/******************************************************************************
*
* $Id$
*
* 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 configuration state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_pdo.h"
/*****************************************************************************/
void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_state_end(ec_fsm_pdo_t *, ec_datagram_t *);
void ec_fsm_pdo_state_error(ec_fsm_pdo_t *, ec_datagram_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_pdo_init(
ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
)
{
fsm->fsm_coe = fsm_coe;
ec_fsm_pdo_entry_init(&fsm->fsm_pdo_entry, fsm_coe);
ec_pdo_list_init(&fsm->pdos);
ec_sdo_request_init(&fsm->request);
ec_pdo_init(&fsm->slave_pdo);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_pdo_clear(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
ec_pdo_list_clear(&fsm->pdos);
ec_sdo_request_clear(&fsm->request);
ec_pdo_clear(&fsm->slave_pdo);
}
/*****************************************************************************/
/** Print the current and desired PDO assignment.
*/
void ec_fsm_pdo_print(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
printk("Currently assigned PDOs: ");
ec_pdo_list_print(&fsm->sync->pdos);
printk(". PDOs to assign: ");
ec_pdo_list_print(&fsm->pdos);
printk("\n");
}
/*****************************************************************************/
/** Start reading the PDO configuration.
*/
void ec_fsm_pdo_start_reading(
ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
ec_slave_t *slave /**< slave to configure */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_pdo_read_state_start;
}
/*****************************************************************************/
/** Start writing the PDO configuration.
*/
void ec_fsm_pdo_start_configuration(
ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
ec_slave_t *slave /**< slave to configure */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_pdo_conf_state_start;
}
/*****************************************************************************/
/** Get running state.
*
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_running(
const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
return fsm->state != ec_fsm_pdo_state_end
&& fsm->state != ec_fsm_pdo_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_pdo_exec(
ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
fsm->state(fsm, datagram);
return ec_fsm_pdo_running(fsm);
}
/*****************************************************************************/
/** Get execution result.
*
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_pdo_success(
const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
return fsm->state == ec_fsm_pdo_state_end;
}
/******************************************************************************
* Reading state funtions.
*****************************************************************************/
/** Start reading PDO assignment.
*/
void ec_fsm_pdo_read_state_start(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
// read PDO assignment for first sync manager not reserved for mailbox
fsm->sync_index = 1; // next is 2
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
}
/*****************************************************************************/
/** Read PDO assignment of next sync manager.
*/
void ec_fsm_pdo_read_action_next_sync(
ec_fsm_pdo_t *fsm, /**< finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
ec_slave_t *slave = fsm->slave;
fsm->sync_index++;
for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
continue;
EC_SLAVE_DBG(slave, 1, "Reading PDO assignment of SM%u.\n",
fsm->sync_index);
ec_pdo_list_clear_pdos(&fsm->pdos);
ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_pdo_read_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
return;
}
EC_SLAVE_DBG(slave, 1, "Reading of PDO configuration finished.\n");
ec_pdo_list_clear_pdos(&fsm->pdos);
fsm->state = ec_fsm_pdo_state_end;
}
/*****************************************************************************/
/** Count assigned PDOs.
*/
void ec_fsm_pdo_read_state_pdo_count(
ec_fsm_pdo_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 assigned PDOs"
" for SM%u.\n", fsm->sync_index);
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
if (fsm->request.data_size != sizeof(uint8_t)) {
EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
" when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
fsm->request.index, fsm->request.subindex);
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
fsm->pdo_count = EC_READ_U8(fsm->request.data);
EC_SLAVE_DBG(fsm->slave, 1, "%u PDOs assigned.\n", fsm->pdo_count);
// read first PDO
fsm->pdo_pos = 1;
ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
}
/*****************************************************************************/
/** Read next PDO.
*/
void ec_fsm_pdo_read_action_next_pdo(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (fsm->pdo_pos <= fsm->pdo_count) {
ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index,
fsm->pdo_pos);
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_pdo_read_state_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
return;
}
// finished reading PDO configuration
ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
ec_pdo_list_clear_pdos(&fsm->pdos);
// next sync manager
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
}
/*****************************************************************************/
/** Fetch PDO information.
