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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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    46

/*****************************************************************************/

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    48

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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    59

/**

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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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    73

/**

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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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   101

/**

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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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   121

/**

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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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   133

/*****************************************************************************/

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   135

/**

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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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    // initiate read operation

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    switch (fsm->mode) {

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        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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        case EC_FSM_SII_NODE:

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            ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);

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            break;

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    }

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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);

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_sii_read_check;

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}

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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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void ec_fsm_sii_read_check(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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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {

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        ec_master_queue_datagram(fsm->slave->master, datagram);

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        return;

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    }

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    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_sii_error;

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        EC_ERR("Failed to receive SII read datagram from slave %i"

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                " (datagram state %i).\n",

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               fsm->slave->ring_position, datagram->state);

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        return;

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    }

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    if (datagram->working_counter != 1) {

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        fsm->state = ec_fsm_sii_error;

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        EC_ERR("Reception of SII read datagram failed - slave %i did not"

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               " respond.\n", fsm->slave->ring_position);

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        return;

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    }

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    fsm->cycles_start = datagram->cycles_sent;

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    fsm->check_once_more = 1;

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    // issue check/fetch datagram

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    switch (fsm->mode) {

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        case EC_FSM_SII_POSITION:

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            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);

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            break;

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        case EC_FSM_SII_NODE:

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            ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);

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            break;

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    }

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    ec_master_queue_datagram(fsm->slave->master, datagram);

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_sii_read_fetch;

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}

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/*****************************************************************************/

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/**

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   SII state: READ FETCH.

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   Fetches the result of an SII-read datagram.

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*/

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void ec_fsm_sii_read_fetch(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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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {

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        ec_master_queue_datagram(fsm->slave->master, datagram);

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        return;

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    }

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    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_sii_error;

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        EC_ERR("Failed to receive SII check/fetch datagram from slave %i"

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                " (datagram state %i).\n",

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               fsm->slave->ring_position, datagram->state);

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        return;

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    }

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    if (datagram->working_counter != 1) {

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        fsm->state = ec_fsm_sii_error;

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        EC_ERR("Reception of SII check/fetch datagram failed - slave %i did"

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               " not respond\n", fsm->slave->ring_position);

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        return;

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    }

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    // check "busy bit"

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    if (EC_READ_U8(datagram->data + 1) & 0x81) {

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        // still busy... timeout?

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        if (datagram->cycles_received

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            - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {

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            if (!fsm->check_once_more) {

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                EC_ERR("SII: Read timeout.\n");

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                fsm->state = ec_fsm_sii_error;

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#if 0

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                EC_DBG("SII busy: %02X %02X %02X %02X\n",

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                       EC_READ_U8(datagram->data + 0),

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                       EC_READ_U8(datagram->data + 1),

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                       EC_READ_U8(datagram->data + 2),

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                       EC_READ_U8(datagram->data + 3));

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#endif

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                return;

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            }

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            fsm->check_once_more = 0;

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        }

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        // issue check/fetch datagram again

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        switch (fsm->mode) {

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            case EC_FSM_SII_POSITION:

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                ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);

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                break;

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            case EC_FSM_SII_NODE:

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                ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);

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                break;

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        }

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        ec_master_queue_datagram(fsm->slave->master, datagram);

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        fsm->retries = EC_FSM_RETRIES;

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        return;

   287

    }

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#if 0

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    EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",

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           EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),

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           EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),

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           EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),

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           EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));

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#endif

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   297

    // SII value received.

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    memcpy(fsm->value, datagram->data + 6, 4);

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    fsm->state = ec_fsm_sii_end;

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}

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/*****************************************************************************/

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   304

/**

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   SII state: START WRITING.

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   Starts reading the slave information interface.

