master/fsm_sii.c
author Florian Pose <fp@igh-essen.com>
Wed, 02 Jul 2008 14:06:10 +0000
changeset 1082 ff06c58e269c
parent 1039 2881a83d084f
child 1123 17bef224061d
permissions -rw-r--r--
Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos();
Added EC_MAX_SYNC_MANAGERS to ecrt.h.
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/******************************************************************************
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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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 * Read/Write timeout. [ms]
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 */
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#define SII_TIMEOUT 10
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/**
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 * Time before evaluating answer at writing. [ms]
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 */
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#define SII_INHIBIT  5
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//#define SII_DEBUG
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/*****************************************************************************/
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void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_fetch(ec_fsm_sii_t *);
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void ec_fsm_sii_state_start_writing(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check2(ec_fsm_sii_t *);
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void ec_fsm_sii_state_end(ec_fsm_sii_t *);
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void ec_fsm_sii_state_error(ec_fsm_sii_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram structure to use */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Initializes the SII read state machine.
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*/
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void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_slave_t *slave, /**< slave to read from */
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                     uint16_t word_offset, /**< offset to read from */
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                     ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                     )
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{
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    fsm->state = ec_fsm_sii_state_start_reading;
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    fsm->slave = slave;
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    fsm->word_offset = word_offset;
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    fsm->mode = mode;
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}
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/*****************************************************************************/
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/**
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   Initializes the SII write state machine.
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*/
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void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
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                      ec_slave_t *slave, /**< slave to read from */
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                      uint16_t word_offset, /**< offset to read from */
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                      const uint16_t *value, /**< pointer to 2 bytes of data */
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                      ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                      )
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{
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    fsm->state = ec_fsm_sii_state_start_writing;
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    fsm->slave = slave;
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    fsm->word_offset = word_offset;
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    fsm->mode = mode;
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    memcpy(fsm->value, value, 2);
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}
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/*****************************************************************************/
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/**
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   Executes the SII state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_sii_state_end
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		&& fsm->state != ec_fsm_sii_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the master startup state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_sii_state_end;
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}
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/******************************************************************************
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 * state functions
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 *****************************************************************************/
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/**
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   SII state: START READING.
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   Starts reading the slave information interface.
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*/
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754
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void ec_fsm_sii_state_start_reading(
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		ec_fsm_sii_t *fsm /**< finite state machine */
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		)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    // initiate read operation
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    switch (fsm->mode) {
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        case EC_FSM_SII_USE_INCREMENT_ADDRESS:
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            ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
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            break;
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        case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
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            ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 4);
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            break;
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    }
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    EC_WRITE_U8 (datagram->data,     0x80); // two address octets
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    EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
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    EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
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#ifdef SII_DEBUG
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	EC_DBG("reading SII data:\n");
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	ec_print_data(datagram->data, 4);
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#endif
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_sii_state_read_check;
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}
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/*****************************************************************************/
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/**
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   SII state: READ CHECK.
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   Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
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*/
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754
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void ec_fsm_sii_state_read_check(
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		ec_fsm_sii_t *fsm /**< finite state machine */
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		)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_sii_state_error;
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        EC_ERR("Failed to receive SII read datagram from slave %u"
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                " (datagram state %u).\n",
594
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               fsm->slave->ring_position, datagram->state);
505
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        return;
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   218
    }
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   219
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   220
    if (datagram->working_counter != 1) {
753
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   221
        fsm->state = ec_fsm_sii_state_error;
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        EC_ERR("Reception of SII read datagram failed on slave %u: ",
713
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   223
                fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
433
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   225
        return;
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   226
    }
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   227
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
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   228
    fsm->jiffies_start = datagram->jiffies_sent;
433
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   229
    fsm->check_once_more = 1;
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   230
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   231
    // issue check/fetch datagram
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   232
    switch (fsm->mode) {
815
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   233
        case EC_FSM_SII_USE_INCREMENT_ADDRESS:
433
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   234
            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
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   235
            break;
815
002fe9ec778f Implemented missing datagram types.