*/
void ec_fsm_pdo_read_state_pdo(
ec_fsm_pdo_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 index of"
" assigned PDO %u from SM%u.\n",
fsm->pdo_pos, fsm->sync_index);
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
if (fsm->request.data_size != sizeof(uint16_t)) {
EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
" when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
fsm->request.index, fsm->request.subindex);
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
if (!(fsm->pdo = (ec_pdo_t *)
kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO.\n");
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
ec_pdo_init(fsm->pdo);
fsm->pdo->index = EC_READ_U16(fsm->request.data);
fsm->pdo->sync_index = fsm->sync_index;
EC_SLAVE_DBG(fsm->slave, 1, "PDO 0x%04X.\n", fsm->pdo->index);
list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
fsm->state = ec_fsm_pdo_read_state_pdo_entries;
ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
fsm->state(fsm, datagram); // execute immediately
}
/*****************************************************************************/
/** Fetch PDO information.
*/
void ec_fsm_pdo_read_state_pdo_entries(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
return;
}
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entries"
" for PDO 0x%04X.\n", fsm->pdo->index);
ec_fsm_pdo_read_action_next_sync(fsm, datagram);
return;
}
// next PDO
fsm->pdo_pos++;
ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
}
/******************************************************************************
* Writing state functions.
*****************************************************************************/
/** Start PDO configuration.
*/
void ec_fsm_pdo_conf_state_start(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (!fsm->slave->config) {
fsm->state = ec_fsm_pdo_state_end;
return;
}
fsm->sync_index = 1; // next is 2
ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
}
/*****************************************************************************/
/** Assign next PDO.
*
* \return Next PDO, or NULL.
*/
ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
const struct list_head *list /**< current PDO list item */
)
{
list = list->next;
if (list == &fsm->pdos.list)
return NULL; // no next PDO
return list_entry(list, ec_pdo_t, list);
}
/*****************************************************************************/
/** Get the next sync manager for a pdo configuration.
*/
void ec_fsm_pdo_conf_action_next_sync(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
fsm->sync_index++;
for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
if (!fsm->slave->config) {
// slave configuration removed in the meantime
fsm->state = ec_fsm_pdo_state_error;
return;
}
if (ec_pdo_list_copy(&fsm->pdos,
&fsm->slave->config->sync_configs[fsm->sync_index].pdos))
{
fsm->state = ec_fsm_pdo_state_error;
return;
}
if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
if (!list_empty(&fsm->pdos.list))
EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"
" but slave does not provide the"
" sync manager information!\n",
fsm->sync_index);
continue;
}
// get first configured PDO
if (!(fsm->pdo =
ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
// no pdos configured
ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
return;
}
ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
return;
}
fsm->state = ec_fsm_pdo_state_end;
}
/*****************************************************************************/
/** Check if the mapping has to be read, otherwise start to configure it.
*/
void ec_fsm_pdo_conf_action_pdo_mapping(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
const ec_pdo_t *assigned_pdo;
fsm->slave_pdo.index = fsm->pdo->index;
if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
} else { // configured PDO is not assigned and thus unknown
ec_pdo_clear_entries(&fsm->slave_pdo);
}
if (list_empty(&fsm->slave_pdo.entries)) {
EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",
fsm->pdo->index);
// pdo mapping is unknown; start loading it
ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
&fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_read_mapping;
fsm->state(fsm, datagram); // execute immediately
return;
}
// pdo mapping is known, check if it most be re-configured
ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
}
/*****************************************************************************/
/** Execute the PDO entry state machine to read the current PDO's mapping.
*/
void ec_fsm_pdo_conf_state_read_mapping(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
return;
}
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
EC_SLAVE_WARN(fsm->slave,
"Failed to read PDO entries for PDO 0x%04X.\n",
fsm->pdo->index);
// check if the mapping must be re-configured
ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
}
/*****************************************************************************/
/** Check if the mapping has to be re-configured.
*
* \todo Display mapping differences.
