1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

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

    10

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

    11

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

    12

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

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

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

    24

 *  charge under condition of compatibility of product made by

    25

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

    26

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

    27

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

    28

 *  EtherCAT specification (which are released themselves as an open

    29

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

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave information interface FSM.

    37

*/

    38

    39

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

    40

    41

#include "globals.h"

    42

#include "mailbox.h"

    43

#include "master.h"

    44

#include "fsm_sii.h"

    45

    46

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

    47

    48

void ec_fsm_sii_start_reading(ec_fsm_sii_t *);

    49

void ec_fsm_sii_read_check(ec_fsm_sii_t *);

    50

void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);

    51

void ec_fsm_sii_start_writing(ec_fsm_sii_t *);

    52

void ec_fsm_sii_write_check(ec_fsm_sii_t *);

    53

void ec_fsm_sii_write_check2(ec_fsm_sii_t *);

    54

void ec_fsm_sii_end(ec_fsm_sii_t *);

    55

void ec_fsm_sii_error(ec_fsm_sii_t *);

    56

    57

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

    58

    59

/**

    60

   Constructor.

    61

*/

    62

    63

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

    64

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

    65

                     )

    66

{

    67

    fsm->state = NULL;

    68

    fsm->datagram = datagram;

    69

}

    70

    71

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

    72

    73

/**

    74

   Destructor.

    75

*/

    76

    77

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

    78

{

    79

}

    80

    81

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

    82

    83

/**

    84

   Initializes the SII read state machine.

    85

*/

    86

    87

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

    88

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

    89

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

    90

                     ec_fsm_sii_addressing_t mode /**< addressing scheme */

    91

                     )

    92

{

    93

    fsm->state = ec_fsm_sii_start_reading;

    94

    fsm->slave = slave;

    95

    fsm->offset = offset;

    96

    fsm->mode = mode;

    97

}

    98

    99

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

   100

   101

/**

   102

   Initializes the SII write state machine.

   103

*/

   104

   105

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

   106

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

   107

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

   108

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

   109

                      ec_fsm_sii_addressing_t mode /**< addressing scheme */

   110

                      )

   111

{

   112

    fsm->state = ec_fsm_sii_start_writing;

   113

    fsm->slave = slave;

   114

    fsm->offset = offset;

   115

    fsm->mode = mode;

   116

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

   117

}

   118

   119

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

   120

   121

/**

   122

   Executes the SII state machine.

   123

   \return false, if the state machine has terminated

   124

*/

   125

   126

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

   127

{

   128

    fsm->state(fsm);

   129

   130

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

   131

}

   132

   133

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

   134

   135

/**

   136

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

   137

   \return non-zero if successful.

   138

*/

   139

   140

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

   141

{

   142

    return fsm->state == ec_fsm_sii_end;

   143

}

   144

   145

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

   146

 *  SII state machine

   147

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

   148

   149

/**

   150

   SII state: START READING.

   151

   Starts reading the slave information interface.

   152

*/

   153

   154

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

   155

{

   156

    ec_datagram_t *datagram = fsm->datagram;

   157

   158

    // initiate read operation

   159

    switch (fsm->mode) {

   160

        case EC_FSM_SII_POSITION:

   161

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

   162

            break;

   163

        case EC_FSM_SII_NODE:

   164

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

   165

            break;

   166

    }

   167

   168

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

   169

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

   170

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

   171

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

   172

    fsm->retries = EC_FSM_RETRIES;

   173

    fsm->state = ec_fsm_sii_read_check;

   174

}

   175

   176

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

   177

   178

/**

   179

   SII state: READ CHECK.

   180

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

   181

*/

   182

   183

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

   184

{

   185

    ec_datagram_t *datagram = fsm->datagram;

   186

   187

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

   188

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

   189

        return;

   190

    }

   191

   192

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   193

        fsm->state = ec_fsm_sii_error;

   194

        EC_ERR("Failed to receive SII read datagram from slave %i.\n",

   195

               fsm->slave->ring_position);

   196

        return;

   197

    }

   198

   199

    if (datagram->working_counter != 1) {

   200

        fsm->state = ec_fsm_sii_error;

   201

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

   202

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

   203

        return;

   204

    }

   205

   206

    fsm->cycles_start = datagram->cycles_sent;

   207

    fsm->check_once_more = 1;

   208

   209

    // issue check/fetch datagram

   210

    switch (fsm->mode) {

   211

        case EC_FSM_SII_POSITION:

   212

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

   213

            break;

   214

        case EC_FSM_SII_NODE:

   215

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

   216

            break;

   217

    }

   218

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

   219

    fsm->retries = EC_FSM_RETRIES;

   220

    fsm->state = ec_fsm_sii_read_fetch;

   221

}

   222

   223

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

   224

   225

/**

   226

   SII state: READ FETCH.

   227

   Fetches the result of an SII-read datagram.

