/******************************************************************************
*
* $Id: fsm_coe.c 920 2007-09-12 10:07:55Z fp $
*
* 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 CoE mapping state machines.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "canopen.h"
#include "fsm_coe_map.h"
/*****************************************************************************/
void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
/*****************************************************************************/
/**
Constructor.
*/
void ec_fsm_coe_map_init(
ec_fsm_coe_map_t *fsm, /**< finite state machine */
ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
)
{
fsm->state = NULL;
fsm->fsm_coe = fsm_coe;
}
/*****************************************************************************/
/**
Destructor.
*/
void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
}
/*****************************************************************************/
/**
Starts to upload an SDO from a slave.
*/
void ec_fsm_coe_map_start(
ec_fsm_coe_map_t *fsm, /**< finite state machine */
ec_slave_t *slave /**< EtherCAT slave */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_coe_map_state_start;
}
/*****************************************************************************/
/**
Executes the current state of the state machine.
\return false, if state machine has terminated
*/
int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
return fsm->state != ec_fsm_coe_map_state_end
&& fsm->state != ec_fsm_coe_map_state_error;
}
/*****************************************************************************/
/**
Returns, if the state machine terminated with success.
\return non-zero if successful.
*/
int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
{
return fsm->state == ec_fsm_coe_map_state_end;
}
/******************************************************************************
* CoE dictionary state machine
*****************************************************************************/
/**
*/
void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
// read mapping of first sync manager
fsm->sync_index = 0;
ec_fsm_coe_map_action_next_sync(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_action_next_sync(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_sdo_entry_t *entry;
for (; fsm->sync_index < 4; fsm->sync_index++) {
if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
continue;
if (slave->master->debug_level)
EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
fsm->sync_index, slave->ring_position);
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
fsm->sync_sdo->index,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_sdo_request_init_read(&fsm->request, entry);
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
fsm->state = ec_fsm_coe_map_state_end;
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_state_pdo_count(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
fsm->sync_subindices = EC_READ_U8(fsm->request.data);
if (fsm->slave->master->debug_level)
EC_DBG(" %u PDOs mapped.\n", fsm->sync_subindices);
// read first PDO
fsm->sync_subindex = 1;
ec_fsm_coe_map_action_next_pdo(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_action_next_pdo(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
ec_sdo_entry_t *entry;
if (fsm->sync_subindex <= fsm->sync_subindices) {
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
fsm->sync_subindex))) {
EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
fsm->sync_sdo->index,
fsm->sync_subindex,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_sdo_request_init_read(&fsm->request, entry);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
// next sync manager
fsm->sync_index++;
ec_fsm_coe_map_action_next_sync(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_state_pdo(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read mapped PDO index from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
{
uint16_t pdo_index = EC_READ_U16(fsm->request.data);
ec_sdo_entry_t *entry;
if (fsm->slave->master->debug_level)
EC_DBG(" PDO 0x%04X.\n", pdo_index);
if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, pdo_index))) {
EC_ERR("Slave %u has no SDO 0x%04X.\n",
fsm->slave->ring_position, pdo_index);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
fsm->pdo_sdo->index,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_sdo_request_init_read(&fsm->request, entry);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_state_pdo_entry_count(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
if (fsm->slave->master->debug_level)
EC_DBG(" %u PDO entries mapped.\n", fsm->pdo_subindices);
// read first PDO entry
fsm->pdo_subindex = 1;
ec_fsm_coe_map_action_next_pdo_entry(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_action_next_pdo_entry(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
ec_sdo_entry_t *entry;
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
fsm->pdo_subindex))) {
EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
fsm->pdo_sdo->index, fsm->pdo_subindex,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_sdo_request_init_read(&fsm->request, entry);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
// next PDO
fsm->sync_subindex++;
ec_fsm_coe_map_action_next_pdo(fsm);
}
/*****************************************************************************/
/**
*/
void ec_fsm_coe_map_state_pdo_entry(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
{
uint32_t pdo_entry_info;
uint16_t pdo_entry_index;
ec_sdo_t *sdo;
pdo_entry_info = EC_READ_U32(fsm->request.data);
pdo_entry_index = pdo_entry_info >> 16;
if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry_index))) {
EC_ERR("Slave %u has no SDO 0x%04X.\n",
fsm->slave->ring_position, pdo_entry_index);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
if (fsm->slave->master->debug_level) {
size_t bitsize = pdo_entry_info & 0xFFFF;
EC_DBG(" PDO entry 0x%04X \"%s\" (%u bit).\n",
pdo_entry_index, sdo->name, bitsize);
}
// next PDO entry
fsm->pdo_subindex++;
ec_fsm_coe_map_action_next_pdo_entry(fsm);
}
}
/*****************************************************************************/
/**
State: ERROR.
*/
void ec_fsm_coe_map_state_error(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
}
/*****************************************************************************/
/**
State: END.
*/
void ec_fsm_coe_map_state_end(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
}
/*****************************************************************************/