1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

 *  The IgH EtherCAT Master is distributed in the hope that it will be

    15

 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

 *  You should have received a copy of the GNU General Public License

    20

 *  along with the IgH EtherCAT Master; if not, write to the Free Software

    21

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave information interface FSM.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "mailbox.h"

    43

#include "master.h"

    44

#include "fsm_sii.h"

    45

    46

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

    47

    48

void ec_fsm_sii_start_reading(ec_fsm_sii_t *);

    49

void ec_fsm_sii_read_check(ec_fsm_sii_t *);

    50

void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);

    51

void ec_fsm_sii_start_writing(ec_fsm_sii_t *);

    52

void ec_fsm_sii_write_check(ec_fsm_sii_t *);

    53

void ec_fsm_sii_write_check2(ec_fsm_sii_t *);

    54

void ec_fsm_sii_end(ec_fsm_sii_t *);

    55

void ec_fsm_sii_error(ec_fsm_sii_t *);

    56

    57

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

    58

    59

/**

    60

   Constructor.

    61

*/

    62

    63

void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */

    64

                     ec_datagram_t *datagram /**< datagram structure to use */

    65

                     )

    66

{

    67

    fsm->state = NULL;

    68

    fsm->datagram = datagram;

    69

}

    70

    71

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

    72

    73

/**

    74

   Destructor.

    75

*/

    76

    77

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

    78

{

    79

}

    80

    81

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

    82

    83

/**

    84

   Initializes the SII read state machine.

    85

*/

    86

    87

void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */

    88

                     ec_slave_t *slave, /**< slave to read from */

    89

                     uint16_t offset, /**< offset to read from */

    90

                     ec_fsm_sii_addressing_t mode /**< addressing scheme */

    91

                     )

    92

{

    93

    fsm->state = ec_fsm_sii_start_reading;

    94

    fsm->slave = slave;

    95

    fsm->offset = offset;

    96

    fsm->mode = mode;

    97

}

    98

    99

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

   100

   101

/**

   102

   Initializes the SII write state machine.

   103

*/

   104

   105

void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */

   106

                      ec_slave_t *slave, /**< slave to read from */

   107

                      uint16_t offset, /**< offset to read from */

   108

                      const uint16_t *value, /**< pointer to 2 bytes of data */

   109

                      ec_fsm_sii_addressing_t mode /**< addressing scheme */

   110

                      )

   111

{

   112

    fsm->state = ec_fsm_sii_start_writing;

   113

    fsm->slave = slave;

   114

    fsm->offset = offset;

   115

    fsm->mode = mode;

   116

    memcpy(fsm->value, value, 2);

   117

}

   118

   119

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

   120

   121

/**

   122

   Executes the SII state machine.

   123

   \return false, if the state machine has terminated

   124

*/

   125

   126

int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)

   127

{

   128

    fsm->state(fsm);

   129

   130

    return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;

   131

}

   132

   133

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

   134

   135

/**

   136

   Returns, if the master startup state machine terminated with success.

   137

   \return non-zero if successful.

   138

*/

   139

   140

int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)

   141

{

   142

    return fsm->state == ec_fsm_sii_end;

   143

}

   144

   145

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

   146

 *  SII state machine

   147

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

   148

   149

/**

   150

   SII state: START READING.

   151

   Starts reading the slave information interface.

   152

*/

   153

   154

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

   155

{

   156

    ec_datagram_t *datagram = fsm->datagram;

   157

   158

    // initiate read operation

   159

    switch (fsm->mode) {

   160

        case EC_FSM_SII_POSITION:

   161

            ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);

   162

            break;

   163

        case EC_FSM_SII_NODE:

   164

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

   165

            break;

   166

    }

   167

   168

    EC_WRITE_U8 (datagram->data,     0x00); // read-only access

   169

    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation

   170

    EC_WRITE_U16(datagram->data + 2, fsm->offset);

   171

    fsm->retries = EC_FSM_RETRIES;

   172

    fsm->state = ec_fsm_sii_read_check;

   173

}

   174

   175

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

   176

   177

/**

   178

   SII state: READ CHECK.

   179

   Checks, if the SII-read-datagram has been sent and issues a fetch datagram.

   180

*/

   181

   182

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

   183

{

   184

    ec_datagram_t *datagram = fsm->datagram;

   185

   186

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

   187

        return;

   188

   189

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   190

        fsm->state = ec_fsm_sii_error;

   191

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

   192

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

   193

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

   194

        return;

   195

    }

   196

   197

    if (datagram->working_counter != 1) {

   198

        fsm->state = ec_fsm_sii_error;

   199

        EC_ERR("Reception of SII read datagram failed on slave %i: ",

   200

                fsm->slave->ring_position);

   201

        ec_datagram_print_wc_error(datagram);

   202

        return;

   203

    }

   204

   205

    fsm->cycles_start = datagram->cycles_sent;

   206

    fsm->check_once_more = 1;

   207

   208

    // issue check/fetch datagram

   209

    switch (fsm->mode) {

   210

        case EC_FSM_SII_POSITION:

   211

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

   212

            break;

   213

        case EC_FSM_SII_NODE:

   214

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

   215

            break;

   216

    }

   217

   218

    fsm->retries = EC_FSM_RETRIES;

   219

    fsm->state = ec_fsm_sii_read_fetch;

   220

}

   221

   222

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

   223

   224

/**

   225

   SII state: READ FETCH.

