author | Florian Pose <fp@igh-essen.com> |
Thu, 09 Aug 2007 14:38:18 +0000 | |
changeset 689 | 880b556a6efc |
parent 637 | d5d04c868e0e |
child 713 | ae41cadd25b6 |
permissions | -rw-r--r-- |
433 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave information interface FSM. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "mailbox.h" |
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#include "master.h" |
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#include "fsm_sii.h" |
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/*****************************************************************************/ |
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void ec_fsm_sii_start_reading(ec_fsm_sii_t *); |
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void ec_fsm_sii_read_check(ec_fsm_sii_t *); |
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void ec_fsm_sii_read_fetch(ec_fsm_sii_t *); |
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void ec_fsm_sii_start_writing(ec_fsm_sii_t *); |
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void ec_fsm_sii_write_check(ec_fsm_sii_t *); |
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void ec_fsm_sii_write_check2(ec_fsm_sii_t *); |
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void ec_fsm_sii_end(ec_fsm_sii_t *); |
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void ec_fsm_sii_error(ec_fsm_sii_t *); |
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/*****************************************************************************/ |
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/** |
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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 offset, /**< offset to read from */ |
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ec_fsm_sii_addressing_t mode /**< addressing scheme */ |
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) |
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{ |
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fsm->state = ec_fsm_sii_start_reading; |
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fsm->slave = slave; |
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fsm->offset = offset; |
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fsm->mode = mode; |
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} |
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/*****************************************************************************/ |
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/** |
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Initializes the SII write state machine. |
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*/ |
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void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */ |
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ec_slave_t *slave, /**< slave to read from */ |
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uint16_t offset, /**< offset to read from */ |
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const uint16_t *value, /**< pointer to 2 bytes of data */ |
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ec_fsm_sii_addressing_t mode /**< addressing scheme */ |
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) |
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{ |
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fsm->state = ec_fsm_sii_start_writing; |
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fsm->slave = slave; |
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fsm->offset = offset; |
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fsm->mode = mode; |
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memcpy(fsm->value, value, 2); |
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} |
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/*****************************************************************************/ |
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/** |
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Executes the SII state machine. |
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\return false, if the state machine has terminated |
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*/ |
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int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */) |
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{ |
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fsm->state(fsm); |
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return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error; |
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} |
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/*****************************************************************************/ |
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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_end; |
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} |
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/****************************************************************************** |
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* SII state machine |
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*****************************************************************************/ |
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/** |
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SII state: START READING. |
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Starts reading the slave information interface. |
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*/ |
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void ec_fsm_sii_start_reading(ec_fsm_sii_t *fsm /**< finite state machine */) |
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{ |
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ec_datagram_t *datagram = fsm->datagram; |
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// initiate read operation |
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switch (fsm->mode) { |
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case EC_FSM_SII_POSITION: |
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ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4); |
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break; |
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case EC_FSM_SII_NODE: |
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ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4); |
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break; |
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} |
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EC_WRITE_U8 (datagram->data, 0x00); // read-only access |
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EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation |
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EC_WRITE_U16(datagram->data + 2, fsm->offset); |
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fsm->retries = EC_FSM_RETRIES; |
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fsm->state = ec_fsm_sii_read_check; |
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} |
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/*****************************************************************************/ |
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/** |
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SII state: READ CHECK. |
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Checks, if the SII-read-datagram has been sent and issues a fetch datagram. |
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*/ |
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void ec_fsm_sii_read_check(ec_fsm_sii_t *fsm /**< finite state machine */) |
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{ |
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ec_datagram_t *datagram = fsm->datagram; |
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
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return; |
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State machines re-send datagrams on timeout.
