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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/** \file

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 * EtherCAT Pdo assignment state machine.

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 */

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/*****************************************************************************/

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#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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#include "fsm_pdo_assign.h"

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/*****************************************************************************/

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void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);

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void ec_fsm_pdo_assign_next_sync(ec_fsm_pdo_assign_t *);

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/*****************************************************************************/

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    60

/** Constructor.

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 */

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void ec_fsm_pdo_assign_init(

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        ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */

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        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */

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        )

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{

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    fsm->fsm_coe = fsm_coe;

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    ec_sdo_request_init(&fsm->request);

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}

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/*****************************************************************************/

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    73

/** Destructor.

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 */

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void ec_fsm_pdo_assign_clear(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    ec_sdo_request_clear(&fsm->request);

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}

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/*****************************************************************************/

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/** Start Pdo assignment state machine.

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 */

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void ec_fsm_pdo_assign_start(

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        ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */

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        ec_slave_t *slave /**< slave to configure */

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        )

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{

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    fsm->slave = slave;

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    fsm->state = ec_fsm_pdo_assign_state_start;

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}

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/*****************************************************************************/

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/** Get running state.

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 *

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_pdo_assign_running(

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        const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    return fsm->state != ec_fsm_pdo_assign_state_end

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        && fsm->state != ec_fsm_pdo_assign_state_error;

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}

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/*****************************************************************************/

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   111

/** Executes the current state of the state machine.

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 *

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 * If the state machine's datagram is not sent or received yet, the execution

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 * of the state machine is delayed to the next cycle.

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 *

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 * \return false, if state machine has terminated

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 */

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int ec_fsm_pdo_assign_exec(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    fsm->state(fsm);

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    return ec_fsm_pdo_assign_running(fsm);

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}

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/*****************************************************************************/

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   128

/** Get execution result.

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 *

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 * \return true, if the state machine terminated gracefully

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 */

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int ec_fsm_pdo_assign_success(

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        const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    return fsm->state == ec_fsm_pdo_assign_state_end;

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}

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/******************************************************************************

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 * State functions.

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 *****************************************************************************/

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/** Start Pdo assignment.

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 */

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void ec_fsm_pdo_assign_state_start(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    if (!fsm->slave->config) {

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        fsm->state = ec_fsm_pdo_assign_state_end;

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        return;

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    }

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    fsm->sync_index = 0xff; // next is zero

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    fsm->num_configured_syncs = 0;

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    ec_fsm_pdo_assign_next_sync(fsm);

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}

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/*****************************************************************************/

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   161

/** Process Pdo assignment of next sync manager.

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 */

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void ec_fsm_pdo_assign_next_sync(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    fsm->sync_index++;

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    for (; fsm->sync_index < EC_MAX_SYNCS; fsm->sync_index++) {

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        fsm->pdos = &fsm->slave->config->sync_configs[fsm->sync_index].pdos;

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        if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {

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            if (!list_empty(&fsm->pdos->list)) {

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                EC_ERR("Slave %u does not provide a configuration for sync "

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                        "manager %u!\n", fsm->slave->ring_position,

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                        fsm->sync_index);

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                fsm->state = ec_fsm_pdo_assign_state_error;

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                return;

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            }

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            continue;

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        }

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        // check if assignment has to be altered

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        if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))

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            continue;

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        if (fsm->slave->master->debug_level) {

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            EC_DBG("Pdo assignment of SM%u differs in slave %u:\n",

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                    fsm->sync_index, fsm->slave->ring_position);

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            EC_DBG("Currently assigned Pdos: ");

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            ec_pdo_list_print(&fsm->sync->pdos);

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            printk("\n");

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            EC_DBG("Pdos to assign: ");

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            ec_pdo_list_print(fsm->pdos);

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            printk("\n");

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        }

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        // Pdo assignment has to be changed. Does the slave support this?

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        if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)

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                || (fsm->slave->sii.has_general

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                    && !fsm->slave->sii.coe_details.enable_pdo_assign)) {

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            EC_ERR("Slave %u does not support assigning Pdos!\n",

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                    fsm->slave->ring_position);

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            fsm->state = ec_fsm_pdo_assign_state_error;

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            return;

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        }

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        fsm->num_configured_syncs++;

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        if (fsm->slave->master->debug_level) {

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            EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",

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                    fsm->sync_index, fsm->slave->ring_position);

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        }

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        if (ec_sdo_request_alloc(&fsm->request, 2)) {

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            fsm->state = ec_fsm_pdo_assign_state_error;

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            return;

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        }

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        // set mapped Pdo count to zero

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        EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped

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        fsm->request.data_size = 1;

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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);

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        ecrt_sdo_request_write(&fsm->request);

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        if (fsm->slave->master->debug_level)

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            EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync_index);

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        fsm->state = ec_fsm_pdo_assign_state_zero_count;

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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

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        return;

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    }

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    if (fsm->slave->master->debug_level && !fsm->num_configured_syncs)

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        EC_DBG("Pdo assignments of slave %u are already configured"

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                " correctly.\n", fsm->slave->ring_position);

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    fsm->state = ec_fsm_pdo_assign_state_end;

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}

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/*****************************************************************************/

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/** Assign next Pdo.

