--- a/master/fsm_sii.c Mon Sep 24 07:54:51 2007 +0000
+++ b/master/fsm_sii.c Mon Sep 24 08:56:50 2007 +0000
@@ -43,6 +43,11 @@
#include "master.h"
#include "fsm_sii.h"
+#define EEPROM_TIMEOUT 10 // read/write timeout [ms]
+#define EEPROM_INHIBIT 5 // time before evaluating answer at writing [ms]
+
+//#define SII_DEBUG
+
/*****************************************************************************/
void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
@@ -86,13 +91,13 @@
void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< slave to read from */
- uint16_t offset, /**< offset to read from */
+ uint16_t word_offset, /**< offset to read from */
ec_fsm_sii_addressing_t mode /**< addressing scheme */
)
{
fsm->state = ec_fsm_sii_state_start_reading;
fsm->slave = slave;
- fsm->offset = offset;
+ fsm->word_offset = word_offset;
fsm->mode = mode;
}
@@ -104,14 +109,14 @@
void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< slave to read from */
- uint16_t offset, /**< offset to read from */
+ uint16_t word_offset, /**< offset to read from */
const uint8_t *value, /**< pointer to 2 bytes of data */
ec_fsm_sii_addressing_t mode /**< addressing scheme */
)
{
fsm->state = ec_fsm_sii_state_start_writing;
fsm->slave = slave;
- fsm->offset = offset;
+ fsm->word_offset = word_offset;
fsm->mode = mode;
memcpy(fsm->value, value, 2);
}
@@ -168,9 +173,15 @@
break;
}
- EC_WRITE_U8 (datagram->data, 0x00); // read-only access
+ EC_WRITE_U8 (datagram->data, 0x80); // two address octets
EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
- EC_WRITE_U16(datagram->data + 2, fsm->offset);
+ EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
+
+#ifdef SII_DEBUG
+ EC_DBG("reading SII data:\n");
+ ec_print_data(datagram->data, 4);
+#endif
+
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_read_check;
}
@@ -256,47 +267,37 @@
return;
}
+#ifdef SII_DEBUG
+ EC_DBG("checking SII read state:\n");
+ ec_print_data(datagram->data, 10);
+#endif
+
+ if (EC_READ_U8(datagram->data + 1) & 0x20) {
+ EC_ERR("SII: Error on last SII command!\n");
+ fsm->state = ec_fsm_sii_state_error;
+ return;
+ }
+
// check "busy bit"
- if (EC_READ_U8(datagram->data + 1) & 0x81) {
+ if (EC_READ_U8(datagram->data + 1) & 0x81) { // busy bit or
+ // read operation busy
// still busy... timeout?
if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
- if (!fsm->check_once_more) {
+ - fsm->cycles_start >= (cycles_t) EEPROM_TIMEOUT * cpu_khz) {
+ if (fsm->check_once_more) {
+ fsm->check_once_more = 0;
+ } else {
EC_ERR("SII: Read timeout.\n");
fsm->state = ec_fsm_sii_state_error;
-#if 0
- EC_DBG("SII busy: %02X %02X %02X %02X\n",
- EC_READ_U8(datagram->data + 0),
- EC_READ_U8(datagram->data + 1),
- EC_READ_U8(datagram->data + 2),
- EC_READ_U8(datagram->data + 3));
-#endif
return;
}
- fsm->check_once_more = 0;
}
// issue check/fetch datagram again
- switch (fsm->mode) {
- case EC_FSM_SII_POSITION:
- ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
- break;
- case EC_FSM_SII_NODE:
- ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
- break;
- }
fsm->retries = EC_FSM_RETRIES;
return;
}
-#if 0
- EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
- EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
- EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
- EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
- EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
-#endif
-
// SII value received.
memcpy(fsm->value, datagram->data + 6, 4);
fsm->state = ec_fsm_sii_state_end;
@@ -306,7 +307,7 @@
/**
SII state: START WRITING.
- Starts reading the slave information interface.
+ Starts writing a word through the slave information interface.
*/
void ec_fsm_sii_state_start_writing(
@@ -317,11 +318,18 @@
// initiate write operation
ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
- EC_WRITE_U8 (datagram->data, 0x01); // enable write access
+ EC_WRITE_U8 (datagram->data, 0x81); // two address octets
+ // + enable write access
EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
- EC_WRITE_U32(datagram->data + 2, fsm->offset);
+ EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
+ memset(datagram->data + 4, 0x00, 2);
memcpy(datagram->data + 6, fsm->value, 2);
+#ifdef SII_DEBUG
+ EC_DBG("writing SII data:\n");
+ ec_print_data(datagram->data, 8);
+#endif
+
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_write_check;
}
@@ -360,7 +368,7 @@
fsm->cycles_start = datagram->cycles_sent;
fsm->check_once_more = 1;
- // issue check/fetch datagram
+ // issue check datagram
ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_write_check2;
@@ -397,19 +405,44 @@
return;
}
- if (EC_READ_U8(datagram->data + 1) & 0x82) {
+#ifdef SII_DEBUG
+ EC_DBG("checking SII write state:\n");
+ ec_print_data(datagram->data, 2);
+#endif
+
+ if (EC_READ_U8(datagram->data + 1) & 0x20) {
+ EC_ERR("SII: Error on last SII command!\n");
+ fsm->state = ec_fsm_sii_state_error;
+ return;
+ }
+
+ /* FIXME: some slaves never answer with the busy flag set...
+ * wait a few ms for the write operation to complete. */
+ if (datagram->cycles_received - fsm->cycles_start
+ < (cycles_t) EEPROM_INHIBIT * cpu_khz) {
+#ifdef SII_DEBUG
+ EC_DBG("too early.\n");
+#endif
+ // issue check datagram again
+ fsm->retries = EC_FSM_RETRIES;
+ return;
+ }
+
+ if (EC_READ_U8(datagram->data + 1) & 0x82) { // busy bit or
+ // write operation busy bit
// still busy... timeout?
if (datagram->cycles_received
- - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
- if (!fsm->check_once_more) {
+ - fsm->cycles_start >= (cycles_t) EEPROM_TIMEOUT * cpu_khz) {
+ if (fsm->check_once_more) {
+ fsm->check_once_more = 0;
+ } else {
EC_ERR("SII: Write timeout.\n");
fsm->state = ec_fsm_sii_state_error;
return;
}
- fsm->check_once_more = 0;
}
- // issue check/fetch datagram again
+ // issue check datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}