master/fsm_sii.c
author Patrick Bruenn <p.bruenn@beckhoff.com>
Wed, 23 Apr 2014 13:15:10 +0200
branchstable-1.5
changeset 2552 6e419c23b1b3
parent 1957 b481ccf21272
permissions -rw-r--r--
added ccat support for kernel 2.6.32
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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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/** Read/write timeout [ms].
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 *
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 * Used to calculate timeouts bsed on the jiffies counter.
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 *
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 * \attention Must be more than 10 to avoid problems on kernels that run with
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 * a timer interupt frequency of 100 Hz.
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 */
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#define SII_TIMEOUT 20
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/** Time before evaluating answer at writing [ms].
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 */
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#define SII_INHIBIT 5
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//#define SII_DEBUG
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/*****************************************************************************/
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void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_fetch(ec_fsm_sii_t *);
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void ec_fsm_sii_state_start_writing(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check2(ec_fsm_sii_t *);
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void ec_fsm_sii_state_end(ec_fsm_sii_t *);
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void ec_fsm_sii_state_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 word_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_state_start_reading;
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    fsm->slave = slave;
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    fsm->word_offset = word_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 word_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_state_start_writing;
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    fsm->slave = slave;
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    fsm->word_offset = word_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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   140
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    return fsm->state != ec_fsm_sii_state_end
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        && fsm->state != ec_fsm_sii_state_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_state_end;
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}
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/******************************************************************************
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 * state functions
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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_state_start_reading(
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        ec_fsm_sii_t *fsm /**< finite state machine */
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        )
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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_USE_INCREMENT_ADDRESS:
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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_USE_CONFIGURED_ADDRESS:
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            ec_datagram_fpwr(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,     0x80); // two address octets
433
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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->word_offset);
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#ifdef SII_DEBUG
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    EC_SLAVE_DBG(fsm->slave, 0, "reading SII data, word %u:\n",
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            fsm->word_offset);
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    ec_print_data(datagram->data, 4);
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#endif
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_sii_state_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_state_read_check(
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        ec_fsm_sii_t *fsm /**< finite state machine */
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        )
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{
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    ec_datagram_t *datagram = fsm->datagram;
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   208
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
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   211
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   212
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_sii_state_error;
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        EC_SLAVE_ERR(fsm->slave, "Failed to receive SII read datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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        ec_datagram_print_state(datagram);
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   216
        return;
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   217
    }
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   218
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   219
    if (datagram->working_counter != 1) {
753
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   220
        fsm->state = ec_fsm_sii_state_error;
1921
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   221
        EC_SLAVE_ERR(fsm->slave, "Reception of SII read datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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        ec_datagram_print_wc_error(datagram);
433
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   223
        return;
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   224
    }
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   225
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
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   226
    fsm->jiffies_start = datagram->jiffies_sent;
433
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   227
    fsm->check_once_more = 1;
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   228
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    // issue check/fetch datagram
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   230
    switch (fsm->mode) {
815
002fe9ec778f Implemented missing datagram types.
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   231
        case EC_FSM_SII_USE_INCREMENT_ADDRESS:
433
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   232
            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
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   233
            break;
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   234
        case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
002fe9ec778f Implemented missing datagram types.
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   235
            ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 10);
433
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   236
            break;
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   237
    }
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   238
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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   239
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
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   240
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   241
    fsm->state = ec_fsm_sii_state_read_fetch;
433
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   242
}
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   243
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   244
/*****************************************************************************/
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   245
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   246
/**
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   247
   SII state: READ FETCH.
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   248
   Fetches the result of an SII-read datagram.
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   249
*/
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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   250
void ec_fsm_sii_state_read_fetch(
1507
68e89abadd19 Removed unwanted tabulators.
