fp@1732: /******************************************************************************
fp@1732:  *
fp@1732:  *  $Id$
fp@1732:  *
fp@1732:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1732:  *
fp@1732:  *  This file is part of the IgH EtherCAT Master.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1732:  *  and/or modify it under the terms of the GNU General Public License
fp@1732:  *  as published by the Free Software Foundation; either version 2 of the
fp@1732:  *  License, or (at your option) any later version.
fp@1732:  *
fp@1732:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1732:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1732:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1732:  *  GNU General Public License for more details.
fp@1732:  *
fp@1732:  *  You should have received a copy of the GNU General Public License
fp@1732:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1732:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1732:  *
fp@1732:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1732:  *  charge under condition of compatibility of product made by
fp@1732:  *  Licensee. People intending to distribute/sell products based on the
fp@1732:  *  code, have to sign an agreement to guarantee that products using
fp@1732:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1732:  *  EtherCAT specification (which are released themselves as an open
fp@1732:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1732:  *  Technology, IP and trade marks.
fp@1732:  *
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    \file
fp@1732:    EtherCAT slave information interface FSM.
fp@1732: */
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: #include "globals.h"
fp@1732: #include "mailbox.h"
fp@1732: #include "master.h"
fp@1732: #include "fsm_sii.h"
fp@1732: 
fp@1746: /**
fp@1746:  * Read/Write timeout. [ms]
fp@1746:  */
fp@1746: #define EEPROM_TIMEOUT 10
fp@1746: 
fp@1746: /**
fp@1746:  * Time before evaluating answer at writing. [ms]
fp@1746:  */
fp@1746: #define EEPROM_INHIBIT  5
fp@1746: 
fp@1746: //#define SII_DEBUG
fp@1746: 
fp@1746: /*****************************************************************************/
fp@1746: 
fp@1746: void ec_fsm_sii_state_start_reading(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_read_check(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_read_fetch(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_start_writing(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_write_check(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_write_check2(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_end(ec_fsm_sii_t *);
fp@1746: void ec_fsm_sii_state_error(ec_fsm_sii_t *);
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Constructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_sii_init(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@1732:                      ec_datagram_t *datagram /**< datagram structure to use */
fp@1732:                      )
fp@1732: {
fp@1732:     fsm->state = NULL;
fp@1732:     fsm->datagram = datagram;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Destructor.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_sii_clear(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Initializes the SII read state machine.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_sii_read(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@1732:                      ec_slave_t *slave, /**< slave to read from */
fp@1746:                      uint16_t word_offset, /**< offset to read from */
fp@1732:                      ec_fsm_sii_addressing_t mode /**< addressing scheme */
fp@1732:                      )
fp@1732: {
fp@1746:     fsm->state = ec_fsm_sii_state_start_reading;
fp@1732:     fsm->slave = slave;
fp@1746:     fsm->word_offset = word_offset;
fp@1732:     fsm->mode = mode;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Initializes the SII write state machine.
fp@1732: */
fp@1732: 
fp@1732: void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
fp@1732:                       ec_slave_t *slave, /**< slave to read from */
fp@1746:                       uint16_t word_offset, /**< offset to read from */
fp@1746:                       const uint8_t *value, /**< pointer to 2 bytes of data */
fp@1732:                       ec_fsm_sii_addressing_t mode /**< addressing scheme */
fp@1732:                       )
fp@1732: {
fp@1746:     fsm->state = ec_fsm_sii_state_start_writing;
fp@1732:     fsm->slave = slave;
fp@1746:     fsm->word_offset = word_offset;
fp@1732:     fsm->mode = mode;
fp@1732:     memcpy(fsm->value, value, 2);
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Executes the SII state machine.
fp@1732:    \return false, if the state machine has terminated
fp@1732: */
fp@1732: 
fp@1732: int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
fp@1732: {
fp@1732:     fsm->state(fsm);
fp@1732: 
fp@1746:     return fsm->state != ec_fsm_sii_state_end
fp@1746: 		&& fsm->state != ec_fsm_sii_state_error;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    Returns, if the master startup state machine terminated with success.
fp@1732:    \return non-zero if successful.
fp@1732: */
fp@1732: 
fp@1732: int ec_fsm_sii_success(ec_fsm_sii_t *fsm /**< Finite state machine */)
fp@1732: {
fp@1746:     return fsm->state == ec_fsm_sii_state_end;
fp@1732: }
fp@1732: 
fp@1732: /******************************************************************************
fp@1746:  * state functions
fp@1732:  *****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: START READING.