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 */

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ec_pdo_t *ec_fsm_pdo_assign_next_pdo(

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        const ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */

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        const struct list_head *list /**< current Pdo list item */

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        )

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{

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    list = list->next; 

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    if (list == &fsm->pdos->list)

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        return NULL; // no next Pdo

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    return list_entry(list, ec_pdo_t, list);

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}

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/*****************************************************************************/

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/** Assign a Pdo.

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 */

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void ec_fsm_pdo_assign_add_pdo(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    EC_WRITE_U16(fsm->request.data, fsm->pdo->index);

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    fsm->request.data_size = 2;

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    ec_sdo_request_address(&fsm->request,

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            0x1C10 + fsm->sync_index, fsm->pdo_count);

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    ecrt_sdo_request_write(&fsm->request);

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    if (fsm->slave->master->debug_level)

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        EC_DBG("Assigning Pdo 0x%04X at position %u.\n",

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                fsm->pdo->index, fsm->pdo_count);

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    fsm->state = ec_fsm_pdo_assign_state_add_pdo;

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    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

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    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

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}

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/*****************************************************************************/

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/** Set the number of assigned Pdos to zero.

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 */

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void ec_fsm_pdo_assign_state_zero_count(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {

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        EC_ERR("Failed to clear Pdo assignment of slave %u.\n",

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                fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_assign_state_error;

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        return;

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    }

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    // assign all Pdos belonging to the current sync manager

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    // find first Pdo

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    if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {

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        if (fsm->slave->master->debug_level)

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            EC_DBG("No Pdos to assign for SM%u of slave %u.\n",

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                    fsm->sync_index, fsm->slave->ring_position);

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        ec_fsm_pdo_assign_next_sync(fsm);

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        return;

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    }

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    // assign first Pdo

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    fsm->pdo_count = 1;

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    ec_fsm_pdo_assign_add_pdo(fsm);

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}

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/*****************************************************************************/

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/** Add a Pdo to the sync managers Pdo assignment.

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 */

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void ec_fsm_pdo_assign_state_add_pdo(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

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        )

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{

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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {

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        EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",

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                fsm->pdo->index, fsm->sync_index, fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_assign_state_error;

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        return;

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    }

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    // find next Pdo

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    if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {

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        // no more Pdos to map. write Pdo count

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        EC_WRITE_U8(fsm->request.data, fsm->pdo_count);

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        fsm->request.data_size = 1;

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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);

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        ecrt_sdo_request_write(&fsm->request);

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        if (fsm->slave->master->debug_level)

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            EC_DBG("Setting number of assigned Pdos to %u.\n",

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                    fsm->pdo_count);

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        fsm->state = ec_fsm_pdo_assign_state_pdo_count;

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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);

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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

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        return;

   342

    }

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    // add next Pdo to assignment

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    fsm->pdo_count++;

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    ec_fsm_pdo_assign_add_pdo(fsm);

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}

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/*****************************************************************************/

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   351

/** Set the number of assigned Pdos.

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 */

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void ec_fsm_pdo_assign_state_pdo_count(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

   355

        )

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{

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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;

   358

   359

    if (!ec_fsm_coe_success(fsm->fsm_coe)) {

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        EC_ERR("Failed to set number of assigned Pdos for slave %u.\n",

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                fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_assign_state_error;

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        return;

   364

    }

   365

   366

    if (fsm->slave->master->debug_level)

   367

        EC_DBG("Successfully configured Pdo assignment for SM%u of"

   368

                " slave %u.\n", fsm->sync_index, fsm->slave->ring_position);

   369

   370

    // assignment for this sync manager finished

   371

    ec_fsm_pdo_assign_next_sync(fsm);

   372

}

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   374

/******************************************************************************

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 * Common state functions

   376

 *****************************************************************************/

   377

   378

/** State: ERROR.

   379

 */

   380

void ec_fsm_pdo_assign_state_error(

   381

        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

   382

        )

   383

{

   384

}

   385

   386

/*****************************************************************************/

   387

   388

/** State: END.

   389

 */

   390

void ec_fsm_pdo_assign_state_end(

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        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */

   392

        )

   393

{

   394

}

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/*****************************************************************************/