--- a/master/fsm_coe_map.c Thu Jul 31 09:30:38 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,460 +0,0 @@
-/******************************************************************************
- *
- * $Id$
- *
- * 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 information state machines.
-*/
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "master.h"
-#include "mailbox.h"
-#include "sdo_request.h"
-#include "fsm_coe_map.h"
-
-/*****************************************************************************/
-
-void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
-
-void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
-
-void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
-void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
-
-/*****************************************************************************/
-
-/**
- Constructor.
-*/
-
-void ec_fsm_coe_map_init(
- ec_fsm_coe_map_t *fsm, /**< finite state machine */
- ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
- )
-{
- fsm->fsm_coe = fsm_coe;
- fsm->state = NULL;
- ec_sdo_request_init(&fsm->request);
- ec_pdo_list_init(&fsm->pdos);
-}
-
-/*****************************************************************************/
-
-/**
- Destructor.
-*/
-
-void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
-{
- ec_sdo_request_clear(&fsm->request);
- ec_pdo_list_clear(&fsm->pdos);
-}
-
-/*****************************************************************************/
-
-/**
- Starts to upload an Sdo from a slave.
-*/
-
-void ec_fsm_coe_map_start(
- ec_fsm_coe_map_t *fsm, /**< finite state machine */
- ec_slave_t *slave /**< EtherCAT slave */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_coe_map_state_start;
-}
-
-/*****************************************************************************/
-
-/**
- Executes the current state of the state machine.
- \return false, if state machine has terminated
-*/
-
-int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
-{
- fsm->state(fsm);
-
- return fsm->state != ec_fsm_coe_map_state_end
- && fsm->state != ec_fsm_coe_map_state_error;
-}
-
-/*****************************************************************************/
-
-/**
- Returns, if the state machine terminated with success.
- \return non-zero if successful.
-*/
-
-int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
-{
- return fsm->state == ec_fsm_coe_map_state_end;
-}
-
-/******************************************************************************
- * state functions
- *****************************************************************************/
-
-/** Start reading Pdo assignment.
- */
-void ec_fsm_coe_map_state_start(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- // read Pdo assignment for first sync manager not reserved for mailbox
- fsm->sync_index = 1; // next is 2
- ec_fsm_coe_map_action_next_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/** Read Pdo assignment of next sync manager.
- */
-void ec_fsm_coe_map_action_next_sync(
- ec_fsm_coe_map_t *fsm /**< Finite state machine */
- )
-{
- ec_slave_t *slave = fsm->slave;
-
- fsm->sync_index++;
-
- for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
- if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
- continue;
-
- fsm->sync_sdo_index = 0x1C10 + fsm->sync_index;
-
- if (slave->master->debug_level)
- EC_DBG("Reading Pdo assignment of SM%u of slave %u.\n",
- fsm->sync_index, slave->ring_position);
-
- ec_pdo_list_clear_pdos(&fsm->pdos);
-
- ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
- ecrt_sdo_request_read(&fsm->request);
- fsm->state = ec_fsm_coe_map_state_pdo_count;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- if (slave->master->debug_level)
- EC_DBG("Reading of Pdo assignment finished for slave %u.\n",
- slave->ring_position);
-
- fsm->state = ec_fsm_coe_map_state_end;
-}
-
-/*****************************************************************************/
-
-/**
- * Count assigned Pdos.
- */
-
-void ec_fsm_coe_map_state_pdo_count(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- if (fsm->request.data_size != sizeof(uint8_t)) {
- EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
- fsm->sync_subindices = EC_READ_U8(fsm->request.data);
-
- if (fsm->slave->master->debug_level)
- EC_DBG("%u Pdos assigned.\n", fsm->sync_subindices);
-
- // read first Pdo
- fsm->sync_subindex = 1;
- ec_fsm_coe_map_action_next_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Read next Pdo.