fp@1732:    Starts reading the slave information interface.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_start_reading(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1732:     // initiate read operation
fp@1732:     switch (fsm->mode) {
fp@1732:         case EC_FSM_SII_POSITION:
fp@1732:             ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
fp@1732:             break;
fp@1732:         case EC_FSM_SII_NODE:
fp@1732:             ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
fp@1732:             break;
fp@1732:     }
fp@1732: 
fp@1746:     EC_WRITE_U8 (datagram->data,     0x80); // two address octets
fp@1732:     EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
fp@1746:     EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
fp@1746: 
fp@1746: #ifdef SII_DEBUG
fp@1746: 	EC_DBG("reading SII data:\n");
fp@1746: 	ec_print_data(datagram->data, 4);
fp@1746: #endif
fp@1746: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1746:     fsm->state = ec_fsm_sii_state_read_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: READ CHECK.
fp@1732:    Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_read_check(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1744:         EC_ERR("Failed to receive SII read datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1745:         EC_ERR("Reception of SII read datagram failed on slave %i: ",
fp@1745:                 fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732:     fsm->check_once_more = 1;
fp@1732: 
fp@1732:     // issue check/fetch datagram
fp@1732:     switch (fsm->mode) {
fp@1732:         case EC_FSM_SII_POSITION:
fp@1732:             ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
fp@1732:             break;
fp@1732:         case EC_FSM_SII_NODE:
fp@1732:             ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
fp@1732:             break;
fp@1732:     }
fp@1744: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1746:     fsm->state = ec_fsm_sii_state_read_fetch;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: READ FETCH.
fp@1732:    Fetches the result of an SII-read datagram.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_read_fetch(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1744:         EC_ERR("Failed to receive SII check/fetch datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1745:         EC_ERR("Reception of SII check/fetch datagram failed on slave %i: ",
fp@1745:                 fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1746: #ifdef SII_DEBUG
fp@1746: 	EC_DBG("checking SII read state:\n");
fp@1746: 	ec_print_data(datagram->data, 10);
fp@1746: #endif
fp@1746: 
fp@1746:     if (EC_READ_U8(datagram->data + 1) & 0x20) {
fp@1746:         EC_ERR("SII: Error on last SII command!\n");
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1746:         return;
fp@1746:     }
fp@1746: 
fp@1732:     // check "busy bit"
fp@1746:     if (EC_READ_U8(datagram->data + 1) & 0x81) { // busy bit or
fp@1746: 												 // read operation busy
fp@1732:         // still busy... timeout?
fp@1732:         if (datagram->cycles_received
fp@1746:             - fsm->cycles_start >= (cycles_t) EEPROM_TIMEOUT * cpu_khz) {
fp@1746:             if (fsm->check_once_more) {
fp@1746: 				fsm->check_once_more = 0;
fp@1746: 			} else {
fp@1732:                 EC_ERR("SII: Read timeout.\n");
fp@1746:                 fsm->state = ec_fsm_sii_state_error;
fp@1732:                 return;
fp@1732:             }
fp@1732:         }
fp@1732: 
fp@1732:         // issue check/fetch datagram again
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // SII value received.
fp@1732:     memcpy(fsm->value, datagram->data + 6, 4);
fp@1746:     fsm->state = ec_fsm_sii_state_end;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: START WRITING.
fp@1746:    Starts writing a word through the slave information interface.