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parents:
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if (datagram->state != EC_DATAGRAM_RECEIVED) { |
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fsm->state = ec_fsm_sii_error; |
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parents:
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EC_ERR("Failed to receive SII read datagram from slave %i" |
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" (datagram state %i).\n", |
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fsm->slave->ring_position, datagram->state); |
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return; |
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} |
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if (datagram->working_counter != 1) { |
bc443ca0077f
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parents:
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fsm->state = ec_fsm_sii_error; |
bc443ca0077f
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parents:
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diff
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EC_ERR("Reception of SII read datagram failed - slave %i did not" |
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parents:
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diff
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" respond.\n", fsm->slave->ring_position); |
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return; |
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} |
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fsm->cycles_start = datagram->cycles_sent; |
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fsm->check_once_more = 1; |
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// issue check/fetch datagram |
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switch (fsm->mode) { |
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case EC_FSM_SII_POSITION: |
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ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10); |
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break; |
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case EC_FSM_SII_NODE: |
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ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10); |
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break; |
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} |
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parents:
600
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changeset
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parents:
435
diff
changeset
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fsm->retries = EC_FSM_RETRIES; |
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fsm->state = ec_fsm_sii_read_fetch; |
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} |
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/*****************************************************************************/ |
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/** |
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SII state: READ FETCH. |
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Fetches the result of an SII-read datagram. |
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*/ |
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void ec_fsm_sii_read_fetch(ec_fsm_sii_t *fsm /**< finite state machine */) |
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{ |
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ec_datagram_t *datagram = fsm->datagram; |
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637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
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parents:
600
diff
changeset
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if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) |
d5d04c868e0e
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Florian Pose <fp@igh-essen.com>
parents:
600
diff
changeset
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233 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
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|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
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if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
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236 |
fsm->state = ec_fsm_sii_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
237 |
EC_ERR("Failed to receive SII check/fetch datagram from slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
238 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
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fsm->slave->ring_position, datagram->state); |
505
bc443ca0077f
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Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
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240 |
return; |
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parents:
435
diff
changeset
|
241 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
242 |
|
bc443ca0077f
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Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
243 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
244 |
fsm->state = ec_fsm_sii_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
245 |
EC_ERR("Reception of SII check/fetch datagram failed - slave %i did" |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
246 |
" not respond\n", fsm->slave->ring_position); |
433 | 247 |
return; |
248 |
} |
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249 |
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250 |
// check "busy bit" |
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251 |
if (EC_READ_U8(datagram->data + 1) & 0x81) { |
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252 |
// still busy... timeout? |
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253 |
if (datagram->cycles_received |
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254 |
- fsm->cycles_start >= (cycles_t) 10 * cpu_khz) { |
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255 |
if (!fsm->check_once_more) { |
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256 |
EC_ERR("SII: Read timeout.\n"); |
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257 |
fsm->state = ec_fsm_sii_error; |
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258 |
#if 0 |
|
259 |
EC_DBG("SII busy: %02X %02X %02X %02X\n", |
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260 |
EC_READ_U8(datagram->data + 0), |
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261 |
EC_READ_U8(datagram->data + 1), |
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262 |
EC_READ_U8(datagram->data + 2), |
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263 |
EC_READ_U8(datagram->data + 3)); |
|
264 |
#endif |
|
265 |
return; |
|
266 |
} |
|
267 |
