etherlabmaster: master/fsm_sii.c@ae41cadd25b6 (annotated)

433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT slave information interface FSM.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "mailbox.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "master.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	#include "fsm_sii.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	void ec_fsm_sii_start_reading(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_sii_read_check(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_sii_start_writing(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fsm_sii_write_check(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_sii_write_check2(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_sii_end(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_sii_error(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	Constructor.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_sii_init(ec_fsm_sii_t fsm, /< finite state machine /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	ec_datagram_t datagram /< datagram structure to use /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->state = NULL;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	fsm->datagram = datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	Destructor.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	void ec_fsm_sii_clear(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	83	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	Initializes the SII read state machine.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	void ec_fsm_sii_read(ec_fsm_sii_t fsm, /< finite state machine /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	ec_slave_t slave, /< slave to read from /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	uint16_t offset, /*< offset to read from /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	ec_fsm_sii_addressing_t mode /*< addressing scheme /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	fsm->state = ec_fsm_sii_start_reading;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	fsm->slave = slave;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	fsm->offset = offset;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	fsm->mode = mode;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	98
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	100
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	Initializes the SII write state machine.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	103	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	void ec_fsm_sii_write(ec_fsm_sii_t fsm, /< finite state machine /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	ec_slave_t slave, /< slave to read from /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	uint16_t offset, /*< offset to read from /
600 b0660152f710 Made data pointer in ec_fsm_sii_write() const. Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	108	const uint16_t value, /< pointer to 2 bytes of data /
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	ec_fsm_sii_addressing_t mode /*< addressing scheme /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	fsm->state = ec_fsm_sii_start_writing;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	fsm->slave = slave;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	fsm->offset = offset;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	fsm->mode = mode;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	memcpy(fsm->value, value, 2);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	118
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	Executes the SII state machine.
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	123	\return false, if the state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	124	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	125
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	126	int ec_fsm_sii_exec(ec_fsm_sii_t fsm /< finite state machine /)
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	fsm->state(fsm);
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	129
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	Returns, if the master startup state machine terminated with success.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	\return non-zero if successful.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	139
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	int ec_fsm_sii_success(ec_fsm_sii_t fsm /< Finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	return fsm->state == ec_fsm_sii_end;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	144
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	/******************************************************************************
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	* SII state machine
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	148
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	SII state: START READING.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	Starts reading the slave information interface.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	153
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	void ec_fsm_sii_start_reading(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	// initiate read operation
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	switch (fsm->mode) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	case EC_FSM_SII_POSITION:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	case EC_FSM_SII_NODE:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	EC_WRITE_U8 (datagram->data, 0x00); // read-only access
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	170	EC_WRITE_U16(datagram->data + 2, fsm->offset);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	171	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	fsm->state = ec_fsm_sii_read_check;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	174
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	SII state: READ CHECK.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	void ec_fsm_sii_read_check(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 600 diff changeset	186	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	187	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	188
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	189	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	190	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	191	EC_ERR("Failed to receive SII read datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	192	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	193	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	194	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	195	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	196
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	197	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	198	fsm->state = ec_fsm_sii_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	199	EC_ERR("Reception of SII read datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	200	fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	201	ec_datagram_print_wc_error(datagram);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	fsm->cycles_start = datagram->cycles_sent;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	// issue check/fetch datagram
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	switch (fsm->mode) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	case EC_FSM_SII_POSITION:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	case EC_FSM_SII_NODE:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	}
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 600 diff changeset	217
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	218	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	fsm->state = ec_fsm_sii_read_fetch;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	SII state: READ FETCH.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	Fetches the result of an SII-read datagram.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	228
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	void ec_fsm_sii_read_fetch(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	230	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	232
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 600 diff changeset	233	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	234	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	235
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	236	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	237	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	238	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	239	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	240	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	241	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	242	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	243
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	244	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	245	fsm->state = ec_fsm_sii_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	246	EC_ERR("Reception of SII check/fetch datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	247	fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	248	ec_datagram_print_wc_error(datagram);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	251
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	// check "busy bit"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	253	if (EC_READ_U8(datagram->data + 1) & 0x81) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	// still busy... timeout?
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	if (datagram->cycles_received
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	- fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	if (!fsm->check_once_more) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	EC_ERR("SII: Read timeout.\n");
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	fsm->state = ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	#if 0
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	EC_DBG("SII busy: %02X %02X %02X %02X\n",
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	EC_READ_U8(datagram->data + 0),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	EC_READ_U8(datagram->data + 1),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	EC_READ_U8(datagram->data + 2),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	EC_READ_U8(datagram->data + 3));
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	#endif
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	fsm->check_once_more = 0;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	271
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	// issue check/fetch datagram again
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	switch (fsm->mode) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	case EC_FSM_SII_POSITION:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	case EC_FSM_SII_NODE:
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	break;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	}
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	281	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	284
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	#if 0
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	#endif
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	292
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	// SII value received.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	memcpy(fsm->value, datagram->data + 6, 4);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	295	fsm->state = ec_fsm_sii_end;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	297
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	SII state: START WRITING.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	Starts reading the slave information interface.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	304
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	void ec_fsm_sii_start_writing(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	// initiate write operation
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	EC_WRITE_U8 (datagram->data, 0x01); // enable write access
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	EC_WRITE_U32(datagram->data + 2, fsm->offset);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	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	315
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	316	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	fsm->state = ec_fsm_sii_write_check;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	319
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	321
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	SII state: WRITE CHECK.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	325
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	void ec_fsm_sii_write_check(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	329
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 600 diff changeset	330	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	331	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	332
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	333	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	334	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	335	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	336	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	337	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	338	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	339	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	340
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	341	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	342	fsm->state = ec_fsm_sii_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	343	EC_ERR("Reception of SII write datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	344	fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	345	ec_datagram_print_wc_error(datagram);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	fsm->cycles_start = datagram->cycles_sent;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	// issue check/fetch datagram
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	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	354	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	fsm->state = ec_fsm_sii_write_check2;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	359
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	SII state: WRITE CHECK 2.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	363
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	void ec_fsm_sii_write_check2(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	367
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 600 diff changeset	368	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	369	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	370
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	371	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	372	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	373	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	374	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	375	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	376	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	377	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	378
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	379	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	380	fsm->state = ec_fsm_sii_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	381	EC_ERR("Reception of SII write check datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	382	fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	383	ec_datagram_print_wc_error(datagram);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	385	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	386
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	387	if (EC_READ_U8(datagram->data + 1) & 0x82) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	// still busy... timeout?
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	389	if (datagram->cycles_received
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	- fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	if (!fsm->check_once_more) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	EC_ERR("SII: Write timeout.\n");
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	fsm->state = ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	fsm->check_once_more = 0;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	// issue check/fetch datagram again
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	400	fsm->retries = EC_FSM_RETRIES;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	if (EC_READ_U8(datagram->data + 1) & 0x40) {
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	EC_ERR("SII: Write operation failed!\n");
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	fsm->state = ec_fsm_sii_error;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407	return;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	409
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	// success
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	fsm->state = ec_fsm_sii_end;
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	413
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	415
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	State: ERROR.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	419
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	void ec_fsm_sii_error(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	423
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	425
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	State: END.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	429
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	void ec_fsm_sii_end(ec_fsm_sii_t fsm /< finite state machine /)
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	}
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	433
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 12 Sep 2007 10:07:55 +0000
changeset 713	ae41cadd25b6
parent 637	d5d04c868e0e
child 753	7ba5f9cd8f7e
permissions	-rw-r--r--