--- a/master/Kbuild Fri Oct 20 15:35:15 2006 +0000
+++ b/master/Kbuild Mon Oct 23 12:59:42 2006 +0000
@@ -38,7 +38,8 @@
obj-m := ec_master.o
ec_master-objs := module.o master.o device.o slave.o datagram.o \
- domain.o mailbox.o canopen.o ethernet.o fsm.o xmldev.o
+ domain.o mailbox.o canopen.o ethernet.o \
+ fsm_sii.o fsm.o xmldev.o
ifeq ($(EC_DBG_IF),1)
ec_master-objs += debug.o
--- a/master/Makefile.am Fri Oct 20 15:35:15 2006 +0000
+++ b/master/Makefile.am Mon Oct 23 12:59:42 2006 +0000
@@ -40,6 +40,7 @@
domain.c domain.h \
doxygen.c \
ethernet.c ethernet.h \
+ fsm_sii.c fsm_sii.h \
fsm.c fsm.h \
globals.h \
mailbox.c mailbox.h \
--- a/master/fsm.c Fri Oct 20 15:35:15 2006 +0000
+++ b/master/fsm.c Mon Oct 23 12:59:42 2006 +0000
@@ -80,13 +80,6 @@
void ec_fsm_slaveconf_saveop(ec_fsm_t *);
void ec_fsm_slaveconf_op(ec_fsm_t *);
-void ec_fsm_sii_start_reading(ec_fsm_t *);
-void ec_fsm_sii_read_check(ec_fsm_t *);
-void ec_fsm_sii_read_fetch(ec_fsm_t *);
-void ec_fsm_sii_start_writing(ec_fsm_t *);
-void ec_fsm_sii_write_check(ec_fsm_t *);
-void ec_fsm_sii_write_check2(ec_fsm_t *);
-
void ec_fsm_change_start(ec_fsm_t *);
void ec_fsm_change_check(ec_fsm_t *);
void ec_fsm_change_status(ec_fsm_t *);
@@ -145,6 +138,8 @@
return -1;
}
+ ec_fsm_sii_init(&fsm->fsm_sii, &fsm->datagram);
+
return 0;
}
@@ -156,6 +151,8 @@
void ec_fsm_clear(ec_fsm_t *fsm /**< finite state machine */)
{
+ ec_fsm_sii_clear(&fsm->fsm_sii);
+
ec_datagram_clear(&fsm->datagram);
}
@@ -688,10 +685,8 @@
// found pending EEPROM write operation. execute it!
EC_INFO("Writing EEPROM of slave %i...\n", slave->ring_position);
fsm->sii_offset = 0x0000;
- memcpy(fsm->sii_value, slave->new_eeprom_data, 2);
- fsm->sii_mode = 1;
- fsm->sii_state = ec_fsm_sii_start_writing;
- fsm->slave = slave;
+ ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
+ slave->new_eeprom_data, EC_FSM_SII_NODE);
fsm->master_state = ec_fsm_master_write_eeprom;
fsm->master_state(fsm); // execute immediately
return;
@@ -738,10 +733,8 @@
EC_INFO("Validating bus.\n");
fsm->slave = list_entry(master->slaves.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_validate_vendor;
- fsm->sii_offset = 0x0008; // vendor ID
- fsm->sii_mode = 0;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->sii_state(fsm); // execute immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
return;
}
}
@@ -811,9 +804,11 @@
{
ec_slave_t *slave = fsm->slave;
- fsm->sii_state(fsm); // execute SII state machine
-
- if (fsm->sii_state == ec_fsm_error) {
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
+
+ if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
EC_ERR("Failed to validate vendor ID of slave %i.\n",
slave->ring_position);
@@ -822,9 +817,7 @@
return;
}
- if (fsm->sii_state != ec_fsm_end) return;
-
- if (EC_READ_U32(fsm->sii_value) != slave->sii_vendor_id) {
+ if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_vendor_id) {
EC_ERR("Slave %i: invalid vendor ID!\n", slave->ring_position);
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
@@ -833,10 +826,8 @@
// vendor ID is ok. check product code.
