master/fsm_sii.c
author Florian Pose <fp@igh-essen.com>
Wed, 13 Jan 2010 00:04:47 +0100
branchstable-1.4
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parent 1685 399ef727bf62
permissions -rw-r--r--
merge
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  Using the EtherCAT technology and brand is permitted in compliance with
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 *  the industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT slave information interface FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "mailbox.h"
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#include "master.h"
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#include "fsm_sii.h"
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/** Read/write timeout [ms].
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 *
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 * Used to calculate timeouts bsed on the jiffies counter.
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 *
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 * \attention Must be more than 10 to avoid problems on kernels that run with
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 * a timer interupt frequency of 100 Hz.
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 */
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#define SII_TIMEOUT 20
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/** Time before evaluating answer at writing [ms].
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 */
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#define SII_INHIBIT 5
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//#define SII_DEBUG
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/*****************************************************************************/
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void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_read_fetch(ec_fsm_sii_t *);
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void ec_fsm_sii_state_start_writing(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check(ec_fsm_sii_t *);
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void ec_fsm_sii_state_write_check2(ec_fsm_sii_t *);
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void ec_fsm_sii_state_end(ec_fsm_sii_t *);
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void ec_fsm_sii_state_error(ec_fsm_sii_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_datagram_t *datagram /**< datagram structure to use */
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                     )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Initializes the SII read state machine.
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*/
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void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
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                     ec_slave_t *slave, /**< slave to read from */
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                     uint16_t word_offset, /**< offset to read from */
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                     ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                     )
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{
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    fsm->state = ec_fsm_sii_state_start_reading;
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    fsm->slave = slave;
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    fsm->word_offset = word_offset;
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    fsm->mode = mode;
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}
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/*****************************************************************************/
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/**
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   Initializes the SII write state machine.
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*/
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void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
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                      ec_slave_t *slave, /**< slave to read from */
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                      uint16_t word_offset, /**< offset to read from */
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                      const uint16_t *value, /**< pointer to 2 bytes of data */
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                      ec_fsm_sii_addressing_t mode /**< addressing scheme */
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                      )
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{
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    fsm->state = ec_fsm_sii_state_start_writing;
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    fsm->slave = slave;
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    fsm->word_offset = word_offset;
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    fsm->mode = mode;
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    memcpy(fsm->value, value, 2);
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}
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/*****************************************************************************/
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/**
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   Executes the SII state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_sii_state_end
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		&& fsm->state != ec_fsm_sii_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the master startup state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_sii_state_end;
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}
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/******************************************************************************
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 * state functions
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 *****************************************************************************/
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/**
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   SII state: START READING.
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   Starts reading the slave information interface.
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*/
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void ec_fsm_sii_state_start_reading(
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		ec_fsm_sii_t *fsm /**< finite state machine */
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		)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    // initiate read operation
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    switch (fsm->mode) {
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        case EC_FSM_SII_USE_INCREMENT_ADDRESS:
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            ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
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            break;
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        case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
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            ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 4);
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            break;
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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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void ec_fsm_sii_state_read_check(
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		ec_fsm_sii_t *fsm /**< finite state machine */
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		)
433
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        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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    }
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   216
    if (datagram->working_counter != 1) {
753
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        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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                fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
433
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   221
        return;
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   222
    }
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   223
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
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   224
    fsm->jiffies_start = datagram->jiffies_sent;
433
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   225
    fsm->check_once_more = 1;
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   226
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    // issue check/fetch datagram
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    switch (fsm->mode) {
815
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   229
        case EC_FSM_SII_USE_INCREMENT_ADDRESS:
433
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            ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
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            break;
815
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   232
        case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
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   233
            ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 10);
433
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   234
            break;
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   235
    }
637
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   236
505
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   237
    fsm->retries = EC_FSM_RETRIES;
753
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   238
    fsm->state = ec_fsm_sii_state_read_fetch;
433
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   239
}
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   240
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/*****************************************************************************/
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   243
/**
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   SII state: READ FETCH.
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   Fetches the result of an SII-read datagram.
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   246
*/
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   247
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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   248
void ec_fsm_sii_state_read_fetch(
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   249
		ec_fsm_sii_t *fsm /**< finite state machine */
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   250
		)
433
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{
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    ec_datagram_t *datagram = fsm->datagram;
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   253
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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   254
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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diff changeset
   255
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   256
bc443ca0077f State machines re-send datagrams on timeout.
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   257
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   258
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   259
        EC_ERR("Failed to receive SII check/fetch datagram from slave %u"
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diff changeset
   260
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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diff changeset
   261
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   262
        return;
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   263
    }
bc443ca0077f State machines re-send datagrams on timeout.
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diff changeset
   264
bc443ca0077f State machines re-send datagrams on timeout.
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   265
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   266
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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diff changeset
   267
        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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   268
                fsm->slave->ring_position);
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   269
        ec_datagram_print_wc_error(datagram);
433
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   270
        return;
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   271
    }
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   272
755
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   273
#ifdef SII_DEBUG
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   274
	EC_DBG("checking SII read state:\n");
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   275
	ec_print_data(datagram->data, 10);
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   276
#endif
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   277
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    if (EC_READ_U8(datagram->data + 1) & 0x20) {
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   279
        EC_ERR("SII: Error on last SII command!\n");
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        fsm->state = ec_fsm_sii_state_error;
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   281
        return;
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   282
    }
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   283
433
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    // check "busy bit"
755
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   285
    if (EC_READ_U8(datagram->data + 1) & 0x81) { // busy bit or
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   286
												 // read operation busy
433
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        // still busy... timeout?
