/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \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 *, ec_datagram_t *);
void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *,
ec_datagram_t *);
void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *,
ec_datagram_t *);
void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *,
ec_datagram_t *);
void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *, ec_datagram_t *);
void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *, ec_datagram_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);
}
/*****************************************************************************/
/** Print the current and desired PDO mapping.
*/
void ec_fsm_pdo_entry_print(
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
printk("Currently mapped PDO entries: ");
ec_pdo_print_entries(fsm->cur_pdo);
printk(". Entries to map: ");
ec_pdo_print_entries(fsm->source_pdo);
printk("\n");
}
/*****************************************************************************/
/** 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. */
const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
)
{
fsm->slave = slave;
fsm->source_pdo = pdo;
fsm->cur_pdo = cur_pdo;
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(slave, 1, "Changing mapping of PDO 0x%04X.\n",
pdo->index);
EC_SLAVE_DBG(slave, 1, ""); ec_fsm_pdo_entry_print(fsm);
}
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. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
fsm->state(fsm, datagram);
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_datagram_t *datagram /**< Datagram to use. */
)
{
ecrt_sdo_request_index(&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, datagram); // 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 */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_ERR(fsm->slave,
"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_SLAVE_ERR(fsm->slave, "Invalid data size %zu 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);
EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count);
// read first PDO entry
fsm->entry_pos = 1;
ec_fsm_pdo_entry_read_action_next(fsm, datagram);
}
/*****************************************************************************/
/** Read next PDO entry.
*/
void ec_fsm_pdo_entry_read_action_next(
ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (fsm->entry_pos <= fsm->entry_count) {
ecrt_sdo_request_index(&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, datagram); // 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 */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_ERR(fsm->slave, "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_SLAVE_ERR(fsm->slave, "Invalid data size %zu 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_SLAVE_ERR(fsm->slave, "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;
}
}
EC_SLAVE_DBG(fsm->slave, 1,
"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, datagram);
}
}
/******************************************************************************
* Configuration state functions.
*****************************************************************************/
/** Start PDO mapping.
*/
void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
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;
ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "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, datagram); // execute immediately
}
/*****************************************************************************/
/** Process next PDO entry.
*
* \return Next PDO entry, or NULL.
*/
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. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO mapping.\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
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))) {
EC_SLAVE_DBG(fsm->slave, 1, "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, datagram);
}
/*****************************************************************************/
/** Starts to add a PDO entry.
*/
void ec_fsm_pdo_entry_conf_action_map(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
uint32_t value;
EC_SLAVE_DBG(fsm->slave, 1, "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;
ecrt_sdo_request_index(&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, datagram); // 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. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_WARN(fsm->slave, "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);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
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;
ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "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, datagram); // execute immediately
return;
}
// add next entry
fsm->entry_pos++;
ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
}
/*****************************************************************************/
/** 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. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
return;
}
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_SLAVE_WARN(fsm->slave, "Failed to set number of entries.\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
EC_SLAVE_DBG(fsm->slave, 1, "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. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_pdo_entry_state_end(
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
}
/*****************************************************************************/