fsm->master_state = ec_fsm_master_validate_product;
- fsm->sii_offset = 0x000A; // product code
- fsm->sii_mode = 0;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->sii_state(fsm); // execute immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x000A, EC_FSM_SII_POSITION);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
}
/*****************************************************************************/
@@ -881,9 +872,11 @@
{
ec_slave_t *slave = fsm->slave;
- fsm->sii_state(fsm); // execute SII state machine
-
- if (fsm->sii_state == ec_fsm_error) {
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
+
+ if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
EC_ERR("Failed to validate product code of slave %i.\n",
slave->ring_position);
@@ -892,12 +885,10 @@
return;
}
- if (fsm->sii_state != ec_fsm_end) return;
-
- if (EC_READ_U32(fsm->sii_value) != slave->sii_product_code) {
+ if (EC_READ_U32(fsm->fsm_sii.value) != slave->sii_product_code) {
EC_ERR("Slave %i: invalid product code!\n", slave->ring_position);
EC_ERR("expected 0x%08X, got 0x%08X.\n", slave->sii_product_code,
- EC_READ_U32(fsm->sii_value));
+ EC_READ_U32(fsm->fsm_sii.value));
fsm->master_state = ec_fsm_master_start;
fsm->master_state(fsm); // execute immediately
return;
@@ -914,10 +905,8 @@
// validate next slave
fsm->slave = list_entry(fsm->slave->list.next, ec_slave_t, list);
fsm->master_state = ec_fsm_master_validate_vendor;
- fsm->sii_offset = 0x0008; // vendor ID
- fsm->sii_mode = 0;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->sii_state(fsm); // execute immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, 0x0008, EC_FSM_SII_POSITION);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
}
/*****************************************************************************/
@@ -1020,9 +1009,11 @@
{
ec_slave_t *slave = fsm->slave;
- fsm->sii_state(fsm); // execute SII state machine
-
- if (fsm->sii_state == ec_fsm_error) {
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
+
+ if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
EC_ERR("Failed to write EEPROM contents to slave %i.\n",
slave->ring_position);
@@ -1033,13 +1024,12 @@
return;
}
- if (fsm->sii_state != ec_fsm_end) return;
-
fsm->sii_offset++;
if (fsm->sii_offset < slave->new_eeprom_size) {
- memcpy(fsm->sii_value, slave->new_eeprom_data + fsm->sii_offset, 2);
- fsm->sii_state = ec_fsm_sii_start_writing;
- fsm->sii_state(fsm); // execute immediately
+ ec_fsm_sii_write(&fsm->fsm_sii, slave, fsm->sii_offset,
+ slave->new_eeprom_data + fsm->sii_offset,
+ EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute immediately
return;
}
@@ -1268,8 +1258,7 @@
// Start fetching EEPROM size
fsm->sii_offset = 0x0040; // first category header
- fsm->sii_mode = 1;
- fsm->sii_state = ec_fsm_sii_start_reading;
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
fsm->slave_state = ec_fsm_slavescan_eeprom_size;
fsm->slave_state(fsm); // execute state immediately
}
@@ -1286,9 +1275,11 @@
uint16_t cat_type, cat_size;
// execute SII state machine
- fsm->sii_state(fsm);
-
- if (fsm->sii_state == ec_fsm_error) {
+ ec_fsm_sii_exec(&fsm->fsm_sii);
+
+ if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
EC_ERR("Failed to read EEPROM size of slave %i.\n",
@@ -1296,15 +1287,14 @@
return;
}
- if (fsm->sii_state != ec_fsm_end) return;
-
- cat_type = EC_READ_U16(fsm->sii_value);
- cat_size = EC_READ_U16(fsm->sii_value + 2);
+ cat_type = EC_READ_U16(fsm->fsm_sii.value);
+ cat_size = EC_READ_U16(fsm->fsm_sii.value + 2);
if (cat_type != 0xFFFF) { // not the last category
fsm->sii_offset += cat_size + 2;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->sii_state(fsm); // execute state immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
return;
}
@@ -1327,11 +1317,10 @@
// Start fetching EEPROM contents
+ fsm->slave_state = ec_fsm_slavescan_eeprom_data;
fsm->sii_offset = 0x0000;
- fsm->sii_mode = 1;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->slave_state = ec_fsm_slavescan_eeprom_data;
- fsm->slave_state(fsm); // execute state immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset, EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
}
/*****************************************************************************/
@@ -1346,9 +1335,11 @@
uint16_t *cat_word, cat_type, cat_size;
// execute SII state machine
- fsm->sii_state(fsm);
-
- if (fsm->sii_state == ec_fsm_error) {
+ ec_fsm_sii_exec(&fsm->fsm_sii);
+
+ if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+
+ if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->slave_state = ec_fsm_error;
EC_ERR("Failed to fetch EEPROM contents of slave %i.\n",
@@ -1356,22 +1347,23 @@
return;
}
- if (fsm->sii_state != ec_fsm_end) return;
-
// 2 words fetched
if (fsm->sii_offset + 2 <= slave->eeprom_size / 2) { // 2 words fit
- memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 4);
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 4);
}
else { // copy the last word
- memcpy(slave->eeprom_data + fsm->sii_offset * 2, fsm->sii_value, 2);
+ memcpy(slave->eeprom_data + fsm->sii_offset * 2,
+ fsm->fsm_sii.value, 2);
}
if (fsm->sii_offset + 2 < slave->eeprom_size / 2) {
// fetch the next 2 words
fsm->sii_offset += 2;
- fsm->sii_state = ec_fsm_sii_start_reading;
- fsm->sii_state(fsm); // execute state immediately
+ ec_fsm_sii_read(&fsm->fsm_sii, slave, fsm->sii_offset,
+ EC_FSM_SII_NODE);
+ ec_fsm_sii_exec(&fsm->fsm_sii); // execute state immediately
return;
}
@@ -1793,220 +1785,6 @@
}
/******************************************************************************
- * SII state machine
- *****************************************************************************/
-
-/**
- SII state: START READING.
