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SII writing workaround for some slaves, that don't respond correctly; 

improved SII code.
This commit is contained in:
Florian Pose 2007-09-24 08:56:50 +00:00
parent 59d245a367
commit 723a67e6f2
4 changed files with 90 additions and 54 deletions
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2
NEWS
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@ -6,6 +6,8 @@ $Id$
Changes in version 1.3.2:
* Implemented SII writing workaround for some slaves, that don't respond
correctly.
* Read dynamic PDO mapping from SDO dictionary.
* Improved handling for spontaneous AL state changes.
* Master takes mailbox sync manager configurations from EEPROM words

7
TODO
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@ -7,15 +7,16 @@ $Id$
-------------------------------------------------------------------------------
* Future features:
- Interface/buffers for asynchronous domain IO.
- Distributed clocks.
- Redundancy with 2 network adapters.
- Mailbox handler
- Support slaves, that don't support the LRW datagram, only LRD/LWR.
- PDO reading in IDLE mode.
- Replace Sysfs interface with cdev and user space program.
- Interface/buffers for asynchronous domain IO.
* Smaller issues:
- Datagram debugging flag.
- Clear sync managers in INIT.
- Simplify FSMs with <state>_enter() functions.
- Output intermediate results during lsec.
@ -30,12 +31,12 @@ $Id$
- Interrupt master state machines state scan for other jobs.
- Master state machine, slave configuration: Do not check every slave on
a cycle.
- Do only execute one EoE handler per EoE cycle.
- Only execute one EoE handler per EoE cycle.
* Less important issues:
- Implement all EtherCAT datagram types.
- File access over EtherCAT (FoE).
- Allow VLAN tagging.
- Determine number of frames the NIC can handle.
- Determine number of frames, the NIC can handle.
-------------------------------------------------------------------------------

133
master/fsm_sii.c
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@ -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_clear(ec_fsm_sii_t *fsm /**< finite 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 */
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_read(ec_fsm_sii_t *fsm, /**< finite 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 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 @@ void ec_fsm_sii_state_start_reading(
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;
}
@ -256,46 +267,36 @@ void ec_fsm_sii_state_read_fetch(
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_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));
#ifdef SII_DEBUG
EC_DBG("checking SII read state:\n");
ec_print_data(datagram->data, 10);
#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;
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;
}
#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
// 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) 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;
return;
}
}
// issue check/fetch datagram again
fsm->retries = EC_FSM_RETRIES;
return;
}
// SII value received.
memcpy(fsm->value, datagram->data + 6, 4);
@ -306,7 +307,7 @@ void ec_fsm_sii_state_read_fetch(
/**
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 @@ void ec_fsm_sii_state_start_writing(
// 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 @@ void ec_fsm_sii_state_write_check(
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 @@ void ec_fsm_sii_state_write_check2(
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;
}

2
master/fsm_sii.h
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@ -70,7 +70,7 @@ struct ec_fsm_sii
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_sii_t *); /**< SII state function */
uint16_t offset; /**< input: offset in SII */
uint16_t word_offset; /**< input: word 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 */