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*/

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   309

void ec_fsm_sii_start_writing(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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    // initiate write operation

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    ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);

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    EC_WRITE_U8 (datagram->data,     0x01); // enable write access

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    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation

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    EC_WRITE_U32(datagram->data + 2, fsm->offset);

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    memcpy(datagram->data + 6, fsm->value, 2);

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    ec_master_queue_datagram(fsm->slave->master, datagram);

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    fsm->retries = EC_FSM_RETRIES;

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    fsm->state = ec_fsm_sii_write_check;

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}

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/*****************************************************************************/

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   326

/**

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   SII state: WRITE CHECK.

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*/

   329

   330

void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */)

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{

   332

    ec_datagram_t *datagram = fsm->datagram;

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   334

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {

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        ec_master_queue_datagram(fsm->slave->master, datagram);

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        return;

   337

    }

   338

   339

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

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        fsm->state = ec_fsm_sii_error;

   341

        EC_ERR("Failed to receive SII write datagram for slave %i"

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                " (datagram state %i).\n",

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               fsm->slave->ring_position, datagram->state);

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        return;

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    }

   346

   347

    if (datagram->working_counter != 1) {

   348

        fsm->state = ec_fsm_sii_error;

   349

        EC_ERR("Reception of SII write datagram failed - slave %i did not"

   350

               " respond.\n", fsm->slave->ring_position);

   351

        return;

   352

    }

   353

   354

    fsm->cycles_start = datagram->cycles_sent;

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    fsm->check_once_more = 1;

   356

   357

    // issue check/fetch datagram

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    ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);

   359

    ec_master_queue_datagram(fsm->slave->master, datagram);

   360

    fsm->retries = EC_FSM_RETRIES;

   361

    fsm->state = ec_fsm_sii_write_check2;

   362

}

   363

   364

/*****************************************************************************/

   365

   366

/**

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   SII state: WRITE CHECK 2.

   368

*/

   369

   370

void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */)

   371

{

   372

    ec_datagram_t *datagram = fsm->datagram;

   373

   374

    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {

   375

        ec_master_queue_datagram(fsm->slave->master, datagram);

   376

        return;

   377

    }

   378

   379

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   380

        fsm->state = ec_fsm_sii_error;

   381

        EC_ERR("Failed to receive SII write check datagram from slave %i"

   382

                " (datagram state %i).\n",

   383

               fsm->slave->ring_position, datagram->state);

   384

        return;

   385

    }

   386

   387

    if (datagram->working_counter != 1) {

   388

        fsm->state = ec_fsm_sii_error;

   389

        EC_ERR("Reception of SII write check datagram failed - slave %i did"

   390

               " not respond.\n", fsm->slave->ring_position);

   391

        return;

   392

    }

   393

   394

    if (EC_READ_U8(datagram->data + 1) & 0x82) {

   395

        // still busy... timeout?

   396

        if (datagram->cycles_received

   397

            - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {

   398

            if (!fsm->check_once_more) {

   399

                EC_ERR("SII: Write timeout.\n");

   400

                fsm->state = ec_fsm_sii_error;

   401

                return;

   402

            }

   403

            fsm->check_once_more = 0;

   404

        }

   405

   406

        // issue check/fetch datagram again

   407

        ec_master_queue_datagram(fsm->slave->master, datagram);

   408

        fsm->retries = EC_FSM_RETRIES;

   409

        return;

   410

    }

   411

   412

    if (EC_READ_U8(datagram->data + 1) & 0x40) {

   413

        EC_ERR("SII: Write operation failed!\n");

   414

        fsm->state = ec_fsm_sii_error;

   415

        return;

   416

    }

   417

   418

    // success

   419

    fsm->state = ec_fsm_sii_end;

   420

}

   421

   422

/*****************************************************************************/

   423

   424

/**

   425

   State: ERROR.

   426

*/

   427

   428

void ec_fsm_sii_error(ec_fsm_sii_t *fsm /**< finite state machine */)

   429

{

   430

}

   431

   432

/*****************************************************************************/

   433

   434

/**

   435

   State: END.

   436

*/

   437

   438

void ec_fsm_sii_end(ec_fsm_sii_t *fsm /**< finite state machine */)

   439

{

   440

}

   441

   442

/*****************************************************************************/