/******************************************************************************
*
* $Id$
*
* 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 */
)
{
}
/*****************************************************************************/