--- a/master/fsm_pdo_assign.c Thu Jul 31 09:30:38 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,389 +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 assignment state machine.
- */
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "master.h"
-#include "mailbox.h"
-#include "slave_config.h"
-
-#include "fsm_pdo_assign.h"
-
-/*****************************************************************************/
-
-void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);
-
-void ec_fsm_pdo_assign_next_sync(ec_fsm_pdo_assign_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_pdo_assign_init(
- ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
- ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
- )
-{
- fsm->fsm_coe = fsm_coe;
- ec_sdo_request_init(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Destructor.
- */
-void ec_fsm_pdo_assign_clear(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- ec_sdo_request_clear(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Start Pdo assignment state machine.
- */
-void ec_fsm_pdo_assign_start(
- ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
- ec_slave_t *slave /**< slave to configure */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_pdo_assign_state_start;
-}
-
-/*****************************************************************************/
-
-/** Get running state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_assign_running(
- const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- return fsm->state != ec_fsm_pdo_assign_state_end
- && fsm->state != ec_fsm_pdo_assign_state_error;
-}
-
-/*****************************************************************************/
-
-/** Executes the current state of the state machine.
- *
- * If the state machine's datagram is not sent or received yet, the execution
- * of the state machine is delayed to the next cycle.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_assign_exec(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- fsm->state(fsm);
- return ec_fsm_pdo_assign_running(fsm);
-}
-
-/*****************************************************************************/
-
-/** Get execution result.
- *
- * \return true, if the state machine terminated gracefully
- */
-int ec_fsm_pdo_assign_success(
- const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- return fsm->state == ec_fsm_pdo_assign_state_end;
-}
-
-/******************************************************************************
- * State functions.
- *****************************************************************************/
-
-/** Start Pdo assignment.
- */
-void ec_fsm_pdo_assign_state_start(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- if (!fsm->slave->config) {
- fsm->state = ec_fsm_pdo_assign_state_end;
- return;
- }
-
- fsm->sync_index = 0xff; // next is zero
- fsm->num_configured_syncs = 0;
- ec_fsm_pdo_assign_next_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/** Process Pdo assignment of next sync manager.
- */
-void ec_fsm_pdo_assign_next_sync(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- fsm->sync_index++;
-
- for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
- fsm->pdos = &fsm->slave->config->sync_configs[fsm->sync_index].pdos;
-
- if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
- if (!list_empty(&fsm->pdos->list)) {
- EC_WARN("Slave %u does not provide a configuration "
- "for SM%u!\n", fsm->slave->ring_position,
- fsm->sync_index);
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
- continue;
- }
-
- // check if assignment has to be altered
- if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
- continue;
-
- if (fsm->slave->master->debug_level) {
- EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
- EC_DBG("Currently assigned Pdos: ");
- ec_pdo_list_print(&fsm->sync->pdos);
- printk("\n");
- EC_DBG("Pdos to assign: ");
- ec_pdo_list_print(fsm->pdos);
- printk("\n");
- }
-
- // Pdo assignment has to be changed. Does the slave support this?
- if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
- || (fsm->slave->sii.has_general
- && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
- EC_WARN("Slave %u does not support assigning Pdos!\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
-
- fsm->num_configured_syncs++;
-
- if (ec_sdo_request_alloc(&fsm->request, 2)) {
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
-
- // set mapped Pdo count to zero
- EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
- fsm->request.data_size = 1;
- ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
- ecrt_sdo_request_write(&fsm->request);
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting Pdo count to zero.\n");
-
- fsm->state = ec_fsm_pdo_assign_state_zero_count;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- if (fsm->slave->master->debug_level && !fsm->num_configured_syncs)
- EC_DBG("Pdo assignments are already configured correctly.\n");
- fsm->state = ec_fsm_pdo_assign_state_end;
-}
-
-/*****************************************************************************/
-
-/** Assign next Pdo.
- */
-ec_pdo_t *ec_fsm_pdo_assign_next_pdo(
- const ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
- const struct list_head *list /**< current Pdo list item */
- )
-{
- list = list->next;
- if (list == &fsm->pdos->list)
- return NULL; // no next Pdo
- return list_entry(list, ec_pdo_t, list);
-}
-
-/*****************************************************************************/
-
-/** Assign a Pdo.
- */
-void ec_fsm_pdo_assign_add_pdo(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
- fsm->request.data_size = 2;
- ec_sdo_request_address(&fsm->request,
- 0x1C10 + fsm->sync_index, fsm->pdo_count);
- ecrt_sdo_request_write(&fsm->request);
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
- fsm->pdo->index, fsm->pdo_count);
-
- fsm->state = ec_fsm_pdo_assign_state_add_pdo;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Set the number of assigned Pdos to zero.
- */
-void ec_fsm_pdo_assign_state_zero_count(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
-
- // assign all Pdos belonging to the current sync manager
-
- // find first Pdo
- if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
- if (fsm->slave->master->debug_level)
- EC_DBG("No Pdos to assign.\n");
- ec_fsm_pdo_assign_next_sync(fsm);
- return;
- }
-
- // assign first Pdo
- fsm->pdo_count = 1;
- ec_fsm_pdo_assign_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Add a Pdo to the sync managers Pdo assignment.
- */
-void ec_fsm_pdo_assign_state_add_pdo(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to assign Pdo 0x%04X to position %u in SM%u.\n",
- fsm->pdo->index, fsm->pdo_count, fsm->sync_index);
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
-
- // find next Pdo
- if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {
- // no more Pdos to map. write Pdo count
- EC_WRITE_U8(fsm->request.data, fsm->pdo_count);
- fsm->request.data_size = 1;
- ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
- ecrt_sdo_request_write(&fsm->request);
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of assigned Pdos to %u.\n",
- fsm->pdo_count);
-
- fsm->state = ec_fsm_pdo_assign_state_pdo_count;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- // add next Pdo to assignment
- fsm->pdo_count++;
- ec_fsm_pdo_assign_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Set the number of assigned Pdos.
- */
-void ec_fsm_pdo_assign_state_pdo_count(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
- if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
- if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_WARN("Failed to set number of assigned Pdos for SM%u.\n",
- fsm->sync_index);
- fsm->state = ec_fsm_pdo_assign_state_error;
- return;
- }
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Pdo assignment successful for SM%u.\n", fsm->sync_index);
-
- // assignment for this sync manager finished
- ec_fsm_pdo_assign_next_sync(fsm);
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_pdo_assign_state_error(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_pdo_assign_state_end(
- ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
- )
-{
-}
-
-/*****************************************************************************/