- Starts reading the slave information interface.
-*/
-
-void ec_fsm_sii_start_reading(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- // initiate read operation
- if (fsm->sii_mode) {
- ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
- }
- else {
- ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
- }
-
- EC_WRITE_U8 (datagram->data, 0x00); // read-only access
- EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
- EC_WRITE_U16(datagram->data + 2, fsm->sii_offset);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->sii_state = ec_fsm_sii_read_check;
-}
-
-/*****************************************************************************/
-
-/**
- SII state: READ CHECK.
- Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
-*/
-
-void ec_fsm_sii_read_check(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->working_counter != 1) {
- EC_ERR("SII: Reception of read datagram failed.\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
-
- fsm->sii_start = datagram->cycles_sent;
- fsm->sii_check_once_more = 1;
-
- // issue check/fetch datagram
- if (fsm->sii_mode) {
- ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
- }
- else {
- ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
- }
-
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->sii_state = ec_fsm_sii_read_fetch;
-}
-
-/*****************************************************************************/
-
-/**
- SII state: READ FETCH.
- Fetches the result of an SII-read datagram.
-*/
-
-void ec_fsm_sii_read_fetch(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->working_counter != 1) {
- EC_ERR("SII: Reception of check/fetch datagram failed.\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
-
- // check "busy bit"
- if (EC_READ_U8(datagram->data + 1) & 0x81) {
- // still busy... timeout?
- if (datagram->cycles_received
- - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
- if (!fsm->sii_check_once_more) {
- EC_ERR("SII: Read timeout.\n");
- fsm->sii_state = ec_fsm_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->sii_check_once_more = 0;
- }
-
- // issue check/fetch datagram again
- if (fsm->sii_mode) {
- ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 10);
- }
- else {
- ec_datagram_aprd(datagram, fsm->slave->ring_position, 0x502, 10);
- }
- ec_master_queue_datagram(fsm->master, datagram);
- 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->sii_value, datagram->data + 6, 4);
- fsm->sii_state = ec_fsm_end;
-}
-
-/*****************************************************************************/
-
-/**
- SII state: START WRITING.
- Starts reading the slave information interface.
-*/
-
-void ec_fsm_sii_start_writing(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- // 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 + 1, 0x02); // request write operation
- EC_WRITE_U32(datagram->data + 2, fsm->sii_offset);
- memcpy(datagram->data + 6, fsm->sii_value, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->sii_state = ec_fsm_sii_write_check;
-}
-
-/*****************************************************************************/
-
-/**
- SII state: WRITE CHECK.
-*/
-
-void ec_fsm_sii_write_check(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->working_counter != 1) {
- EC_ERR("SII: Reception of write datagram failed.\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
-
- fsm->sii_start = datagram->cycles_sent;
- fsm->sii_check_once_more = 1;
-
- // issue check/fetch datagram
- ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
- ec_master_queue_datagram(fsm->master, datagram);
- fsm->sii_state = ec_fsm_sii_write_check2;
-}
-
-/*****************************************************************************/
-
-/**
- SII state: WRITE CHECK 2.
