author | Andreas Stewering-Bone <ab@igh-essen.com> |
Mon, 07 Feb 2011 21:30:25 +0100 | |
changeset 2052 | 77e7946da53b |
parent 1957 | b481ccf21272 |
permissions | -rw-r--r-- |
433 | 1 |
/****************************************************************************** |
2 |
* |
|
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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 |
ef907b0b5125
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* modify it under the terms of the GNU General Public License version 2, as |
ef907b0b5125
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* published by the Free Software Foundation. |
ef907b0b5125
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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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|
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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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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; |
180 |
} |
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EC_WRITE_U8 (datagram->data, 0x80); // two address octets |
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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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} |
195 |
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/*****************************************************************************/ |
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197 |
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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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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
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return; |
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if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
213 |
fsm->state = ec_fsm_sii_state_error; |
1921 | 214 |
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
Florian Pose <fp@igh-essen.com>
parents:
1599
diff
changeset
|
215 |
ec_datagram_print_state(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
216 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
217 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
218 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
219 |
if (datagram->working_counter != 1) { |
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
220 |
fsm->state = ec_fsm_sii_state_error; |
1921 | 221 |
EC_SLAVE_ERR(fsm->slave, "Reception of SII read datagram failed: "); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
222 |
ec_datagram_print_wc_error(datagram); |
433 | 223 |
return; |
224 |
} |
|
225 |
||
1039
2881a83d084f
Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
226 |
fsm->jiffies_start = datagram->jiffies_sent; |
433 | 227 |
fsm->check_once_more = 1; |
228 |
||
229 |
// issue check/fetch datagram |
|
230 |
switch (fsm->mode) { |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
231 |
case EC_FSM_SII_USE_INCREMENT_ADDRESS: |
433 | 232 |
ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10); |
233 |
break; |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
234 |
case EC_FSM_SII_USE_CONFIGURED_ADDRESS: |
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
235 |
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 10); |
433 | 236 |
break; |
237 |
} |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
600
diff
changeset
|
238 |
|
1225
4d5b739edcb5
Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents:
1123
diff
changeset
|
239 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
240 |
fsm->retries = EC_FSM_RETRIES; |
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
241 |
fsm->state = ec_fsm_sii_state_read_fetch; |
433 | 242 |
} |
243 |
||
244 |
/*****************************************************************************/ |
|
245 |
||
246 |
/** |
|
247 |
SII state: READ FETCH. |
|
248 |
Fetches the result of an SII-read datagram. |
|
249 |
*/ |
|
754
0b47b49c5976
Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents:
753
diff
changeset
|
250 |
void ec_fsm_sii_state_read_fetch( |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
251 |
ec_fsm_sii_t *fsm /**< finite state machine */ |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
252 |
) |
433 | 253 |
{ |
254 |
ec_datagram_t *datagram = fsm->datagram; |
|
255 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
600
diff
changeset
|
256 |
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
|
257 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
258 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
259 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
260 |
fsm->state = ec_fsm_sii_state_error; |
1921 | 261 |
EC_SLAVE_ERR(fsm->slave, |
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.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
264 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
265 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
266 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
267 |
if (datagram->working_counter != 1) { |
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
268 |
fsm->state = ec_fsm_sii_state_error; |
1921 | 269 |
EC_SLAVE_ERR(fsm->slave, |
270 |
"Reception of SII check/fetch datagram failed: "); |
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
271 |
ec_datagram_print_wc_error(datagram); |
433 | 272 |
return; |
273 |
} |
|
274 |
||
755
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
275 |
#ifdef SII_DEBUG |
1921 | 276 |
EC_SLAVE_DBG(fsm->slave, 0, "checking SII read state:\n"); |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