fsm->check_once_more = 0; |
|
268 |
} |
|
269 |
||
270 |
// issue check/fetch datagram again |
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271 |
switch (fsm->mode) { |
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272 |
case EC_FSM_SII_POSITION: |
|
273 |
ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10); |
|
274 |
break; |
|
275 |
case EC_FSM_SII_NODE: |
|
276 |
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10); |
|
277 |
break; |
|
278 |
} |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
279 |
fsm->retries = EC_FSM_RETRIES; |
433 | 280 |
return; |
281 |
} |
|
282 |
||
283 |
#if 0 |
|
284 |
EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n", |
|
285 |
EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1), |
|
286 |
EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3), |
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287 |
EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7), |
|
288 |
EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9)); |
|
289 |
#endif |
|
290 |
||
291 |
// SII value received. |
|
292 |
memcpy(fsm->value, datagram->data + 6, 4); |
|
293 |
fsm->state = ec_fsm_sii_end; |
|
294 |
} |
|
295 |
||
296 |
/*****************************************************************************/ |
|
297 |
||
298 |
/** |
|
299 |
SII state: START WRITING. |
|
300 |
Starts reading the slave information interface. |
|
301 |
*/ |
|
302 |
||
303 |
void ec_fsm_sii_start_writing(ec_fsm_sii_t *fsm /**< finite state machine */) |
|
304 |
{ |
|
305 |
ec_datagram_t *datagram = fsm->datagram; |
|
306 |
||
307 |
// initiate write operation |
|
308 |
ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8); |
|
309 |
EC_WRITE_U8 (datagram->data, 0x01); // enable write access |
|
310 |
EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation |
|
311 |
EC_WRITE_U32(datagram->data + 2, fsm->offset); |
|
312 |
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
|
313 |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
314 |
fsm->retries = EC_FSM_RETRIES; |
433 | 315 |
fsm->state = ec_fsm_sii_write_check; |
316 |
} |
|
317 |
||
318 |
/*****************************************************************************/ |
|
319 |
||
320 |
/** |
|
321 |
SII state: WRITE CHECK. |
|
322 |
*/ |
|
323 |
||
324 |
void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */) |
|
325 |
{ |
|
326 |
ec_datagram_t *datagram = fsm->datagram; |
|
327 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
600
diff
changeset
|
328 |
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
|
329 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
330 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
331 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
332 |
fsm->state = ec_fsm_sii_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
333 |
EC_ERR("Failed to receive SII write datagram for slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
334 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
335 |
fsm->slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
336 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
337 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
338 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
339 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
340 |
fsm->state = ec_fsm_sii_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
341 |
EC_ERR("Reception of SII write datagram failed - slave %i did not" |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
342 |
" respond.\n", fsm->slave->ring_position); |
433 | 343 |
return; |
344 |
} |
|
345 |
||
346 |
fsm->cycles_start = datagram->cycles_sent; |
|
347 |
fsm->check_once_more = 1; |
|
348 |
||
349 |
// issue check/fetch datagram |
|
350 |
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2); |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
351 |
fsm->retries = EC_FSM_RETRIES; |
433 | 352 |
fsm->state = ec_fsm_sii_write_check2; |
353 |
} |
|
354 |
||
355 |
/*****************************************************************************/ |
|
356 |
||
357 |
/** |
|
358 |
SII state: WRITE CHECK 2. |
|
359 |
*/ |
|
360 |
||
361 |
void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */) |
|
362 |
{ |
|
363 |
ec_datagram_t *datagram = fsm->datagram; |
|
364 |
||
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
600
diff
changeset
|
365 |
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
|
366 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
367 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
368 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
369 |
fsm->state = ec_fsm_sii_error; |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
370 |
EC_ERR("Failed to receive SII write check datagram from slave %i" |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
371 |
" (datagram state %i).\n", |
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
372 |
fsm->slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
373 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
374 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
375 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
376 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
377 |
fsm->state = ec_fsm_sii_error; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
378 |
EC_ERR("Reception of SII write check datagram failed - slave %i did" |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
379 |
" not respond.\n", fsm->slave->ring_position); |
433 | 380 |
return; |
381 |
} |
|
382 |
||
383 |
if (EC_READ_U8(datagram->data + 1) & 0x82) { |
|
384 |
// still busy... timeout? |
|
385 |
if (datagram->cycles_received |
|
386 |
- fsm->cycles_start >= (cycles_t) 10 * cpu_khz) { |
|
387 |
if (!fsm->check_once_more) { |
|
388 |
EC_ERR("SII: Write timeout.\n"); |
|
389 |
fsm->state = ec_fsm_sii_error; |
|
390 |
return; |
|
391 |
} |
|
392 |
fsm->check_once_more = 0; |
|
393 |
} |
|
394 |
||
395 |
// issue check/fetch datagram again |
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
396 |
fsm->retries = EC_FSM_RETRIES; |
433 | 397 |
return; |
398 |
} |
|
399 |
||
400 |
if (EC_READ_U8(datagram->data + 1) & 0x40) { |
|
401 |
EC_ERR("SII: Write operation failed!\n"); |
|
402 |
fsm->state = ec_fsm_sii_error; |
|
403 |
return; |
|
404 |
} |
|
405 |
||
406 |
// success |
|
407 |
fsm->state = ec_fsm_sii_end; |
|
408 |
} |
|
409 |
||
410 |
/*****************************************************************************/ |
|
411 |
||
412 |
/** |
|
413 |
State: ERROR. |
|
414 |
*/ |
|
415 |
||
416 |
void ec_fsm_sii_error(ec_fsm_sii_t *fsm /**< finite state machine */) |
|
417 |
{ |
|
418 |
} |
|
419 |
||
420 |
/*****************************************************************************/ |
|
421 |
||
422 |
/** |
|
423 |
State: END. |
|
424 |
*/ |
|
425 |
||
426 |
void ec_fsm_sii_end(ec_fsm_sii_t *fsm /**< finite state machine */) |
|
427 |
{ |
|
428 |
} |
|
429 |
||
430 |
/*****************************************************************************/ |