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   236
        case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
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   237
            ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 10);
433
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   238
            break;
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   239
    }
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   240
505
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   241
    fsm->retries = EC_FSM_RETRIES;
753
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diff changeset
   242
    fsm->state = ec_fsm_sii_state_read_fetch;
433
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   243
}
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   244
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/*****************************************************************************/
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   246
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   247
/**
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   248
   SII state: READ FETCH.
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   Fetches the result of an SII-read datagram.
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   250
*/
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   251
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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   252
void ec_fsm_sii_state_read_fetch(
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   253
		ec_fsm_sii_t *fsm /**< finite state machine */
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   254
		)
433
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   255
{
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   256
    ec_datagram_t *datagram = fsm->datagram;
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   257
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   258
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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diff changeset
   259
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   260
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   261
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   262
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   263
        EC_ERR("Failed to receive SII check/fetch datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
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parents: 979
diff changeset
   264
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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diff changeset
   265
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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   266
        return;
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   267
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   268
bc443ca0077f State machines re-send datagrams on timeout.
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   269
    if (datagram->working_counter != 1) {
753
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   270
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   271
        EC_ERR("Reception of SII check/fetch datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
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   272
                fsm->slave->ring_position);
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   273
        ec_datagram_print_wc_error(datagram);
433
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   274
        return;
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   275
    }
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   276
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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   277
#ifdef SII_DEBUG
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   278
	EC_DBG("checking SII read state:\n");
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   279
	ec_print_data(datagram->data, 10);
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   280
#endif
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    if (EC_READ_U8(datagram->data + 1) & 0x20) {
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        EC_ERR("SII: Error on last SII command!\n");
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        fsm->state = ec_fsm_sii_state_error;
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        return;
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   286
    }
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433
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    // check "busy bit"
755
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   289
    if (EC_READ_U8(datagram->data + 1) & 0x81) { // busy bit or
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   290
												 // read operation busy
433
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        // still busy... timeout?
1039
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   292
        unsigned long diff_ms =
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   293
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
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   294
        if (diff_ms >= SII_TIMEOUT) {
755
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   295
            if (fsm->check_once_more) {
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   296
				fsm->check_once_more = 0;
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diff changeset
   297
			} else {
433
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   298
                EC_ERR("SII: Read timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
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                fsm->state = ec_fsm_sii_state_error;
433
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   300
                return;
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   301
            }
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   302
        }
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   303
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   304
        // issue check/fetch datagram again
505
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diff changeset
   305
        fsm->retries = EC_FSM_RETRIES;
433
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   306
        return;
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diff changeset
   307
    }
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   308
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   309
    // SII value received.
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   310
    memcpy(fsm->value, datagram->data + 6, 4);
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   311
    fsm->state = ec_fsm_sii_state_end;
433
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   312
}
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   313
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   314
/*****************************************************************************/
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   315
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   316
/**
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   317
   SII state: START WRITING.
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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   318
   Starts writing a word through the slave information interface.
433
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   319
*/
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   320
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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   321
void ec_fsm_sii_state_start_writing(
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   322
		ec_fsm_sii_t *fsm /**< finite state machine */
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   323
		)
433
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   324
{
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   325
    ec_datagram_t *datagram = fsm->datagram;
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   326
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   327
    // initiate write operation
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   328
    ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 8);
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   329
    EC_WRITE_U8 (datagram->data,     0x81); // two address octets
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   330
											// + enable write access
433
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parents:
diff changeset
   331
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   332
    EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
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parents: 754
diff changeset
   333
	memset(datagram->data + 4, 0x00, 2);
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   334
    memcpy(datagram->data + 6, fsm->value, 2);
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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parents: 600
diff changeset
   335
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   336
#ifdef SII_DEBUG
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   337
	EC_DBG("writing SII data:\n");
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   338
	ec_print_data(datagram->data, 8);
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   339
#endif
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diff changeset
   340
505
bc443ca0077f State machines re-send datagrams on timeout.