277 |
ec_print_data(datagram->data, 10); |
755
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
278 |
#endif |
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
279 |
|
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
280 |
if (EC_READ_U8(datagram->data + 1) & 0x20) { |
1951 | 281 |
EC_SLAVE_ERR(fsm->slave, "Error on last command while" |
282 |
" reading from SII word 0x%04x.\n", fsm->word_offset); |
|
755
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
283 |
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
|
284 |
return; |
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
285 |
} |
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
286 |
|
433 | 287 |
// check "busy bit" |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
288 |
if (EC_READ_U8(datagram->data + 1) & 0x81) { /* busy bit or |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
289 |
read operation busy */ |
433 | 290 |
// still busy... timeout? |
1039
2881a83d084f
Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
291 |
unsigned long diff_ms = |
2881a83d084f
Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
986
diff
changeset
|
292 |
(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
|
293 |
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
|
294 |
if (fsm->check_once_more) { |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
295 |
fsm->check_once_more = 0; |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
296 |
} else { |
1921 | 297 |
EC_SLAVE_ERR(fsm->slave, "SII: Read timeout.\n"); |
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
298 |
fsm->state = ec_fsm_sii_state_error; |
433 | 299 |
return; |
300 |
} |
|
301 |
} |
|
302 |
||
303 |
// issue check/fetch datagram again |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
304 |
fsm->retries = EC_FSM_RETRIES; |
433 | 305 |
return; |
306 |
} |
|
307 |
||
308 |
// SII value received. |
|
309 |
memcpy(fsm->value, datagram->data + 6, 4); |
|
753
7ba5f9cd8f7e
Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
310 |
fsm->state = ec_fsm_sii_state_end; |
433 | 311 |
} |
312 |
||
313 |
/*****************************************************************************/ |
|
314 |
||
315 |
/** |
|
316 |
SII state: START WRITING. |
|
755
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
317 |
Starts writing a word through the slave information interface. |
433 | 318 |
*/ |
319 |
||
754
0b47b49c5976
Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents:
753
diff
changeset
|
320 |
void ec_fsm_sii_state_start_writing( |
1507
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
321 |
ec_fsm_sii_t *fsm /**< finite state machine */ |
68e89abadd19
Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
322 |
) |
433 | 323 |
{ |
324 |
ec_datagram_t *datagram = fsm->datagram; |
|
325 |
||
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.
Florian Pose <fp@igh-essen.com>
parents:
1363
diff
changeset
|
329 |
+ enable write access */ |
433 | 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 | 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;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
335 |
#ifdef SII_DEBUG |
1921 | 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 | 342 |
} |
343 |
||
344 |
/*****************************************************************************/ |
|
345 |
||
346 |
/** |
|
347 |
SII state: WRITE CHECK. |
|
348 |
*/ |
|
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 | 353 |
{ |
354 |
ec_datagram_t *datagram = fsm->datagram; |
|
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 | 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 | 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 | 370 |
return; |
371 |
} |
|
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 | 374 |
fsm->check_once_more = 1; |
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 | 381 |
} |
382 |
||
383 |
/*****************************************************************************/ |
|
384 |
||
385 |
/** |
|
386 |
SII state: WRITE CHECK 2. |
|
387 |
*/ |
|
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 | 392 |
{ |
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 | 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 | 401 |
EC_SLAVE_ERR(fsm->slave, |
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 | 409 |
EC_SLAVE_ERR(fsm->slave, |
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 | 412 |
return; |
413 |
} |
|
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 | 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 | 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 | 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 | 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 | 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 | 447 |
return; |
448 |
} |
|
449 |
} |
|
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 | 453 |
return; |
454 |
} |
|
455 |
||
456 |
if (EC_READ_U8(datagram->data + 1) & 0x40) { |
|
1921 | 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 | 459 |
return; |
460 |
} |
|
461 |
||
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 | 464 |
} |
465 |
||
466 |
/*****************************************************************************/ |
|
467 |
||
468 |
/** |
|
469 |
State: ERROR. |
|
470 |
*/ |
|
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 | 475 |
{ |
476 |
} |
|
477 |
||
478 |
/*****************************************************************************/ |
|
479 |
||
480 |
/** |
|
481 |
State: END. |
|
482 |
*/ |
|
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 |
/*****************************************************************************/ |