"
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/*****************************************************************************/
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void ec_fsm_sii_start_reading(ec_fsm_sii_t *);
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void ec_fsm_sii_read_check(ec_fsm_sii_t *);
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void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);
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void ec_fsm_sii_start_writing(ec_fsm_sii_t *);
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void ec_fsm_sii_write_check(ec_fsm_sii_t *);
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void ec_fsm_sii_write_check2(ec_fsm_sii_t *);
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void ec_fsm_sii_end(ec_fsm_sii_t *);
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void ec_fsm_sii_error(ec_fsm_sii_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram structure to use */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Initializes the SII read state machine.
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*/
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void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_slave_t *slave, /**< slave to read from */
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                     uint16_t offset, /**< offset to read from */
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                     ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                     )
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{
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    fsm->state = ec_fsm_sii_start_reading;
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    fsm->slave = slave;
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    fsm->offset = offset;
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    fsm->mode = mode;
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}
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/*****************************************************************************/
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/**
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   Initializes the SII write state machine.
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*/
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void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
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                      ec_slave_t *slave, /**< slave to read from */
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                      uint16_t offset, /**< offset to read from */
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                      const uint16_t *value, /**< pointer to 2 bytes of data */
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                      ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                      )
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{
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    fsm->state = ec_fsm_sii_start_writing;
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    fsm->slave = slave;
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    fsm->offset = offset;
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    fsm->mode = mode;
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    memcpy(fsm->value, value, 2);
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}
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/*****************************************************************************/
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/**
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   Executes the SII state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the master startup state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_sii_end;
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}
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/******************************************************************************
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 *  SII state machine
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 *****************************************************************************/
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/**
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   SII state: START READING.
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   Starts reading the slave information interface.
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*/
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void ec_fsm_sii_start_reading(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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   157
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    // initiate read operation
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   159
    switch (fsm->mode) {
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   160
        case EC_FSM_SII_POSITION:
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            ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
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            break;
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   163
        case EC_FSM_SII_NODE:
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            ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
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   165
            break;
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   166
    }
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   167
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    EC_WRITE_U8 (datagram->data,     0x00); // read-only access
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    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
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    EC_WRITE_U16(datagram->data + 2, fsm->offset);
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    ec_master_queue_datagram(fsm->slave->master, datagram);
505
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    fsm->retries = EC_FSM_RETRIES;
433
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    fsm->state = ec_fsm_sii_read_check;
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   174
}
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/*****************************************************************************/
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/**
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   SII state: READ CHECK.
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   Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
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*/
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   182
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   183
void ec_fsm_sii_read_check(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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   185
    ec_datagram_t *datagram = fsm->datagram;
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   186
505
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   187
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
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   188
        ec_master_queue_datagram(fsm->slave->master, datagram);
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   189
        return;
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   190
    }
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   191
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   192
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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   193
        fsm->state = ec_fsm_sii_error;
594
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   194
        EC_ERR("Failed to receive SII read datagram from slave %i"
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   195
                " (datagram state %i).\n",
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   196
               fsm->slave->ring_position, datagram->state);
505
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   197
        return;
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   198
    }
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   199
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   200
    if (datagram->working_counter != 1) {
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   201
        fsm->state = ec_fsm_sii_error;
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   202
        EC_ERR("Reception of SII read datagram failed - slave %i did not"
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   203
               " respond.\n", fsm->slave->ring_position);
433
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   204
        return;
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   205
    }
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   206
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   207
    fsm->cycles_start = datagram->cycles_sent;
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   208
    fsm->check_once_more = 1;
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   209
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   210
    // issue check/fetch datagram
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   211
    switch (fsm->mode) {
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   212
        case EC_FSM_SII_POSITION:
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   213
            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
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   214
            break;
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   215
        case EC_FSM_SII_NODE:
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   216
            ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
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   217
            break;
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   218
    }
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   219
    ec_master_queue_datagram(fsm->slave->master, datagram);
505
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   220
    fsm->retries = EC_FSM_RETRIES;
433
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   221
    fsm->state = ec_fsm_sii_read_fetch;
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   222
}
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   223
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   224
/*****************************************************************************/
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   225
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   226
/**
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   227
   SII state: READ FETCH.
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   228
   Fetches the result of an SII-read datagram.
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   229
*/
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   230
100f51f28cf2 Layed out SII state machine.
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   231
void ec_fsm_sii_read_fetch(ec_fsm_sii_t *fsm /**< finite state machine */)
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   232
{
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   233
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   234
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   235
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
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diff changeset
   236
        ec_master_queue_datagram(fsm->slave->master, datagram);
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diff changeset
   237
        return;
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diff changeset
   238
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   239
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   240
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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diff changeset
   241
        fsm->state = ec_fsm_sii_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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parents: 505
diff changeset
   242
        EC_ERR("Failed to receive SII check/fetch datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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diff changeset
   243
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   244
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   245
        return;
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   246
    }
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   247
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   248
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   249
        fsm->state = ec_fsm_sii_error;
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   250
        EC_ERR("Reception of SII check/fetch datagram failed - slave %i did"
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   251
               " not respond\n", fsm->slave->ring_position);
433
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parents:
diff changeset
   252
        return;
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parents:
diff changeset
   253
    }
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parents:
diff changeset
   254
100f51f28cf2 Layed out SII state machine.
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   255
    // check "busy bit"
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diff changeset
   256
    if (EC_READ_U8(datagram->data + 1) & 0x81) {
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parents:
diff changeset
   257
        // still busy... timeout?
