--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_assign.c Thu Apr 03 13:34:13 2008 +0000
@@ -0,0 +1,380 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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_dir(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->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
+ ec_fsm_pdo_assign_next_dir(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process Pdo assignment of next direction.
+ */
+void ec_fsm_pdo_assign_next_dir(
+ ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
+ )
+{
+ fsm->dir++;
+
+ for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
+ fsm->pdos = &fsm->slave->config->pdos[fsm->dir];
+
+ if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
+ if (!list_empty(&fsm->pdos->list)) {
+ EC_ERR("No sync manager for direction %u!\n", fsm->dir);
+ fsm->state = ec_fsm_pdo_assign_state_end;
+ return;
+ }
+ continue;
+ }
+
+ // check if assignment has to be altered
+ if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
+ continue;
+
+ // 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_ERR("Slave %u does not support assigning Pdos!\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_assign_state_error;
+ return;
+ }
+
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+ }
+
+ 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 for SM%u.\n", fsm->sync->index);
+
+ 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)
+ EC_DBG("Pdo assignment finished for slave %u.\n",
+ fsm->slave->ring_position);
+ 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_ERR("Failed to clear Pdo assignment of slave %u.\n",
+ fsm->slave->ring_position);
+ 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 for SM%u of slave %u.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+ ec_fsm_pdo_assign_next_dir(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_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
+ fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
+ 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_ERR("Failed to set number of assigned Pdos for slave %u.\n",
+ fsm->slave->ring_position);
+ fsm->state = ec_fsm_pdo_assign_state_error;
+ return;
+ }
+
+ if (fsm->slave->master->debug_level)
+ EC_DBG("Successfully set Pdo assignment for SM%u of slave %u.\n",
+ fsm->sync->index, fsm->slave->ring_position);
+
+ // assignment for this direction finished
+ ec_fsm_pdo_assign_next_dir(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. */
+ )
+{
+}
+
+/*****************************************************************************/