fp@433: /******************************************************************************
fp@433:  *
fp@433:  *  $Id$
fp@433:  *
fp@433:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@433:  *
fp@433:  *  This file is part of the IgH EtherCAT Master.
fp@433:  *
fp@433:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@433:  *  and/or modify it under the terms of the GNU General Public License
fp@433:  *  as published by the Free Software Foundation; either version 2 of the
fp@433:  *  License, or (at your option) any later version.
fp@433:  *
fp@433:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@433:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@433:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@433:  *  GNU General Public License for more details.
fp@433:  *
fp@433:  *  You should have received a copy of the GNU General Public License
fp@433:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@433:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@433:  *
fp@433:  *  The right to use EtherCAT Technology is granted and comes free of
fp@433:  *  charge under condition of compatibility of product made by
fp@433:  *  Licensee. People intending to distribute/sell products based on the
fp@433:  *  code, have to sign an agreement to guarantee that products using
fp@433:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@433:  *  EtherCAT specification (which are released themselves as an open
fp@433:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@433:  *  Technology, IP and trade marks.
fp@433:  *
fp@433:  *****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    \file
fp@433:    EtherCAT slave information interface FSM.
fp@433: */
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: #include "globals.h"
fp@433: #include "mailbox.h"
fp@433: #include "master.h"
fp@433: #include "fsm_sii.h"
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: void ec_fsm_sii_start_reading(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_read_check(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_start_writing(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_write_check(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_write_check2(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_end(ec_fsm_sii_t *);
fp@433: void ec_fsm_sii_error(ec_fsm_sii_t *);
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Constructor.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@433:                      ec_datagram_t *datagram /**< datagram structure to use */
fp@433:                      )
fp@433: {
fp@433:     fsm->state = NULL;
fp@433:     fsm->datagram = datagram;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Destructor.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Initializes the SII read state machine.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@433:                      ec_slave_t *slave, /**< slave to read from */
fp@433:                      uint16_t offset, /**< offset to read from */
fp@433:                      ec_fsm_sii_addressing_t mode /**< addressing scheme */
fp@433:                      )
fp@433: {
fp@433:     fsm->state = ec_fsm_sii_start_reading;
fp@433:     fsm->slave = slave;
fp@433:     fsm->offset = offset;
fp@433:     fsm->mode = mode;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Initializes the SII write state machine.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@433:                       ec_slave_t *slave, /**< slave to read from */
fp@433:                       uint16_t offset, /**< offset to read from */
fp@433:                       uint16_t *value, /**< pointer to 2 bytes of data */
fp@433:                       ec_fsm_sii_addressing_t mode /**< addressing scheme */
fp@433:                       )
fp@433: {
fp@433:     fsm->state = ec_fsm_sii_start_writing;
fp@433:     fsm->slave = slave;
fp@433:     fsm->offset = offset;
fp@433:     fsm->mode = mode;
fp@433:     memcpy(fsm->value, value, 2);
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Executes the SII state machine.
fp@435:    \return false, if the state machine has terminated
fp@435: */
fp@435: 
fp@435: int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     fsm->state(fsm);
fp@435: 
fp@433:     return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    Returns, if the master startup state machine terminated with success.
fp@433:    \return non-zero if successful.
fp@433: */
fp@433: 
fp@433: int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
fp@433: {
fp@433:     return fsm->state == ec_fsm_sii_end;
fp@433: }
fp@433: 
fp@433: /******************************************************************************
fp@433:  *  SII state machine
fp@433:  *****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: START READING.
fp@433:    Starts reading the slave information interface.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_start_reading(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     // initiate read operation
fp@433:     switch (fsm->mode) {
fp@433:         case EC_FSM_SII_POSITION:
fp@433:             ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
fp@433:             break;
fp@433:         case EC_FSM_SII_NODE:
fp@433:             ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
fp@433:             break;
fp@433:     }
fp@433: 
fp@433:     EC_WRITE_U8 (datagram->data,     0x00); // read-only access
fp@433:     EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
fp@433:     EC_WRITE_U16(datagram->data + 2, fsm->offset);
fp@433:     ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:     fsm->state = ec_fsm_sii_read_check;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: READ CHECK.
fp@433:    Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_read_check(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@433:         || datagram->working_counter != 1) {
fp@433:         EC_ERR("SII: Reception of read datagram failed.\n");
fp@433:         fsm->state = ec_fsm_sii_error;
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     fsm->cycles_start = datagram->cycles_sent;
fp@433:     fsm->check_once_more = 1;
fp@433: 
fp@433:     // issue check/fetch datagram
fp@433:     switch (fsm->mode) {
fp@433:         case EC_FSM_SII_POSITION:
fp@433:             ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
fp@433:             break;
fp@433:         case EC_FSM_SII_NODE:
fp@433:             ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
fp@433:             break;
fp@433:     }
fp@433:     ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:     fsm->state = ec_fsm_sii_read_fetch;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: READ FETCH.
