--- a/master/fsm_pdo_mapping.c Thu Jul 31 09:30:38 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,383 +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 mapping state machine.
- */
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "master.h"
-#include "mailbox.h"
-#include "slave_config.h"
-
-#include "fsm_pdo_mapping.h"
-
-/*****************************************************************************/
-
-void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
-void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
-void ec_fsm_pdo_mapping_state_add_entry(ec_fsm_pdo_mapping_t *);
-void ec_fsm_pdo_mapping_state_entry_count(ec_fsm_pdo_mapping_t *);
-void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
-void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);
-
-void ec_fsm_pdo_mapping_next_pdo(ec_fsm_pdo_mapping_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_pdo_mapping_init(
- ec_fsm_pdo_mapping_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_mapping_clear(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- ec_sdo_request_clear(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Start Pdo mapping state machine.
- */
-void ec_fsm_pdo_mapping_start(
- ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
- ec_slave_t *slave /**< slave to configure */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_pdo_mapping_state_start;
-}
-
-/*****************************************************************************/
-
-/** Get running state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_mapping_running(
- const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- return fsm->state != ec_fsm_pdo_mapping_state_end
- && fsm->state != ec_fsm_pdo_mapping_state_error;
-}
-
-/*****************************************************************************/
-
-/** Executes the current state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_mapping_exec(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- fsm->state(fsm);
- return ec_fsm_pdo_mapping_running(fsm);
-}
-
-/*****************************************************************************/
-
-/** Get execution result.
- *
- * \return true, if the state machine terminated gracefully
- */
-int ec_fsm_pdo_mapping_success(
- const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- return fsm->state == ec_fsm_pdo_mapping_state_end;
-}
-
-/******************************************************************************
- * State functions.
- *****************************************************************************/
-
-/** Start Pdo mapping.
- */
-void ec_fsm_pdo_mapping_state_start(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- if (!fsm->slave->config) {
- fsm->state = ec_fsm_pdo_mapping_state_end;
- return;
- }
-
- fsm->pdo = NULL;
- fsm->num_configured_pdos = 0;
- ec_fsm_pdo_mapping_next_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Process mapping of next Pdo.
- */
-void ec_fsm_pdo_mapping_next_pdo(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
- uint8_t sync_index;
- const ec_pdo_list_t *pdos;
- const ec_pdo_t *pdo, *assigned_pdo;
-
- for (sync_index = 0; sync_index < EC_MAX_SYNC_MANAGERS; sync_index++) {
- pdos = &fsm->slave->config->sync_configs[sync_index].pdos;
-
- list_for_each_entry(pdo, &pdos->list, list) {
- if (fsm->pdo) { // there was a Pdo mapping changed in the last run
- if (pdo == fsm->pdo) // this is the previously configured Pdo
- fsm->pdo = NULL; // take the next one
- } else {
- if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
- if (ec_pdo_equal_entries(pdo, assigned_pdo))
- continue; // Pdo entries mapped correctly
-
- fsm->pdo = pdo;
- fsm->num_configured_pdos++;
- break;
- }
- }
- }
-
- if (!fsm->pdo) {
- if (fsm->slave->master->debug_level && !fsm->num_configured_pdos)
- EC_DBG("Pdo mappings are already configured correctly.\n");
- fsm->state = ec_fsm_pdo_mapping_state_end;
- return;
- }
-
- // 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 Pdo mapping configuration!\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_pdo_mapping_state_error;
- return;
- }
-
- if (fsm->slave->master->debug_level) {
- EC_DBG("Changing mapping of Pdo 0x%04X.\n", fsm->pdo->index);
- }
-
- if (ec_sdo_request_alloc(&fsm->request, 4)) {
- fsm->state = ec_fsm_pdo_mapping_state_error;
- return;
- }
-
- // set mapped Pdo count to zero
- EC_WRITE_U8(fsm->request.data, 0);
- fsm->request.data_size = 1;
- ec_sdo_request_address(&fsm->request, fsm->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_mapping_state_zero_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_mapping_next_entry(
- const ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping 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_mapping_add_entry(
- ec_fsm_pdo_mapping_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_count);
-
- 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->pdo->index, fsm->entry_count);
- ecrt_sdo_request_write(&fsm->request);
-
- fsm->state = ec_fsm_pdo_mapping_state_add_entry;
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Set the number of mapped entries to zero.
- */
-void ec_fsm_pdo_mapping_state_zero_count(
- ec_fsm_pdo_mapping_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 mapping of Pdo 0x%04X.\n", fsm->pdo->index);
- fsm->state = ec_fsm_pdo_mapping_state_error;
- return;
- }
-
- // find first entry
- if (!(fsm->entry =
- ec_fsm_pdo_mapping_next_entry(fsm, &fsm->pdo->entries))) {
- if (fsm->slave->master->debug_level)
- EC_DBG("No entries to map.\n");
- ec_fsm_pdo_mapping_next_pdo(fsm);
- return;
- }
-
- // add first entry
- fsm->entry_count = 1;
- ec_fsm_pdo_mapping_add_entry(fsm);
-}
-
-/*****************************************************************************/
-
-/** Add a Pdo entry.
- */
-void ec_fsm_pdo_mapping_state_add_entry(
- ec_fsm_pdo_mapping_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 at 0x%04X:%02X.\n",
- fsm->entry->index, fsm->entry->subindex, fsm->pdo->index,
- fsm->entry_count);
- fsm->state = ec_fsm_pdo_mapping_state_error;
- return;
- }
-
- // find next entry
- if (!(fsm->entry = ec_fsm_pdo_mapping_next_entry(fsm, &fsm->entry->list))) {
- // No more entries to add. Write entry count.
- EC_WRITE_U8(fsm->request.data, fsm->entry_count);
- fsm->request.data_size = 1;
- ec_sdo_request_address(&fsm->request, fsm->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_count);
-
- fsm->state = ec_fsm_pdo_mapping_state_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_count++;
- ec_fsm_pdo_mapping_add_entry(fsm);
-}
-
-/*****************************************************************************/
-
-/** Set the number of entries.
- */
-void ec_fsm_pdo_mapping_state_entry_count(
- ec_fsm_pdo_mapping_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 set number of entries for Pdo 0x%04X.\n",
- fsm->pdo->index);
- fsm->state = ec_fsm_pdo_mapping_state_error;
- return;
- }
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Pdo mapping configuration successful.\n");
-
- ec_fsm_pdo_mapping_next_pdo(fsm);
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_pdo_mapping_state_error(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_pdo_mapping_state_end(
- ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
- )
-{
-}
-
-/*****************************************************************************/