--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_config.c Tue Feb 19 14:06:50 2008 +0000
@@ -0,0 +1,369 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 Pdo configuration state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
+
+void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_pdo_config_init(
+ ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */
+ ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
+ )
+{
+ fsm->fsm_coe = fsm_coe;
+ fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_pdo_config_clear(
+ ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/** Start Pdo configuration state machine.
+ */
+void ec_fsm_pdo_config_start(
+ ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+ ec_slave_t *slave /**< slave to configure */
+ )
+{
+ fsm->slave = slave;
+ fsm->state = ec_fsm_pdo_config_state_start;
+}
+
+/*****************************************************************************/
+
+/** Get running state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_running(
+ const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ return fsm->state != ec_fsm_pdo_config_state_end
+ && fsm->state != ec_fsm_pdo_config_state_error;
+}
+
+/*****************************************************************************/
+
+/** Executes the current state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_exec(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ fsm->state(fsm);
+ return ec_fsm_pdo_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/** Get execution result.
+ *
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_pdo_config_success(
+ const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ return fsm->state == ec_fsm_pdo_config_state_end;
+}
+
+/******************************************************************************
+ * State functions.
+ *****************************************************************************/
+
+/** Start Pdo configuration.
+ */
+void ec_fsm_pdo_config_state_start(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ if (!fsm->slave->config) {
+ fsm->state = ec_fsm_pdo_config_state_end;
+ return;
+ }
+
+ fsm->pdo = NULL;
+ ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process configuration of next Pdo.
+ */
+void ec_fsm_pdo_config_next_pdo(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ ec_direction_t dir;
+ const ec_pdo_mapping_t *map;
+ const ec_pdo_t *pdo, *mapped_pdo;
+
+ for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
+ map = &fsm->slave->config->mapping[dir];
+
+ list_for_each_entry(pdo, &map->pdos, list) {
+ if (fsm->pdo) {
+ if (pdo == fsm->pdo)
+ fsm->pdo = NULL;
+ } else {
+ if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
+ if (ec_pdo_equal_entries(pdo, mapped_pdo))
+ continue; // Pdo configured correctly
+
+ fsm->pdo = pdo;
+ goto configure;
+ }
+ }
+ }
+
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("No more Pdos to configure for slave %u.\n",
+ fsm->slave->ring_position);
+ }
+ fsm->state = ec_fsm_pdo_config_state_end;
+ return;
+
+configure:
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
+ fsm->pdo->index, fsm->slave->ring_position);
+ }
+
+ // set mapped PDO count to zero
+ fsm->sdodata.index = fsm->pdo->index;
+ fsm->sdodata.subindex = 0; // number of configured entries
+ EC_WRITE_U8(&fsm->sdo_value, 0);
+ fsm->sdodata.size = 1;
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
+ fsm->pdo->index);
+
+ fsm->state = ec_fsm_pdo_config_state_zero_count;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Process next Pdo entry.
+ */
+ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
+ const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+ const struct list_head *list /**< current entry list item */
+ )
+{
+ list = list->next;
+ if (list == &fsm->pdo->entries)
+ return NULL; // no next entry
+ return list_entry(list, ec_pdo_entry_t, list);
+}
+
+/*****************************************************************************/
+
+/** Starts to add a Pdo entry.
+ */
+void ec_fsm_pdo_config_add_entry(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
+ )
+{
+ uint32_t value;
+
+ fsm->sdodata.subindex = fsm->entry_count;
+ value = fsm->entry->index << 16
+ | fsm->entry->subindex << 8 | fsm->entry->bit_length;
+ EC_WRITE_U32(&fsm->sdo_value, value);
+ fsm->sdodata.size = 4;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Configuring Pdo entry %08X at position %u.\n",
+ value, fsm->entry_count);
+
+ fsm->state = ec_fsm_pdo_config_state_add_entry;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Set the number of configured entries to zero.
+ */
+void ec_fsm_pdo_config_state_zero_count(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to clear Pdo configuration for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_config_state_error;
+ return;
+ }
+
+ // find first entry
+ if (!(fsm->entry =
+ ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
+ if (fsm->slave->master->debug_level)
+ EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
+ fsm->pdo->index, fsm->slave->ring_position);
+ ec_fsm_pdo_config_next_pdo(fsm);
+ return;
+ }
+
+ // add first entry
+ fsm->entry_count = 1;
+ ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo entry.
+ */
+void ec_fsm_pdo_config_state_add_entry(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
+ fsm->entry->index, fsm->entry->subindex,
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_config_state_error;
+ return;
+ }
+
+ // find next entry
+ if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
+ // No more entries to add. Write entry count.
+ fsm->sdodata.subindex = 0;
+ EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count);
+ fsm->sdodata.size = 1;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting number of Pdo entries to %u.\n",
+ fsm->entry_count);
+
+ fsm->state = ec_fsm_pdo_config_state_entry_count;
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // add next entry
+ fsm->entry_count++;
+ ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Set the number of entries.
+ */
+void ec_fsm_pdo_config_state_entry_count(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_ERR("Failed to set number of entries for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_config_state_error;
+ return;
+ }
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
+ fsm->pdo->index, fsm->slave->ring_position);
+
+ ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_pdo_config_state_error(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_pdo_config_state_end(
+ ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+ )
+{
+}
+
+/*****************************************************************************/