--- a/master/fsm_mapping.c Tue Feb 19 16:09:58 2008 +0000
+++ /dev/null Thu Jan 01 00:00:00 1970 +0000
@@ -1,370 +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_mapping.h"
-
-/*****************************************************************************/
-
-void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_end(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_error(ec_fsm_mapping_t *);
-
-void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_mapping_init(
- ec_fsm_mapping_t *fsm, /**< mapping state machine */
- ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
- )
-{
- fsm->fsm_coe = fsm_coe;
- fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
-}
-
-/*****************************************************************************/
-
-/** Destructor.
- */
-void ec_fsm_mapping_clear(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
-}
-
-/*****************************************************************************/
-
-/** Start PDO mapping configuration state machine.
- */
-void ec_fsm_mapping_start(
- ec_fsm_mapping_t *fsm, /**< mapping state machine */
- ec_slave_t *slave /**< slave to configure */
- )
-{
- fsm->slave = slave;
- fsm->state = ec_fsm_mapping_state_start;
-}
-
-/*****************************************************************************/
-
-/** Get running state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_mapping_running(
- const ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- return fsm->state != ec_fsm_mapping_state_end
- && fsm->state != ec_fsm_mapping_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_mapping_exec(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- fsm->state(fsm);
- return ec_fsm_mapping_running(fsm);
-}
-
-/*****************************************************************************/
-
-/** Get execution result.
- *
- * \return true, if the state machine terminated gracefully
- */
-int ec_fsm_mapping_success(
- const ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- return fsm->state == ec_fsm_mapping_state_end;
-}
-
-/******************************************************************************
- * State functions.
- *****************************************************************************/
-
-/** Start mapping configuration.
- */
-void ec_fsm_mapping_state_start(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- if (!fsm->slave->config) {
- fsm->state = ec_fsm_mapping_state_end;
- return;
- }
-
- fsm->sync = NULL;
- ec_fsm_mapping_next_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/** Process mapping of next sync manager.
- */
-void ec_fsm_mapping_next_sync(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- ec_direction_t dir;
- const ec_sync_t *sync;
- const ec_pdo_mapping_t *map;
-
- for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
- if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {
- EC_WARN("No sync manager for direction %u!\n", dir);
- continue;
- }
-
- if (fsm->sync) { // there is a last SM
- if (sync == fsm->sync) // this is the last SM
- fsm->sync = NULL; // take the next one
- } else {
- map = &fsm->slave->config->mapping[dir];
- if (ec_pdo_mapping_equal(&sync->mapping, map))
- continue;
-
- fsm->sync = sync;
- fsm->mapping = map;
- break;
- }
- }
-
- if (!sync) {
- if (fsm->slave->master->debug_level)
- EC_DBG("Pdo mapping finished for slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_mapping_state_end;
- return;
- }
-
- if (fsm->slave->master->debug_level) {
- EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n",
- fsm->sync->index, fsm->slave->ring_position);
- }
-
- // set mapped PDO count to zero
- fsm->sdodata.index = 0x1C10 + fsm->sync->index;
- fsm->sdodata.subindex = 0; // mapped PDO count
- EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
- fsm->sdodata.size = 1;
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
-
- fsm->state = ec_fsm_mapping_state_zero_count;
- ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Process mapping of next PDO.
- */
-ec_pdo_t *ec_fsm_mapping_next_pdo(
- const ec_fsm_mapping_t *fsm, /**< mapping state machine */
- const struct list_head *list /**< current PDO list item */
- )
-{
- list = list->next;
- if (list == &fsm->mapping->pdos)
- return NULL; // no next PDO
- return list_entry(list, ec_pdo_t, list);
-}
-
-/*****************************************************************************/
-
-/** Add a Pdo to the mapping.
- */
-void ec_fsm_mapping_add_pdo(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
- fsm->sdodata.subindex = fsm->pdo_count;
- EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
- fsm->sdodata.size = 2;
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Mapping PDO 0x%04X at position %u.\n",
- fsm->pdo->index, fsm->sdodata.subindex);
-
- fsm->state = ec_fsm_mapping_state_add_pdo;
- ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Set the number of mapped PDOs to zero.
- */
-void ec_fsm_mapping_state_zero_count(
- ec_fsm_mapping_t *fsm /**< mapping 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 mapping for slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_mapping_state_error;
- return;
- }
-
- // map all PDOs belonging to the current sync manager
-
- // find first PDO
- if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
- if (fsm->slave->master->debug_level)
- EC_DBG("No PDOs to map for SM%u of slave %u.\n",
- fsm->sync->index, fsm->slave->ring_position);
- ec_fsm_mapping_next_sync(fsm);
- return;
- }
-
- // add first PDO to mapping
- fsm->pdo_count = 1;
- ec_fsm_mapping_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Add a PDO to the sync managers mapping.
- */
-void ec_fsm_mapping_state_add_pdo(
- ec_fsm_mapping_t *fsm /**< mapping 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_mapping_state_error;
- return;
- }
-
- // find next PDO
- if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->pdo->list))) {
- // no more PDOs to map. write PDO count
- fsm->sdodata.subindex = 0;
- EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
- fsm->sdodata.size = 1;
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of mapped PDOs to %u.\n",
- fsm->pdo_count);
-
- fsm->state = ec_fsm_mapping_state_pdo_count;
- ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
-
- // add next PDO to mapping
- fsm->pdo_count++;
- ec_fsm_mapping_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Set the number of mapped PDOs.
- */
-void ec_fsm_mapping_state_pdo_count(
- ec_fsm_mapping_t *fsm /**< 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 mapped PDOs for slave %u.\n",
- fsm->slave->ring_position);
- fsm->state = ec_fsm_mapping_state_error;
- return;
- }
-
- if (fsm->slave->master->debug_level)
- EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
- fsm->sync->index, fsm->slave->ring_position);
-
- // mapping configuration for this sync manager complete.
- ec_fsm_mapping_next_sync(fsm);
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_mapping_state_error(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_mapping_state_end(
- ec_fsm_mapping_t *fsm /**< mapping state machine */
- )
-{
-}
-
-/*****************************************************************************/