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parents: 435
diff changeset
   341
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   342
    fsm->state = ec_fsm_sii_state_write_check;
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   343
}
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   344
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   345
/*****************************************************************************/
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   346
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diff changeset
   347
/**
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parents:
diff changeset
   348
   SII state: WRITE CHECK.
100f51f28cf2 Layed out SII state machine.
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diff changeset
   349
*/
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diff changeset
   350
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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parents: 753
diff changeset
   351
void ec_fsm_sii_state_write_check(
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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parents: 753
diff changeset
   352
		ec_fsm_sii_t *fsm /**< finite state machine */
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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parents: 753
diff changeset
   353
		)
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   354
{
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   355
    ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   356
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   357
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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parents: 600
diff changeset
   358
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   359
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   360
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   361
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   362
        EC_ERR("Failed to receive SII write datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   363
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   364
               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
   365
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   366
    }
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->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   369
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   370
        EC_ERR("Reception of SII write datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   371
                fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   372
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   376
    fsm->jiffies_start = datagram->jiffies_sent;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
    fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   379
    // issue check datagram
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   380
    ec_datagram_fprd(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
   381
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   382
    fsm->state = ec_fsm_sii_state_write_check2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
   SII state: WRITE CHECK 2.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   391
void ec_fsm_sii_state_write_check2(
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   392
		ec_fsm_sii_t *fsm /**< finite state machine */
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   393
		)
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    ec_datagram_t *datagram = fsm->datagram;
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   396
    unsigned long diff_ms;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   398
    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
   399
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   400
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   401
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   402
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   403
        EC_ERR("Failed to receive SII write check datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   404
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   405
               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
   406
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   407
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   408
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   409
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   410
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   411
        EC_ERR("Reception of SII write check datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   412
                fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   413
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        return;
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
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   417
#ifdef SII_DEBUG
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   418
	EC_DBG("checking SII write state:\n");
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   419
	ec_print_data(datagram->data, 2);
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   420
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   421
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   422
    if (EC_READ_U8(datagram->data + 1) & 0x20) {
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   423
        EC_ERR("SII: Error on last SII command!\n");
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   424
        fsm->state = ec_fsm_sii_state_error;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   425
        return;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   426
    }
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   427
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   428
	/* FIXME: some slaves never answer with the busy flag set...
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   429
	 * wait a few ms for the write operation to complete. */
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   430
    diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   431
    if (diff_ms < SII_INHIBIT) {
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   432
#ifdef SII_DEBUG
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   433
		EC_DBG("too early.\n");
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   434
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   435
        // issue check datagram again
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   436
        fsm->retries = EC_FSM_RETRIES;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   437
        return;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   438
	}
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   439
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   440
    if (EC_READ_U8(datagram->data + 1) & 0x82) { // busy bit or
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   441
												 // write operation busy bit
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
        // still busy... timeout?
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   443
        if (diff_ms >= SII_TIMEOUT) {
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   444
            if (fsm->check_once_more) {
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   445
				fsm->check_once_more = 0;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   446
			} else {
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
                EC_ERR("SII: Write timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   448
                fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
                return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
            }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
        }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   453
        // issue check datagram again
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   454
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    if (EC_READ_U8(datagram->data + 1) & 0x40) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        EC_ERR("SII: Write operation failed!\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   460
        fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
    // success
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   465
    fsm->state = ec_fsm_sii_state_end;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
   State: ERROR.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   474
void ec_fsm_sii_state_error(
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   475
		ec_fsm_sii_t *fsm /**< finite state machine */
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   476
		)
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
   State: END.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   486
void ec_fsm_sii_state_end(
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   487
		ec_fsm_sii_t *fsm /**< finite state machine */
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   488
		)
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   489
{
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   490
}
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   491
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   492
/*****************************************************************************/