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parents:
diff changeset
   258
        if (datagram->cycles_received
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   259
            - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   260
            if (!fsm->check_once_more) {
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parents:
diff changeset
   261
                EC_ERR("SII: Read timeout.\n");
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   262
                fsm->state = ec_fsm_sii_error;
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parents:
diff changeset
   263
#if 0
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parents:
diff changeset
   264
                EC_DBG("SII busy: %02X %02X %02X %02X\n",
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parents:
diff changeset
   265
                       EC_READ_U8(datagram->data + 0),
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
                       EC_READ_U8(datagram->data + 1),
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
                       EC_READ_U8(datagram->data + 2),
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   268
                       EC_READ_U8(datagram->data + 3));
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   269
#endif
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diff changeset
   270
                return;
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parents:
diff changeset
   271
            }
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parents:
diff changeset
   272
            fsm->check_once_more = 0;
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parents:
diff changeset
   273
        }
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parents:
diff changeset
   274
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   275
        // issue check/fetch datagram again
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parents:
diff changeset
   276
        switch (fsm->mode) {
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diff changeset
   277
            case EC_FSM_SII_POSITION:
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parents:
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   278
                ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
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parents:
diff changeset
   279
                break;
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parents:
diff changeset
   280
            case EC_FSM_SII_NODE:
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parents:
diff changeset
   281
                ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
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parents:
diff changeset
   282
                break;
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parents:
diff changeset
   283
        }
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   284
        ec_master_queue_datagram(fsm->slave->master, datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   285
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   286
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
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   289
#if 0
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parents:
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   290
    EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
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parents:
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   291
           EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
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parents:
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   292
           EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
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parents:
diff changeset
   293
           EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
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parents:
diff changeset
   294
           EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
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parents:
diff changeset
   295
#endif
100f51f28cf2 Layed out SII state machine.
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diff changeset
   296
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   297
    // SII value received.
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   298
    memcpy(fsm->value, datagram->data + 6, 4);
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diff changeset
   299
    fsm->state = ec_fsm_sii_end;
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diff changeset
   300
}
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   301
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   302
/*****************************************************************************/
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parents:
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   303
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parents:
diff changeset
   304
/**
100f51f28cf2 Layed out SII state machine.
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parents:
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   305
   SII state: START WRITING.
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parents:
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   306
   Starts reading the slave information interface.
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   307
*/
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parents:
diff changeset
   308
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   309
void ec_fsm_sii_start_writing(ec_fsm_sii_t *fsm /**< finite state machine */)
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parents:
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   310
{
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   311
    ec_datagram_t *datagram = fsm->datagram;
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   312
100f51f28cf2 Layed out SII state machine.
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parents:
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   313
    // initiate write operation
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parents:
diff changeset
   314
    ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
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parents:
diff changeset
   315
    EC_WRITE_U8 (datagram->data,     0x01); // enable write access
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parents:
diff changeset
   316
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   317
    EC_WRITE_U32(datagram->data + 2, fsm->offset);
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   318
    memcpy(datagram->data + 6, fsm->value, 2);
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   319
    ec_master_queue_datagram(fsm->slave->master, datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   320
    fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   321
    fsm->state = ec_fsm_sii_write_check;
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parents:
diff changeset
   322
}
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parents:
diff changeset
   323
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
/*****************************************************************************/
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parents:
diff changeset
   325
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   326
/**
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   327
   SII state: WRITE CHECK.
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   328
*/
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parents:
diff changeset
   329
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */)
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parents:
diff changeset
   331
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
    ec_datagram_t *datagram = fsm->datagram;
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parents:
diff changeset
   333
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   334
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   335
        ec_master_queue_datagram(fsm->slave->master, datagram);
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   336
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   337
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   338
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   339
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   340
        fsm->state = ec_fsm_sii_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   341
        EC_ERR("Failed to receive SII write datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   342
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   343
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   344
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   345
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   346
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   347
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   348
        fsm->state = ec_fsm_sii_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   349
        EC_ERR("Reception of SII write datagram failed - slave %i did not"
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   350
               " respond.\n", fsm->slave->ring_position);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    fsm->cycles_start = datagram->cycles_sent;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    // issue check/fetch datagram
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    ec_master_queue_datagram(fsm->slave->master, datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   360
    fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    fsm->state = ec_fsm_sii_write_check2;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
   SII state: WRITE CHECK 2.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */)
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
    ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   374
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   375
        ec_master_queue_datagram(fsm->slave->master, datagram);
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   376
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   377
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   378
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   379
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   380
        fsm->state = ec_fsm_sii_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   381
        EC_ERR("Failed to receive SII write check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   382
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   383
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   384
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   385
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   386
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   387
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   388
        fsm->state = ec_fsm_sii_error;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   389
        EC_ERR("Reception of SII write check datagram failed - slave %i did"
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   390
               " not respond.\n", fsm->slave->ring_position);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
    if (EC_READ_U8(datagram->data + 1) & 0x82) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
        // still busy... timeout?
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
        if (datagram->cycles_received
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
            - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
            if (!fsm->check_once_more) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
                EC_ERR("SII: Write timeout.\n");
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
                fsm->state = ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
                return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
            }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
            fsm->check_once_more = 0;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
        }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        // issue check/fetch datagram again
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
        ec_master_queue_datagram(fsm->slave->master, datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   408
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
    if (EC_READ_U8(datagram->data + 1) & 0x40) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        EC_ERR("SII: Write operation failed!\n");
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        fsm->state = ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    // success
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
    fsm->state = ec_fsm_sii_end;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
   State: ERROR.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
void ec_fsm_sii_error(ec_fsm_sii_t *fsm /**< finite state machine */)
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
   State: END.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
void ec_fsm_sii_end(ec_fsm_sii_t *fsm /**< finite state machine */)
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
/*****************************************************************************/