-*/
-
-void ec_fsm_sii_write_check2(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_datagram_t *datagram = &fsm->datagram;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED
- || datagram->working_counter != 1) {
- EC_ERR("SII: Reception of write check datagram failed.\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
-
- if (EC_READ_U8(datagram->data + 1) & 0x82) {
- // still busy... timeout?
- if (datagram->cycles_received
- - fsm->sii_start >= (cycles_t) 10 * cpu_khz) {
- if (!fsm->sii_check_once_more) {
- EC_ERR("SII: Write timeout.\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
- fsm->sii_check_once_more = 0;
- }
-
- // issue check/fetch datagram again
- ec_master_queue_datagram(fsm->master, datagram);
- return;
- }
-
- if (EC_READ_U8(datagram->data + 1) & 0x40) {
- EC_ERR("SII: Write operation failed!\n");
- fsm->sii_state = ec_fsm_error;
- return;
- }
-
- // success
- fsm->sii_state = ec_fsm_end;
-}
-
-/******************************************************************************
* state change state machine
*****************************************************************************/
--- a/master/fsm.h Fri Oct 20 15:35:15 2006 +0000
+++ b/master/fsm.h Mon Oct 23 12:59:42 2006 +0000
@@ -47,6 +47,8 @@
#include "slave.h"
#include "canopen.h"
+#include "fsm_sii.h"
+
/*****************************************************************************/
typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
@@ -65,15 +67,11 @@
unsigned int master_slaves_responding; /**< number of responding slaves */
ec_slave_state_t master_slave_states; /**< states of responding slaves */
unsigned int master_validation; /**< non-zero, if validation to do */
+ uint16_t sii_offset; /**< current offset for SII access */
void (*slave_state)(ec_fsm_t *); /**< slave state function */
- void (*sii_state)(ec_fsm_t *); /**< SII state function */
- uint16_t sii_offset; /**< input: offset in SII */
- unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
- uint8_t sii_value[4]; /**< raw SII value (32bit) */
- cycles_t sii_start; /**< sii start */
- uint8_t sii_check_once_more; /**< one more try after timeout */
+ ec_fsm_sii_t fsm_sii; /**< SII state machine */
void (*change_state)(ec_fsm_t *); /**< slave state change state function */
ec_slave_state_t change_new; /**< input: new state */
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_sii.c Mon Oct 23 12:59:42 2006 +0000
@@ -0,0 +1,393 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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"
+
+/*****************************************************************************/
+
+void ec_fsm_sii_start_reading(ec_fsm_sii_t *);
+void ec_fsm_sii_read_check(ec_fsm_sii_t *);
+void ec_fsm_sii_read_fetch(ec_fsm_sii_t *);
+void ec_fsm_sii_start_writing(ec_fsm_sii_t *);
+void ec_fsm_sii_write_check(ec_fsm_sii_t *);
+void ec_fsm_sii_write_check2(ec_fsm_sii_t *);
+void ec_fsm_sii_end(ec_fsm_sii_t *);
+void ec_fsm_sii_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 offset, /**< offset to read from */
+ ec_fsm_sii_addressing_t mode /**< addressing scheme */
+ )
+{
+ fsm->state = ec_fsm_sii_start_reading;
+ fsm->slave = slave;
+ fsm->offset = 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 offset, /**< offset to read from */
+ uint16_t *value, /**< pointer to 2 bytes of data */
+ ec_fsm_sii_addressing_t mode /**< addressing scheme */
+ )
+{
+ fsm->state = ec_fsm_sii_start_writing;
+ fsm->slave = slave;
+ fsm->offset = offset;
+ fsm->mode = mode;
+ memcpy(fsm->value, value, 2);
+}
+
+/*****************************************************************************/
+
+/**
+ Executes the SII state machine.
+*/
+
+void ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ fsm->state(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ Returns the running state of the master startup state machine.
+ \return non-zero if not terminated yet.
+*/
+
+int ec_fsm_sii_running(ec_fsm_sii_t *fsm /**< Finite state machine */)
+{
+ return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_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_end;
+}
+
+/******************************************************************************
+ * SII state machine
+ *****************************************************************************/
+
+/**
+ SII state: START READING.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_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_POSITION:
+ ec_datagram_apwr(datagram, fsm->slave->ring_position, 0x502, 4);
+ break;
+ case EC_FSM_SII_NODE:
+ ec_datagram_npwr(datagram, fsm->slave->station_address, 0x502, 4);
+ break;
+ }
+
+ EC_WRITE_U8 (datagram->data, 0x00); // read-only access
+ EC_WRITE_U8 (datagram->data + 1, 0x01); // request read operation
+ EC_WRITE_U16(datagram->data + 2, fsm->offset);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_sii_read_check;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: READ CHECK.