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   251
        ec_fsm_sii_t *fsm /**< finite state machine */
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   252
        )
433
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   253
{
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   254
    ec_datagram_t *datagram = fsm->datagram;
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   255
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   256
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   257
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   258
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   259
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   260
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1822
diff changeset
   261
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
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parents: 1822
diff changeset
   262
                "Failed to receive SII check/fetch datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1599
diff changeset
   263
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   264
        return;
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diff changeset
   265
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   266
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   267
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
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parents: 713
diff changeset
   268
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1822
diff changeset
   269
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
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diff changeset
   270
                "Reception of SII check/fetch datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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diff changeset
   271
        ec_datagram_print_wc_error(datagram);
433
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   272
        return;
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   273
    }
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   274
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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   275
#ifdef SII_DEBUG
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1822
diff changeset
   276
    EC_SLAVE_DBG(fsm->slave, 0, "checking SII read state:\n");
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    ec_print_data(datagram->data, 10);
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   278
#endif
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   279
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    if (EC_READ_U8(datagram->data + 1) & 0x20) {
1951
a1a6d7719f97 Improved SII debugging.
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diff changeset
   281
        EC_SLAVE_ERR(fsm->slave, "Error on last command while"
a1a6d7719f97 Improved SII debugging.
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diff changeset
   282
                " reading from SII word 0x%04x.\n", fsm->word_offset);
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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   283
        fsm->state = ec_fsm_sii_state_error;
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   284
        return;
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   285
    }
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   286
433
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   287
    // check "busy bit"
1507
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   288
    if (EC_READ_U8(datagram->data + 1) & 0x81) { /* busy bit or
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   289
                                                    read operation busy */
433
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        // still busy... timeout?
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
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   291
        unsigned long diff_ms =
2881a83d084f Use jiffies instead of cycles in SII state machine.
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   292
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
2881a83d084f Use jiffies instead of cycles in SII state machine.
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diff changeset
   293
        if (diff_ms >= SII_TIMEOUT) {
755
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diff changeset
   294
            if (fsm->check_once_more) {
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   295
                fsm->check_once_more = 0;
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   296
            } else {
1921
d9cf40facbc4 Improved syslog macros.
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parents: 1822
diff changeset
   297
                EC_SLAVE_ERR(fsm->slave, "SII: Read timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   298
                fsm->state = ec_fsm_sii_state_error;
433
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parents:
diff changeset
   299
                return;
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   300
            }
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parents:
diff changeset
   301
        }
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   302
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   303
        // issue check/fetch datagram again
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   304
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
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diff changeset
   305
        return;
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parents:
diff changeset
   306
    }
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parents:
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   307
100f51f28cf2 Layed out SII state machine.
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diff changeset
   308
    // SII value received.
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parents:
diff changeset
   309
    memcpy(fsm->value, datagram->data + 6, 4);
753
7ba5f9cd8f7e Renamed sii state functions.
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parents: 713
diff changeset
   310
    fsm->state = ec_fsm_sii_state_end;
433
100f51f28cf2 Layed out SII state machine.
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diff changeset
   311
}
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   312
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   313
/*****************************************************************************/
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   314
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   315
/**
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   316
   SII state: START WRITING.
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   317
   Starts writing a word through the slave information interface.
433
100f51f28cf2 Layed out SII state machine.
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diff changeset
   318
*/
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parents:
diff changeset
   319
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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   320
void ec_fsm_sii_state_start_writing(
1507
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   321
        ec_fsm_sii_t *fsm /**< finite state machine */
68e89abadd19 Removed unwanted tabulators.
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diff changeset
   322
        )
433
100f51f28cf2 Layed out SII state machine.
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diff changeset
   323
{
100f51f28cf2 Layed out SII state machine.
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parents:
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   324
    ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   325
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   326
    // initiate write operation
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   327
    ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 8);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   328
    EC_WRITE_U8 (datagram->data,     0x81); /* two address octets
68e89abadd19 Removed unwanted tabulators.