- */
-
-void ec_fsm_coe_map_action_next_pdo(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (fsm->sync_subindex <= fsm->sync_subindices) {
- ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
- fsm->sync_subindex);
- ecrt_sdo_request_read(&fsm->request);
- fsm->state = ec_fsm_coe_map_state_pdo;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- // finished reading Pdo assignment/mapping
-
- if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- fsm->sync->assign_source = EC_ASSIGN_COE;
- ec_pdo_list_clear_pdos(&fsm->pdos);
-
- // next sync manager
- ec_fsm_coe_map_action_next_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Fetch Pdo information.
- */
-
-void ec_fsm_coe_map_state_pdo(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read assigned Pdo index from slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- if (fsm->request.data_size != sizeof(uint16_t)) {
- EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- if (!(fsm->pdo = (ec_pdo_t *)
- kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate Pdo.\n");
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- ec_pdo_init(fsm->pdo);
- fsm->pdo->index = EC_READ_U16(fsm->request.data);
- fsm->pdo->sync_index = fsm->sync_index;
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Pdo 0x%04X.\n", fsm->pdo->index);
-
- list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
-
- ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
- ecrt_sdo_request_read(&fsm->request);
- fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/**
- * Read number of mapped Pdo entries.
- */
-
-void ec_fsm_coe_map_state_pdo_entry_count(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of mapped Pdo entries from slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- if (fsm->request.data_size != sizeof(uint8_t)) {
- EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
- fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
-
- if (fsm->slave->master->debug_level)
- EC_DBG("%u Pdo entries mapped.\n", fsm->pdo_subindices);
-
- // read first Pdo entry
- fsm->pdo_subindex = 1;
- ec_fsm_coe_map_action_next_pdo_entry(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Read next Pdo entry.
- */
-
-void ec_fsm_coe_map_action_next_pdo_entry(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (fsm->pdo_subindex <= fsm->pdo_subindices) {
- ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
- ecrt_sdo_request_read(&fsm->request);
- fsm->state = ec_fsm_coe_map_state_pdo_entry;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- // next Pdo
- fsm->sync_subindex++;
- ec_fsm_coe_map_action_next_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/**
- * Read Pdo entry information.
- */
-
-void ec_fsm_coe_map_state_pdo_entry(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read mapped Pdo entry from slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- if (fsm->request.data_size != sizeof(uint32_t)) {
- EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
- "from slave %u.\n", fsm->request.data_size,
- fsm->request.index, fsm->request.subindex,
- fsm->slave->ring_position);
- fsm->state = ec_fsm_coe_map_state_error;
- } else {
- uint32_t pdo_entry_info;
- ec_pdo_entry_t *pdo_entry;
-
- pdo_entry_info = EC_READ_U32(fsm->request.data);
-
- if (!(pdo_entry = (ec_pdo_entry_t *)
- kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate Pdo entry.\n");
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
-
- ec_pdo_entry_init(pdo_entry);
- pdo_entry->index = pdo_entry_info >> 16;
- pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
- pdo_entry->bit_length = pdo_entry_info & 0xFF;
-
- if (!pdo_entry->index && !pdo_entry->subindex) {
- if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
- ec_pdo_entry_clear(pdo_entry);
- kfree(pdo_entry);
- fsm->state = ec_fsm_coe_map_state_error;
- return;
- }
- }
-
- if (fsm->slave->master->debug_level) {
- EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n",
- pdo_entry->index, pdo_entry->subindex,
- pdo_entry->bit_length,
- pdo_entry->name ? pdo_entry->name : "???");
- }
-
- // next Pdo entry
- list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
- fsm->pdo_subindex++;
- ec_fsm_coe_map_action_next_pdo_entry(fsm);
- }
-}
-
-/*****************************************************************************/
-
-/**
- State: ERROR.
-*/
-
-void ec_fsm_coe_map_state_error(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
-}
-
-/*****************************************************************************/
-
-/**
- State: END.
-*/
-
-void ec_fsm_coe_map_state_end(
- ec_fsm_coe_map_t *fsm /**< finite state machine */
- )
-{
-}
-
-/*****************************************************************************/