   228

*/

   229

   230

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

   231

{

   232

    ec_datagram_t *datagram = fsm->datagram;

   233

   234

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

   235

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

   236

        return;

   237

    }

   238

   239

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   240

        fsm->state = ec_fsm_sii_error;

   241

        EC_ERR("Failed to receive SII check/fetch datagram from slave %i.\n",

   242

               fsm->slave->ring_position);

   243

        return;

   244

    }

   245

   246

    if (datagram->working_counter != 1) {

   247

        fsm->state = ec_fsm_sii_error;

   248

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

   249

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

   250

        return;

   251

    }

   252

   253

    // check "busy bit"

   254

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

   255

        // still busy... timeout?

   256

        if (datagram->cycles_received

   257

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

   258

            if (!fsm->check_once_more) {

   259

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

   260

                fsm->state = ec_fsm_sii_error;

   261

#if 0

   262

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

   263

                       EC_READ_U8(datagram->data + 0),

   264

                       EC_READ_U8(datagram->data + 1),

   265

                       EC_READ_U8(datagram->data + 2),

   266

                       EC_READ_U8(datagram->data + 3));

   267

#endif

   268

                return;

   269

            }

   270

            fsm->check_once_more = 0;

   271

        }

   272

   273

        // issue check/fetch datagram again

   274

        switch (fsm->mode) {

   275

            case EC_FSM_SII_POSITION:

   276

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

   277

                break;

   278

            case EC_FSM_SII_NODE:

   279

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

   280

                break;

   281

        }

   282

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

   283

        fsm->retries = EC_FSM_RETRIES;

   284

        return;

   285

    }

   286

   287

#if 0

   288

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

   289

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

   290

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

   291

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

   292

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

   293

#endif

   294

   295

    // SII value received.

   296

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

   297

    fsm->state = ec_fsm_sii_end;

   298

}

   299

   300

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

   301

   302

/**

   303

   SII state: START WRITING.

   304

   Starts reading the slave information interface.

   305

*/

   306

   307

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

   308

{

   309

    ec_datagram_t *datagram = fsm->datagram;

   310

   311

    // initiate write operation

   312

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

   313

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

   314

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

   315

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

   316

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

   317

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

   318

    fsm->retries = EC_FSM_RETRIES;

   319

    fsm->state = ec_fsm_sii_write_check;

   320

}

   321

   322

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

   323

   324

/**

   325

   SII state: WRITE CHECK.

   326

*/

   327

   328

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

   329

{

   330

    ec_datagram_t *datagram = fsm->datagram;

   331

   332

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

   333

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

   334

        return;

   335

    }

   336

   337

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   338

        fsm->state = ec_fsm_sii_error;

   339

        EC_ERR("Failed to receive SII write datagram for slave %i.\n",

   340

               fsm->slave->ring_position);

   341

        return;

   342

    }

   343

   344

    if (datagram->working_counter != 1) {

   345

        fsm->state = ec_fsm_sii_error;

   346

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

   347

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

   348

        return;

   349

    }

   350

   351

    fsm->cycles_start = datagram->cycles_sent;

   352

    fsm->check_once_more = 1;

   353

   354

    // issue check/fetch datagram

   355

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

   356

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

   357

    fsm->retries = EC_FSM_RETRIES;

   358

    fsm->state = ec_fsm_sii_write_check2;

   359

}

   360

   361

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

   362

   363

/**

   364

   SII state: WRITE CHECK 2.

   365

*/

   366

   367

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

   368

{

   369

    ec_datagram_t *datagram = fsm->datagram;

   370

   371

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

   372

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

   373

        return;

   374

    }

   375

   376

    if (datagram->state != EC_DATAGRAM_RECEIVED) {

   377

        fsm->state = ec_fsm_sii_error;

   378

        EC_ERR("Failed to receive SII write check datagram from slave %i.\n",

   379

               fsm->slave->ring_position);

   380

        return;

   381

    }

   382

   383

    if (datagram->working_counter != 1) {

   384

        fsm->state = ec_fsm_sii_error;

   385

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

   386

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

   387

        return;

   388

    }

   389

   390

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

   391

        // still busy... timeout?

   392

        if (datagram->cycles_received

   393

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

   394

            if (!fsm->check_once_more) {

   395

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

   396

                fsm->state = ec_fsm_sii_error;

   397

                return;

   398

            }

   399

            fsm->check_once_more = 0;

   400

        }

   401

   402

        // issue check/fetch datagram again

   403

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

   404

        fsm->retries = EC_FSM_RETRIES;

   405

        return;

   406

    }

   407

   408

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

   409

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

   410

        fsm->state = ec_fsm_sii_error;

   411

        return;

   412

    }

   413

   414

    // success

   415

    fsm->state = ec_fsm_sii_end;

   416

}

   417

   418

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

   419

   420

/**

   421

   State: ERROR.

   422

*/

   423

   424

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

   425

{

   426

}

   427

   428

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

   429

   430

/**

   431

   State: END.

   432

*/

   433

   434

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

   435

{

   436

}

   437

   438

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