--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_entry.c Thu Jul 31 16:13:29 2008 +0000
@@ -0,0 +1,500 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 mapping state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_pdo_entry.h"
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *);
+
+void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *);
+
+void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *);
+
+void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_pdo_entry_init(
+ ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping 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_entry_clear(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ ec_sdo_request_clear(&fsm->request);
+}
+
+/*****************************************************************************/
+
+/** Start reading a Pdo's entries.
+ */
+void ec_fsm_pdo_entry_start_reading(
+ ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ ec_slave_t *slave, /**< slave to configure */
+ ec_pdo_t *pdo /**< Pdo to read entries for. */
+ )
+{
+ fsm->slave = slave;
+ fsm->target_pdo = pdo;
+
+ ec_pdo_clear_entries(fsm->target_pdo);
+
+ fsm->state = ec_fsm_pdo_entry_read_state_start;
+}
+
+/*****************************************************************************/
+
+/** Start Pdo mapping state machine.
+ */
+void ec_fsm_pdo_entry_start_configuration(
+ ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ ec_slave_t *slave, /**< slave to configure */
+ const ec_pdo_t *pdo /**< Pdo with the desired entries. */
+ )
+{
+ fsm->slave = slave;
+ fsm->source_pdo = pdo;
+
+ fsm->state = ec_fsm_pdo_entry_conf_state_start;
+}
+
+/*****************************************************************************/
+
+/** Get running state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_entry_running(
+ const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ return fsm->state != ec_fsm_pdo_entry_state_end
+ && fsm->state != ec_fsm_pdo_entry_state_error;
+}
+
+/*****************************************************************************/
+
+/** Executes the current state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_entry_exec(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ fsm->state(fsm);
+ return ec_fsm_pdo_entry_running(fsm);
+}
+
+/*****************************************************************************/
+
+/** Get execution result.
+ *
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_pdo_entry_success(
+ const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ return fsm->state == ec_fsm_pdo_entry_state_end;
+}
+
+/******************************************************************************
+ * Reading state functions.
+ *****************************************************************************/
+
+/** Request reading the number of mapped Pdo entries.
+ */
+void ec_fsm_pdo_entry_read_state_start(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
+ ecrt_sdo_request_read(&fsm->request);
+
+ fsm->state = ec_fsm_pdo_entry_read_state_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_pdo_entry_read_state_count(
+ ec_fsm_pdo_entry_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.\n");
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ if (fsm->request.data_size != sizeof(uint8_t)) {
+ EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+ fsm->request.data_size, fsm->request.index,
+ fsm->request.subindex);
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ fsm->entry_count = EC_READ_U8(fsm->request.data);
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count);
+
+ // read first Pdo entry
+ fsm->entry_pos = 1;
+ ec_fsm_pdo_entry_read_action_next(fsm);
+}
+
+/*****************************************************************************/
+
+/** Read next Pdo entry.
+ */
+void ec_fsm_pdo_entry_read_action_next(
+ ec_fsm_pdo_entry_t *fsm /**< finite state machine */
+ )
+{
+ if (fsm->entry_pos <= fsm->entry_count) {
+ ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos);
+ ecrt_sdo_request_read(&fsm->request);
+ fsm->state = ec_fsm_pdo_entry_read_state_entry;
+ ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // finished reading entries.
+ fsm->state = ec_fsm_pdo_entry_state_end;
+}
+
+/*****************************************************************************/
+
+/** Read Pdo entry information.
+ */
+void ec_fsm_pdo_entry_read_state_entry(
+ ec_fsm_pdo_entry_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.\n");
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ if (fsm->request.data_size != sizeof(uint32_t)) {
+ EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+ fsm->request.data_size, fsm->request.index,
+ fsm->request.subindex);
+ fsm->state = ec_fsm_pdo_entry_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_pdo_entry_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_pdo_entry_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 : "???");
+ }
+
+ list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
+
+ // next Pdo entry
+ fsm->entry_pos++;
+ ec_fsm_pdo_entry_read_action_next(fsm);
+ }
+}
+
+/******************************************************************************
+ * Configuration state functions.
+ *****************************************************************************/
+
+/** Start Pdo mapping.
+ */
+void ec_fsm_pdo_entry_conf_state_start(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ // Pdo mapping 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_configuration)) {
+ EC_WARN("Slave %u does not support changing the Pdo mapping!\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ if (ec_sdo_request_alloc(&fsm->request, 4)) {
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ // set mapped Pdo entry count to zero
+ EC_WRITE_U8(fsm->request.data, 0);
+ fsm->request.data_size = 1;
+ ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
+ ecrt_sdo_request_write(&fsm->request);
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting entry count to zero.\n");
+
+ fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
+ ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Process next Pdo entry.
+ */
+ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
+ const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ const struct list_head *list /**< current entry list item */
+ )
+{
+ list = list->next;
+ if (list == &fsm->source_pdo->entries)
+ return NULL; // no next entry
+ return list_entry(list, ec_pdo_entry_t, list);
+}
+
+/*****************************************************************************/
+
+/** Set the number of mapped entries to zero.
+ */
+void ec_fsm_pdo_entry_conf_state_zero_entry_count(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping 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 mapping.\n");
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ // find first entry
+ if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
+ fsm, &fsm->source_pdo->entries))) {
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("No entries to map.\n");
+
+ fsm->state = ec_fsm_pdo_entry_state_end; // finished
+ return;
+ }
+
+ // add first entry
+ fsm->entry_pos = 1;
+ ec_fsm_pdo_entry_conf_action_map(fsm);
+}
+
+/*****************************************************************************/
+
+/** Starts to add a Pdo entry.
+ */
+void ec_fsm_pdo_entry_conf_action_map(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ uint32_t value;
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n",
+ fsm->entry->index, fsm->entry->subindex,
+ fsm->entry->bit_length, fsm->entry_pos);
+
+ value = fsm->entry->index << 16
+ | fsm->entry->subindex << 8 | fsm->entry->bit_length;
+ EC_WRITE_U32(fsm->request.data, value);
+ fsm->request.data_size = 4;
+ ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, fsm->entry_pos);
+ ecrt_sdo_request_write(&fsm->request);
+
+ fsm->state = ec_fsm_pdo_entry_conf_state_map_entry;
+ ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo entry.
+ */
+void ec_fsm_pdo_entry_conf_state_map_entry(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+ if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+ if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+ EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to "
+ "position %u.\n", fsm->entry->index, fsm->entry->subindex,
+ fsm->entry->bit_length, fsm->entry_pos);
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ // find next entry
+ if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
+ fsm, &fsm->entry->list))) {
+
+ // No more entries to add. Write entry count.
+ EC_WRITE_U8(fsm->request.data, fsm->entry_pos);
+ fsm->request.data_size = 1;
+ ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
+ ecrt_sdo_request_write(&fsm->request);
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos);
+
+ fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
+ ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ return;
+ }
+
+ // add next entry
+ fsm->entry_pos++;
+ ec_fsm_pdo_entry_conf_action_map(fsm);
+}
+
+/*****************************************************************************/
+
+/** Set the number of entries.
+ */
+void ec_fsm_pdo_entry_conf_state_set_entry_count(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping 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.\n");
+ fsm->state = ec_fsm_pdo_entry_state_error;
+ return;
+ }
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n",
+ fsm->source_pdo->index);
+
+ fsm->state = ec_fsm_pdo_entry_state_end; // finished
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_pdo_entry_state_error(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_pdo_entry_state_end(
+ ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ )
+{
+}
+
+/*****************************************************************************/