--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_mapping.c Wed Mar 07 17:37:21 2007 +0000
@@ -0,0 +1,367 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 "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;
+}
+
+/*****************************************************************************/
+
+/**
+ * \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);
+}
+
+/*****************************************************************************/
+
+/**
+ * \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;
+}
+
+/******************************************************************************
+ * PDO mapping state machine
+ *****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_state_start(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ fsm->dir = EC_DIR_OUTPUT;
+ ec_fsm_mapping_next_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_mapping_next_sync(
+ ec_fsm_mapping_t *fsm /**< mapping state machine */
+ )
+{
+ do {
+ if (fsm->dir > EC_DIR_INPUT) {
+ // no more sync managers to configure mappings for
+ fsm->state = ec_fsm_mapping_state_end;
+ return;
+ }
+
+ if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
+ fsm->state = ec_fsm_mapping_state_error;
+ return;
+ }
+ fsm->dir++;
+ }
+ while (!fsm->sync->alt_mapping);
+
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Configuring PDO mapping for SM%u of slave %i.\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
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+ec_pdo_t *ec_fsm_mapping_next_pdo(
+ ec_fsm_mapping_t *fsm, /**< mapping state machine */
+ struct list_head *list /**< current PDO list item */
+ )
+{
+ ec_pdo_t *pdo;
+
+ do {
+ list = list->next;
+ if (list == &fsm->sync->pdos)
+ return NULL; // no next PDO
+ pdo = list_entry(list, ec_pdo_t, list);
+ }
+ while (pdo->sync_index != fsm->sync->index);
+
+ return pdo;
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+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->sync->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;
+ 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
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+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++;
+ 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);
+
+ ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+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 */
+ )
+{
+}
+
+/*****************************************************************************/