fp@433:    Fetches the result of an SII-read datagram.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_read_fetch(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@433:         || datagram->working_counter != 1) {
fp@433:         EC_ERR("SII: Reception of check/fetch datagram failed.\n");
fp@433:         fsm->state = ec_fsm_sii_error;
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     // check "busy bit"
fp@433:     if (EC_READ_U8(datagram->data + 1) & 0x81) {
fp@433:         // still busy... timeout?
fp@433:         if (datagram->cycles_received
fp@433:             - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
fp@433:             if (!fsm->check_once_more) {
fp@433:                 EC_ERR("SII: Read timeout.\n");
fp@433:                 fsm->state = ec_fsm_sii_error;
fp@433: #if 0
fp@433:                 EC_DBG("SII busy: %02X %02X %02X %02X\n",
fp@433:                        EC_READ_U8(datagram->data + 0),
fp@433:                        EC_READ_U8(datagram->data + 1),
fp@433:                        EC_READ_U8(datagram->data + 2),
fp@433:                        EC_READ_U8(datagram->data + 3));
fp@433: #endif
fp@433:                 return;
fp@433:             }
fp@433:             fsm->check_once_more = 0;
fp@433:         }
fp@433: 
fp@433:         // issue check/fetch datagram again
fp@433:         switch (fsm->mode) {
fp@433:             case EC_FSM_SII_POSITION:
fp@433:                 ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
fp@433:                 break;
fp@433:             case EC_FSM_SII_NODE:
fp@433:                 ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
fp@433:                 break;
fp@433:         }
fp@433:         ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:         return;
fp@433:     }
fp@433: 
fp@433: #if 0
fp@433:     EC_DBG("SII rec: %02X %02X %02X %02X - %02X %02X %02X %02X\n",
fp@433:            EC_READ_U8(datagram->data + 0), EC_READ_U8(datagram->data + 1),
fp@433:            EC_READ_U8(datagram->data + 2), EC_READ_U8(datagram->data + 3),
fp@433:            EC_READ_U8(datagram->data + 6), EC_READ_U8(datagram->data + 7),
fp@433:            EC_READ_U8(datagram->data + 8), EC_READ_U8(datagram->data + 9));
fp@433: #endif
fp@433: 
fp@433:     // SII value received.
fp@433:     memcpy(fsm->value, datagram->data + 6, 4);
fp@433:     fsm->state = ec_fsm_sii_end;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: START WRITING.
fp@433:    Starts reading the slave information interface.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_start_writing(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     // initiate write operation
fp@433:     ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
fp@433:     EC_WRITE_U8 (datagram->data,     0x01); // enable write access
fp@433:     EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
fp@433:     EC_WRITE_U32(datagram->data + 2, fsm->offset);
fp@433:     memcpy(datagram->data + 6, fsm->value, 2);
fp@433:     ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:     fsm->state = ec_fsm_sii_write_check;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: WRITE CHECK.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@433:         || datagram->working_counter != 1) {
fp@433:         EC_ERR("SII: Reception of write datagram failed.\n");
fp@433:         fsm->state = ec_fsm_sii_error;
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     fsm->cycles_start = datagram->cycles_sent;
fp@433:     fsm->check_once_more = 1;
fp@433: 
fp@433:     // issue check/fetch datagram
fp@433:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
fp@433:     ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:     fsm->state = ec_fsm_sii_write_check2;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    SII state: WRITE CHECK 2.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433:     ec_datagram_t *datagram = fsm->datagram;
fp@433: 
fp@433:     if (datagram->state != EC_DATAGRAM_RECEIVED
fp@433:         || datagram->working_counter != 1) {
fp@433:         EC_ERR("SII: Reception of write check datagram failed.\n");
fp@433:         fsm->state = ec_fsm_sii_error;
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     if (EC_READ_U8(datagram->data + 1) & 0x82) {
fp@433:         // still busy... timeout?
fp@433:         if (datagram->cycles_received
fp@433:             - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
fp@433:             if (!fsm->check_once_more) {
fp@433:                 EC_ERR("SII: Write timeout.\n");
fp@433:                 fsm->state = ec_fsm_sii_error;
fp@433:                 return;
fp@433:             }
fp@433:             fsm->check_once_more = 0;
fp@433:         }
fp@433: 
fp@433:         // issue check/fetch datagram again
fp@433:         ec_master_queue_datagram(fsm->slave->master, datagram);
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     if (EC_READ_U8(datagram->data + 1) & 0x40) {
fp@433:         EC_ERR("SII: Write operation failed!\n");
fp@433:         fsm->state = ec_fsm_sii_error;
fp@433:         return;
fp@433:     }
fp@433: 
fp@433:     // success
fp@433:     fsm->state = ec_fsm_sii_end;
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    State: ERROR.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_error(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/
fp@433: 
fp@433: /**
fp@433:    State: END.
fp@433: */
fp@433: 
fp@433: void ec_fsm_sii_end(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@433: {
fp@433: }
fp@433: 
fp@433: /*****************************************************************************/