+ Checks, if the SII-read-datagram has been sent and issues a fetch datagram.
+*/
+
+void ec_fsm_sii_read_check(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ EC_ERR("SII: Reception of read datagram failed.\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+ fsm->check_once_more = 1;
+
+ // issue check/fetch datagram
+ 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;
+ }
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_sii_read_fetch;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: READ FETCH.
+ Fetches the result of an SII-read datagram.
+*/
+
+void ec_fsm_sii_read_fetch(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ EC_ERR("SII: Reception of check/fetch datagram failed.\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+
+ // check "busy bit"
+ if (EC_READ_U8(datagram->data + 1) & 0x81) {
+ // still busy... timeout?
+ if (datagram->cycles_received
+ - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
+ if (!fsm->check_once_more) {
+ EC_ERR("SII: Read timeout.\n");
+ fsm->state = ec_fsm_sii_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;
+ }
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ 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_end;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: START WRITING.
+ Starts reading the slave information interface.
+*/
+
+void ec_fsm_sii_start_writing(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ // 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 + 1, 0x02); // request write operation
+ EC_WRITE_U32(datagram->data + 2, fsm->offset);
+ memcpy(datagram->data + 6, fsm->value, 2);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_sii_write_check;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: WRITE CHECK.
+*/
+
+void ec_fsm_sii_write_check(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ EC_ERR("SII: Reception of write datagram failed.\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+
+ fsm->cycles_start = datagram->cycles_sent;
+ fsm->check_once_more = 1;
+
+ // issue check/fetch datagram
+ ec_datagram_nprd(datagram, fsm->slave->station_address, 0x502, 2);
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ fsm->state = ec_fsm_sii_write_check2;
+}
+
+/*****************************************************************************/
+
+/**
+ SII state: WRITE CHECK 2.
+*/
+
+void ec_fsm_sii_write_check2(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = fsm->datagram;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ EC_ERR("SII: Reception of write check datagram failed.\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+
+ if (EC_READ_U8(datagram->data + 1) & 0x82) {
+ // still busy... timeout?
+ if (datagram->cycles_received
+ - fsm->cycles_start >= (cycles_t) 10 * cpu_khz) {
+ if (!fsm->check_once_more) {
+ EC_ERR("SII: Write timeout.\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+ fsm->check_once_more = 0;
+ }
+
+ // issue check/fetch datagram again
+ ec_master_queue_datagram(fsm->slave->master, datagram);
+ return;
+ }
+
+ if (EC_READ_U8(datagram->data + 1) & 0x40) {
+ EC_ERR("SII: Write operation failed!\n");
+ fsm->state = ec_fsm_sii_error;
+ return;
+ }
+
+ // success
+ fsm->state = ec_fsm_sii_end;
+}
+
+/*****************************************************************************/
+
+/**
+ State: ERROR.
+*/
+
+void ec_fsm_sii_error(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ State: END.
+*/
+
+void ec_fsm_sii_end(ec_fsm_sii_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_sii.h Mon Oct 23 12:59:42 2006 +0000
@@ -0,0 +1,95 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 structure.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_SII__
+#define __EC_FSM_SII__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+typedef enum
+{
+ EC_FSM_SII_POSITION,
+ EC_FSM_SII_NODE
+}
+ec_fsm_sii_addressing_t;
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */
+
+/**
+ Slave information interface FSM.
+*/
+
+struct ec_fsm_sii
+{
+ ec_slave_t *slave; /**< slave the FSM runs on */
+ ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+ void (*state)(ec_fsm_sii_t *); /**< SII state function */
+ uint16_t offset; /**< input: offset in SII */
+ ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */
+ uint8_t value[4]; /**< raw SII value (32bit) */
+ cycles_t cycles_start; /**< start timestamp */
+ uint8_t check_once_more; /**< one more try after timeout */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
+void ec_fsm_sii_clear(ec_fsm_sii_t *);
+
+void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
+ uint16_t, ec_fsm_sii_addressing_t);
+void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, uint16_t *,
+ ec_fsm_sii_addressing_t);
+
+void ec_fsm_sii_exec(ec_fsm_sii_t *);
+int ec_fsm_sii_running(ec_fsm_sii_t *);
+int ec_fsm_sii_success(ec_fsm_sii_t *);
+
+/*****************************************************************************/
+
+#endif