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parents: 1363
diff changeset
   329
                                               + enable write access */
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   330
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   331
    EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   332
    memset(datagram->data + 4, 0x00, 2);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    memcpy(datagram->data + 6, fsm->value, 2);
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   334
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   335
#ifdef SII_DEBUG
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   336
    EC_SLAVE_DBG(fsm->slave, 0, "writing SII data:\n");
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   337
    ec_print_data(datagram->data, 8);
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   338
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   339
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   340
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   341
    fsm->state = ec_fsm_sii_state_write_check;
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   342
}
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   343
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   344
/*****************************************************************************/
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parents:
diff changeset
   345
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   346
/**
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   347
   SII state: WRITE CHECK.
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   348
*/
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   349
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   350
void ec_fsm_sii_state_write_check(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   351
        ec_fsm_sii_t *fsm /**< finite state machine */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   352
        )
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
{
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   354
    ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   356
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   357
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   358
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   359
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   360
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   361
        EC_SLAVE_ERR(fsm->slave, "Failed to receive SII write datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1599
diff changeset
   362
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   363
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   364
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   365
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   366
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   367
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   368
        EC_SLAVE_ERR(fsm->slave, "Reception of SII write datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   369
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
        return;
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
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   373
    fsm->jiffies_start = datagram->jiffies_sent;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   376
    // issue check datagram
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   377
    ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 1123
diff changeset
   378
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   379
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   380
    fsm->state = ec_fsm_sii_state_write_check2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
   SII state: WRITE CHECK 2.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   389
void ec_fsm_sii_state_write_check2(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   390
        ec_fsm_sii_t *fsm /**< finite state machine */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   391
        )
433
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
    ec_datagram_t *datagram = fsm->datagram;
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   394
    unsigned long diff_ms;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   396
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   397
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   398
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   399
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   400
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   401
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   402
                "Failed to receive SII write check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1599
diff changeset
   403
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   404
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   405
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   406
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   407
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   408
        fsm->state = ec_fsm_sii_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   409
        EC_SLAVE_ERR(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   410
                "Reception of SII write check datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   411
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   415
#ifdef SII_DEBUG
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   416
    EC_SLAVE_DBG(fsm->slave, 0, "checking SII write state:\n");
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   417
    ec_print_data(datagram->data, 2);
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   418
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   419
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   420
    if (EC_READ_U8(datagram->data + 1) & 0x20) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   421
        EC_SLAVE_ERR(fsm->slave, "SII: Error on last SII command!\n");
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   422
        fsm->state = ec_fsm_sii_state_error;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   423
        return;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   424
    }
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   425
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   426
    /* FIXME: some slaves never answer with the busy flag set...
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   427
     * wait a few ms for the write operation to complete. */
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   428
    diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   429
    if (diff_ms < SII_INHIBIT) {
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   430
#ifdef SII_DEBUG
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   431
        EC_SLAVE_DBG(fsm->slave, 0, "too early.\n");
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   432
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   433
        // issue check datagram again
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   434
        fsm->retries = EC_FSM_RETRIES;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   435
        return;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   436
    }
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   437
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   438
    if (EC_READ_U8(datagram->data + 1) & 0x82) { /* busy bit or
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   439
                                                    write operation busy bit */
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
        // still busy... timeout?
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   441
        if (diff_ms >= SII_TIMEOUT) {
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   442
            if (fsm->check_once_more) {
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   443
                fsm->check_once_more = 0;
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   444
            } else {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   445
                EC_SLAVE_ERR(fsm->slave, "SII: Write timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   446
                fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
                return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
            }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
        }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   451
        // issue check datagram again
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   452
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
    if (EC_READ_U8(datagram->data + 1) & 0x40) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   457
        EC_SLAVE_ERR(fsm->slave, "SII: Write operation failed!\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   458
        fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
    // success
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   463
    fsm->state = ec_fsm_sii_state_end;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
   State: ERROR.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   472
void ec_fsm_sii_state_error(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   473
        ec_fsm_sii_t *fsm /**< finite state machine */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   474
        )
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
   State: END.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   484
void ec_fsm_sii_state_end(
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   485
        ec_fsm_sii_t *fsm /**< finite state machine */
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   486
        )
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   487
{
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   488
}
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   489
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   490
/*****************************************************************************/