*/
void ec_fsm_pdo_conf_action_check_mapping(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
// check, if slave supports PDO configuration
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_configuration) {
// always write PDO mapping
ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fsm->pdo, &fsm->slave_pdo);
fsm->state = ec_fsm_pdo_conf_state_mapping;
fsm->state(fsm, datagram); // execure immediately
return;
}
else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support"
" changing the PDO mapping!\n");
EC_SLAVE_WARN(fsm->slave, "");
printk("Currently mapped PDO entries: ");
ec_pdo_print_entries(&fsm->slave_pdo);
printk(". Entries to map: ");
ec_pdo_print_entries(fsm->pdo);
printk("\n");
}
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
}
/*****************************************************************************/
/** Let the PDO entry state machine configure the current PDO's mapping.
*/
void ec_fsm_pdo_conf_state_mapping(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
return;
}
if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
EC_SLAVE_WARN(fsm->slave,
"Failed to configure mapping of PDO 0x%04X.\n",
fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
}
/*****************************************************************************/
/** Check mapping of next PDO, otherwise configure assignment.
*/
void ec_fsm_pdo_conf_action_next_pdo_mapping(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
// get next configured PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
// no more configured pdos
ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
return;
}
ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
}
/*****************************************************************************/
/** Check if the PDO assignment of the current SM has to be re-configured.
*/
void ec_fsm_pdo_conf_action_check_assignment(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
&& fsm->slave->sii.has_general
&& fsm->slave->sii.coe_details.enable_pdo_assign) {
// always write PDO assignment
if (fsm->slave->master->debug_level) {
EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
fsm->sync_index);
EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
}
if (ec_sdo_request_alloc(&fsm->request, 2)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
// set mapped PDO count to zero
EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fsm->request.data_size = 1;
ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
" PDOs to zero.\n");
fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
return;
}
else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
}
ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
}
/*****************************************************************************/
/** Set the number of assigned PDOs to zero.
*/
void ec_fsm_pdo_conf_state_zero_pdo_count(
ec_fsm_pdo_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_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, "");
ec_fsm_pdo_print(fsm);
ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
return;
}
// the sync manager's assigned PDOs have been cleared
ec_pdo_list_clear_pdos(&fsm->sync->pdos);
// assign all PDOs belonging to the current sync manager
// find first PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
return;
}
// assign first PDO
fsm->pdo_pos = 1;
ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
}
/*****************************************************************************/
/** Assign a PDO.
*/
void ec_fsm_pdo_conf_action_assign_pdo(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
fsm->request.data_size = 2;
ecrt_sdo_request_index(&fsm->request,
0x1C10 + fsm->sync_index, fsm->pdo_pos);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",
fsm->pdo->index, fsm->pdo_pos);
fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
}
/*****************************************************************************/
/** Add a PDO to the sync managers PDO assignment.
*/
void ec_fsm_pdo_conf_state_assign_pdo(
ec_fsm_pdo_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_WARN(fsm->slave, "Failed to assign PDO 0x%04X at position %u"
" of SM%u.\n",
fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// find next PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
// no more PDOs to assign, set PDO count
EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
fsm->request.data_size = 1;
ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_write(&fsm->request);
EC_SLAVE_DBG(fsm->slave, 1,
"Setting number of assigned PDOs to %u.\n",
fsm->pdo_pos);
fsm->state = ec_fsm_pdo_conf_state_set_pdo_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 PDO to assignment
fsm->pdo_pos++;
ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
}
/*****************************************************************************/
/** Set the number of assigned PDOs.
*/
void ec_fsm_pdo_conf_state_set_pdo_count(
ec_fsm_pdo_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_WARN(fsm->slave, "Failed to set number of"
" assigned PDOs of SM%u.\n", fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// PDOs have been configured
ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
" PDO assignment of SM%u.\n", fsm->sync_index);
// check if PDO mapping has to be altered
ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
}
/******************************************************************************
* Common state functions
*****************************************************************************/
/** State: ERROR.
*/
void ec_fsm_pdo_state_error(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_pdo_state_end(
ec_fsm_pdo_t *fsm, /**< Finite state machine. */
ec_datagram_t *datagram /**< Datagram to use. */
)
{
}
/*****************************************************************************/