fp@1746: */
fp@1746: 
fp@1746: void ec_fsm_sii_state_start_writing(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1732:     // initiate write operation
fp@1732:     ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 8);
fp@1746:     EC_WRITE_U8 (datagram->data,     0x81); // two address octets
fp@1746: 											// + enable write access
fp@1732:     EC_WRITE_U8 (datagram->data + 1, 0x02); // request write operation
fp@1746:     EC_WRITE_U16(datagram->data + 2, fsm->word_offset);
fp@1746: 	memset(datagram->data + 4, 0x00, 2);
fp@1732:     memcpy(datagram->data + 6, fsm->value, 2);
fp@1744: 
fp@1746: #ifdef SII_DEBUG
fp@1746: 	EC_DBG("writing SII data:\n");
fp@1746: 	ec_print_data(datagram->data, 8);
fp@1746: #endif
fp@1746: 
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1746:     fsm->state = ec_fsm_sii_state_write_check;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: WRITE CHECK.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_write_check(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1744:         EC_ERR("Failed to receive SII write datagram for slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1745:         EC_ERR("Reception of SII write datagram failed on slave %i: ",
fp@1745:                 fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     fsm->cycles_start = datagram->cycles_sent;
fp@1732:     fsm->check_once_more = 1;
fp@1732: 
fp@1746:     // issue check datagram
fp@1732:     ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
fp@1739:     fsm->retries = EC_FSM_RETRIES;
fp@1746:     fsm->state = ec_fsm_sii_state_write_check2;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    SII state: WRITE CHECK 2.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_write_check2(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732:     ec_datagram_t *datagram = fsm->datagram;
fp@1732: 
fp@1744:     if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
fp@1744:         return;
fp@1739: 
fp@1739:     if (datagram->state != EC_DATAGRAM_RECEIVED) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1744:         EC_ERR("Failed to receive SII write check datagram from slave %i"
fp@1744:                 " (datagram state %i).\n",
fp@1744:                fsm->slave->ring_position, datagram->state);
fp@1739:         return;
fp@1739:     }
fp@1739: 
fp@1739:     if (datagram->working_counter != 1) {
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1745:         EC_ERR("Reception of SII write check datagram failed on slave %i: ",
fp@1745:                 fsm->slave->ring_position);
fp@1745:         ec_datagram_print_wc_error(datagram);
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1746: #ifdef SII_DEBUG
fp@1746: 	EC_DBG("checking SII write state:\n");
fp@1746: 	ec_print_data(datagram->data, 2);
fp@1746: #endif
fp@1746: 
fp@1746:     if (EC_READ_U8(datagram->data + 1) & 0x20) {
fp@1746:         EC_ERR("SII: Error on last SII command!\n");
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1746:         return;
fp@1746:     }
fp@1746: 
fp@1746: 	/* FIXME: some slaves never answer with the busy flag set...
fp@1746: 	 * wait a few ms for the write operation to complete. */
fp@1746: 	if (datagram->cycles_received - fsm->cycles_start
fp@1746: 			< (cycles_t) EEPROM_INHIBIT * cpu_khz) {
fp@1746: #ifdef SII_DEBUG
fp@1746: 		EC_DBG("too early.\n");
fp@1746: #endif
fp@1746:         // issue check datagram again
fp@1746:         fsm->retries = EC_FSM_RETRIES;
fp@1746:         return;
fp@1746: 	}
fp@1746: 
fp@1746:     if (EC_READ_U8(datagram->data + 1) & 0x82) { // busy bit or
fp@1746: 												 // write operation busy bit
fp@1732:         // still busy... timeout?
fp@1732:         if (datagram->cycles_received
fp@1746:             - fsm->cycles_start >= (cycles_t) EEPROM_TIMEOUT * cpu_khz) {
fp@1746:             if (fsm->check_once_more) {
fp@1746: 				fsm->check_once_more = 0;
fp@1746: 			} else {
fp@1732:                 EC_ERR("SII: Write timeout.\n");
fp@1746:                 fsm->state = ec_fsm_sii_state_error;
fp@1732:                 return;
fp@1732:             }
fp@1732:         }
fp@1732: 
fp@1746:         // issue check datagram again
fp@1739:         fsm->retries = EC_FSM_RETRIES;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     if (EC_READ_U8(datagram->data + 1) & 0x40) {
fp@1732:         EC_ERR("SII: Write operation failed!\n");
fp@1746:         fsm->state = ec_fsm_sii_state_error;
fp@1732:         return;
fp@1732:     }
fp@1732: 
fp@1732:     // success
fp@1746:     fsm->state = ec_fsm_sii_state_end;
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    State: ERROR.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_error(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1732: {
fp@1732: }
fp@1732: 
fp@1732: /*****************************************************************************/
fp@1732: 
fp@1732: /**
fp@1732:    State: END.
fp@1732: */
fp@1732: 
fp@1746: void ec_fsm_sii_state_end(
fp@1746: 		ec_fsm_sii_t *fsm /**< finite state machine */
fp@1746: 		)
fp@1746: {
fp@1746: }
fp@1746: 
fp@1746: /*****************************************************************************/