/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT slave information interface FSM.
*/
/*****************************************************************************/
#include "globals.h"
#include "mailbox.h"
#include "master.h"
#include "fsm_sii.h"
/**
* Read/Write timeout. [ms]
*/
#define SII_TIMEOUT 10
/**
* Time before evaluating answer at writing. [ms]
*/
#define SII_INHIBIT 5
//#define SII_DEBUG
/*****************************************************************************/
void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
void ec_fsm_sii_state_read_check(ec_fsm_sii_t *);
void ec_fsm_sii_state_read_fetch(ec_fsm_sii_t *);
void ec_fsm_sii_state_start_writing(ec_fsm_sii_t *);
void ec_fsm_sii_state_write_check(ec_fsm_sii_t *);
void ec_fsm_sii_state_write_check2(ec_fsm_sii_t *);
void ec_fsm_sii_state_end(ec_fsm_sii_t *);
void ec_fsm_sii_state_error(ec_fsm_sii_t *);
/*****************************************************************************/
/**
Constructor.
*/
void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
ec_datagram_t *datagram /**< datagram structure to use */
)
{
fsm->state = NULL;
fsm->datagram = datagram;
}
/*****************************************************************************/
/**
Destructor.
*/
void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
{
}
/*****************************************************************************/
/**
Initializes the SII read state machine.
*/
void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< slave 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->word_offset = word_offset;
fsm->mode = mode;
}
/*****************************************************************************/
/**
Initializes the SII write state machine.
*/
void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< slave 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->word_offset = word_offset;
fsm->mode = mode;
memcpy(fsm->value, value, 2);
}
/*****************************************************************************/
/**
Executes the SII state machine.
\return false, if the state machine has terminated
*/
int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
return fsm->state != ec_fsm_sii_state_end
&& fsm->state != ec_fsm_sii_state_error;
}
/*****************************************************************************/
/**
Returns, if the master startup state machine terminated with success.
\return non-zero if successful.
*/
int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
{
return fsm->state == ec_fsm_sii_state_end;
}
/******************************************************************************
* state functions
*****************************************************************************/
/**
SII state: START READING.
Starts reading the slave information interface.
*/
void ec_fsm_sii_state_start_reading(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
// initiate read operation
switch (fsm->mode) {
case EC_FSM_SII_USE_INCREMENT_ADDRESS:
ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
break;
case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 4);
break;
}
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->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;
}
/*****************************************************************************/
/**
SII state: READ CHECK.
Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
*/
void ec_fsm_sii_state_read_check(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Failed to receive SII read datagram from slave %i"
" (datagram state %i).\n",
fsm->slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Reception of SII read datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->check_once_more = 1;
// issue check/fetch datagram
switch (fsm->mode) {
case EC_FSM_SII_USE_INCREMENT_ADDRESS:
ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
break;
case EC_FSM_SII_USE_CONFIGURED_ADDRESS:
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 10);
break;
}
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_read_fetch;
}
/*****************************************************************************/
/**
SII state: READ FETCH.
Fetches the result of an SII-read datagram.
*/
void ec_fsm_sii_state_read_fetch(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Failed to receive SII check/fetch datagram from slave %i"
" (datagram state %i).\n",
fsm->slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Reception of SII check/fetch datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
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) { // busy bit or
// read operation busy
// still busy... timeout?
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) SII_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;
return;
}
}
// issue check/fetch datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
// SII value received.
memcpy(fsm->value, datagram->data + 6, 4);
fsm->state = ec_fsm_sii_state_end;
}
/*****************************************************************************/
/**
SII state: START WRITING.
Starts writing a word through the slave information interface.
*/
void ec_fsm_sii_state_start_writing(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
// initiate write operation
ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x502, 8);
EC_WRITE_U8 (datagram->data, 0x81); // two address octets
// + enable write access
EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
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;
}
/*****************************************************************************/
/**
SII state: WRITE CHECK.
*/
void ec_fsm_sii_state_write_check(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Failed to receive SII write datagram for slave %i"
" (datagram state %i).\n",
fsm->slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Reception of SII write datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
fsm->cycles_start = datagram->cycles_sent;
fsm->check_once_more = 1;
// issue check datagram
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 2);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_write_check2;
}
/*****************************************************************************/
/**
SII state: WRITE CHECK 2.
*/
void ec_fsm_sii_state_write_check2(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Failed to receive SII write check datagram from slave %i"
" (datagram state %i).\n",
fsm->slave->ring_position, datagram->state);
return;
}
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_sii_state_error;
EC_ERR("Reception of SII write check datagram failed on slave %i: ",
fsm->slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
#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) SII_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) SII_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;
}
}
// issue check datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
if (EC_READ_U8(datagram->data + 1) & 0x40) {
EC_ERR("SII: Write operation failed!\n");
fsm->state = ec_fsm_sii_state_error;
return;
}
// success
fsm->state = ec_fsm_sii_state_end;
}
/*****************************************************************************/
/**
State: ERROR.
*/
void ec_fsm_sii_state_error(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
}
/*****************************************************************************/
/**
State: END.
*/
void ec_fsm_sii_state_end(
ec_fsm_sii_t *fsm /**< finite state machine */
)
{
}
/*****************************************************************************/