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
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diff changeset
   288
        unsigned long diff_ms =
2881a83d084f Use jiffies instead of cycles in SII state machine.
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diff changeset
   289
            (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
2881a83d084f Use jiffies instead of cycles in SII state machine.
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diff changeset
   290
        if (diff_ms >= SII_TIMEOUT) {
755
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diff changeset
   291
            if (fsm->check_once_more) {
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diff changeset
   292
				fsm->check_once_more = 0;
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diff changeset
   293
			} else {
433
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   294
                EC_ERR("SII: Read timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   295
                fsm->state = ec_fsm_sii_state_error;
433
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parents:
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   296
                return;
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   297
            }
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   298
        }
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   299
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   300
        // issue check/fetch datagram again
505
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diff changeset
   301
        fsm->retries = EC_FSM_RETRIES;
433
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   302
        return;
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parents:
diff changeset
   303
    }
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   304
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   305
    // SII value received.
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   306
    memcpy(fsm->value, datagram->data + 6, 4);
753
7ba5f9cd8f7e Renamed sii state functions.
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diff changeset
   307
    fsm->state = ec_fsm_sii_state_end;
433
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diff changeset
   308
}
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   309
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   310
/*****************************************************************************/
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   311
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   312
/**
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parents:
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   313
   SII state: START WRITING.
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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diff changeset
   314
   Starts writing a word through the slave information interface.
433
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   315
*/
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parents:
diff changeset
   316
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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diff changeset
   317
void ec_fsm_sii_state_start_writing(
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
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diff changeset
   318
		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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diff changeset
   319
		)
433
100f51f28cf2 Layed out SII state machine.
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diff changeset
   320
{
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parents:
diff changeset
   321
    ec_datagram_t *datagram = fsm->datagram;
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diff changeset
   322
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   323
    // initiate write operation
815
002fe9ec778f Implemented missing datagram types.
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parents: 758
diff changeset
   324
    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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parents: 754
diff changeset
   325
    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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parents: 754
diff changeset
   326
											// + enable write access
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   327
    EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   328
    EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   329
	memset(datagram->data + 4, 0x00, 2);
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   330
    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
   331
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   332
#ifdef SII_DEBUG
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
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diff changeset
   333
	EC_DBG("writing SII data:\n");
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   334
	ec_print_data(datagram->data, 8);
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   335
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
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parents: 754
diff changeset
   336
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   337
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   338
    fsm->state = ec_fsm_sii_state_write_check;
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   339
}
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parents:
diff changeset
   340
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   341
/*****************************************************************************/
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parents:
diff changeset
   342
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   343
/**
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parents:
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   344
   SII state: WRITE CHECK.
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   345
*/
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parents:
diff changeset
   346
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   347
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
   348
		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
   349
		)
433
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   350
{
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   351
    ec_datagram_t *datagram = fsm->datagram;
100f51f28cf2 Layed out SII state machine.
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parents:
diff changeset
   352
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   353
    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
   354
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   355
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   356
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   357
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   358
        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
   359
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   360
               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
   361
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   362
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   363
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   364
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   365
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   366
        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
   367
                fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   368
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   372
    fsm->jiffies_start = datagram->jiffies_sent;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
    fsm->check_once_more = 1;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   375
    // issue check datagram
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 758
diff changeset
   376
    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
   377
    fsm->retries = EC_FSM_RETRIES;
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   378
    fsm->state = ec_fsm_sii_state_write_check2;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
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
   SII state: WRITE CHECK 2.
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
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   387
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
   388
		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
   389
		)
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    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
   392
    unsigned long diff_ms;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 600
diff changeset
   394
    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
   395
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   396
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   397
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   398
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   399
        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
   400
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   401
               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
   402
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   403
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   404
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   405
    if (datagram->working_counter != 1) {
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   406
        fsm->state = ec_fsm_sii_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 979
diff changeset
   407
        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
   408
                fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   409
        ec_datagram_print_wc_error(datagram);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   413
#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
   414
	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
   415
	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
   416
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   417
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   418
    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
   419
        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
   420
        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
   421
        return;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   422
    }
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   423
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   424
	/* 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
   425
	 * 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
   426
    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
   427
    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
   428
#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
   429
		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
   430
#endif
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   431
        // 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
   432
        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
   433
        return;
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   434
	}
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   435
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   436
    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
   437
												 // write operation busy bit
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
        // still busy... timeout?
1039
2881a83d084f Use jiffies instead of cycles in SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   439
        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
   440
            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
   441
				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
   442
			} else {
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
                EC_ERR("SII: Write timeout.\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   444
                fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
                return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
            }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
        }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
755
178353fc47e5 SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents: 754
diff changeset
   449
        // issue check datagram again
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   450
        fsm->retries = EC_FSM_RETRIES;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    if (EC_READ_U8(datagram->data + 1) & 0x40) {
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        EC_ERR("SII: Write operation failed!\n");
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   456
        fsm->state = ec_fsm_sii_state_error;
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        return;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    }
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
    // success
753
7ba5f9cd8f7e Renamed sii state functions.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   461
    fsm->state = ec_fsm_sii_state_end;
433
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
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
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
   State: ERROR.
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
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   470
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
   471
		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
   472
		)
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
/*****************************************************************************/
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
   State: END.
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
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   482
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
   483
		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
   484
		)
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   485
{
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   486
}
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   487
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 753
diff changeset
   488
/*****************************************************************************/