   226

   Fetches the result of an SII-read datagram.

   227

*/

   228

   229

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

   230

{

   231

    ec_datagram_t *datagram = fsm->datagram;

   232

   233

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

   234

        return;

   235

   236

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   237

        fsm->state = ec_fsm_sii_error;

   238

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

   239

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

   240

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

   241

        return;

   242

    }

   243

   244

    if (datagram->working_counter != 1) {

   245

        fsm->state = ec_fsm_sii_error;

   246

        EC_ERR("Reception of SII check/fetch datagram failed on slave %i: ",

   247

                fsm->slave->ring_position);

   248

        ec_datagram_print_wc_error(datagram);

   249

        return;

   250

    }

   251

   252

    // check "busy bit"

   253

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

   254

        // still busy... timeout?

   255

        if (datagram->cycles_received

   256

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

   257

            if (!fsm->check_once_more) {

   258

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

   259

                fsm->state = ec_fsm_sii_error;

   260

#if 0

   261

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

   262

                       EC_READ_U8(datagram->data + 0),

   263

                       EC_READ_U8(datagram->data + 1),

   264

                       EC_READ_U8(datagram->data + 2),

   265

                       EC_READ_U8(datagram->data + 3));

   266

#endif

   267

                return;

   268

            }

   269

            fsm->check_once_more = 0;

   270

        }

   271

   272

        // issue check/fetch datagram again

   273

        switch (fsm->mode) {

   274

            case EC_FSM_SII_POSITION:

   275

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

   276

                break;

   277

            case EC_FSM_SII_NODE:

   278

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

   279

                break;

   280

        }

   281

        fsm->retries = EC_FSM_RETRIES;

   282

        return;

   283

    }

   284

   285

#if 0

   286

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

   287

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

   288

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

   289

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

   290

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

   291

#endif

   292

   293

    // SII value received.

   294

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

   295

    fsm->state = ec_fsm_sii_end;

   296

}

   297

   298

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

   299

   300

/**

   301

   SII state: START WRITING.

   302

   Starts reading the slave information interface.

   303

*/

   304

   305

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

   306

{

   307

    ec_datagram_t *datagram = fsm->datagram;

   308

   309

    // initiate write operation

   310

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

   311

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

   312

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

   313

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

   314

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

   315

   316

    fsm->retries = EC_FSM_RETRIES;

   317

    fsm->state = ec_fsm_sii_write_check;

   318

}

   319

   320

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

   321

   322

/**

   323

   SII state: WRITE CHECK.

   324

*/

   325

   326

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

   327

{

   328

    ec_datagram_t *datagram = fsm->datagram;

   329

   330

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

   331

        return;

   332

   333

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   334

        fsm->state = ec_fsm_sii_error;

   335

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

   336

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

   337

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

   338

        return;

   339

    }

   340

   341

    if (datagram->working_counter != 1) {

   342

        fsm->state = ec_fsm_sii_error;

   343

        EC_ERR("Reception of SII write datagram failed on slave %i: ",

   344

                fsm->slave->ring_position);

   345

        ec_datagram_print_wc_error(datagram);

   346

        return;

   347

    }

   348

   349

    fsm->cycles_start = datagram->cycles_sent;

   350

    fsm->check_once_more = 1;

   351

   352

    // issue check/fetch datagram

   353

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

   354

    fsm->retries = EC_FSM_RETRIES;

   355

    fsm->state = ec_fsm_sii_write_check2;

   356

}

   357

   358

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

   359

   360

/**

   361

   SII state: WRITE CHECK 2.

   362

*/

   363

   364

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

   365

{

   366

    ec_datagram_t *datagram = fsm->datagram;

   367

   368

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

   369

        return;

   370

   371

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   372

        fsm->state = ec_fsm_sii_error;

   373

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

   374

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

   375

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

   376

        return;

   377

    }

   378

   379

    if (datagram->working_counter != 1) {

   380

        fsm->state = ec_fsm_sii_error;

   381

        EC_ERR("Reception of SII write check datagram failed on slave %i: ",

   382

                fsm->slave->ring_position);

   383

        ec_datagram_print_wc_error(datagram);

   384

        return;

   385

    }

   386

   387

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

   388

        // still busy... timeout?

   389

        if (datagram->cycles_received

   390

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

   391

            if (!fsm->check_once_more) {

   392

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

   393

                fsm->state = ec_fsm_sii_error;

   394

                return;

   395

            }

   396

            fsm->check_once_more = 0;

   397

        }

   398

   399

        // issue check/fetch datagram again

   400

        fsm->retries = EC_FSM_RETRIES;

   401

        return;

   402

    }

   403

   404

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

   405

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

   406

        fsm->state = ec_fsm_sii_error;

   407

        return;

   408

    }

   409

   410

    // success

   411

    fsm->state = ec_fsm_sii_end;

   412

}

   413

   414

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

   415

   416

/**

   417

   State: ERROR.

   418

*/

   419

   420

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

   421

{

   422

}

   423

   424

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

   425

   426

/**

   427

   State: END.

   428

*/

   429

   430

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

   431

{

   432

}

   433

   434

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