/******************************************************************************
*
* $Id$
*
* 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 configuration state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_pdo_config.h"
/*****************************************************************************/
void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_pdo_config_init(
ec_fsm_pdo_config_t *fsm, /**< pdo_config 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_config_clear(
ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
)
{
ec_sdo_request_clear(&fsm->request);
}
/*****************************************************************************/
/** Start Pdo configuration state machine.
*/
void ec_fsm_pdo_config_start(
ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
ec_slave_t *slave /**< slave to configure */
)
{
fsm->slave = slave;
fsm->state = ec_fsm_pdo_config_state_start;
}
/*****************************************************************************/
/** Get running state.
*
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_config_running(
const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
return fsm->state != ec_fsm_pdo_config_state_end
&& fsm->state != ec_fsm_pdo_config_state_error;
}
/*****************************************************************************/
/** Executes the current state.
*
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_config_exec(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
fsm->state(fsm);
return ec_fsm_pdo_config_running(fsm);
}
/*****************************************************************************/
/** Get execution result.
*
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_pdo_config_success(
const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
return fsm->state == ec_fsm_pdo_config_state_end;
}
/******************************************************************************
* State functions.
*****************************************************************************/
/** Start Pdo configuration.
*/
void ec_fsm_pdo_config_state_start(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
if (!fsm->slave->config) {
fsm->state = ec_fsm_pdo_config_state_end;
return;
}
fsm->pdo = NULL;
ec_fsm_pdo_config_next_pdo(fsm);
}
/*****************************************************************************/
/** Process configuration of next Pdo.
*/
void ec_fsm_pdo_config_next_pdo(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
ec_direction_t dir;
const ec_pdo_mapping_t *map;
const ec_pdo_t *pdo, *mapped_pdo;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
map = &fsm->slave->config->mapping[dir];
list_for_each_entry(pdo, &map->pdos, list) {
if (fsm->pdo) { // there was a Pdo configured in the last run
if (pdo == fsm->pdo) // this is the last Pdo
fsm->pdo = NULL; // take the next one
} else {
if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
if (ec_pdo_equal_entries(pdo, mapped_pdo))
continue; // Pdo configured correctly
fsm->pdo = pdo;
break;
}
}
}
if (!fsm->pdo) {
if (fsm->slave->master->debug_level)
EC_DBG("Pdo configuration finished for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_end;
return;
}
// Pdo configuration has to be changed. Does the slave support this?
if (fsm->slave->sii.mailbox_protocols & EC_MBOX_COE
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
EC_ERR("Slave %u does not support changing the Pdo configuration!\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_error;
return;
}
if (fsm->slave->master->debug_level) {
EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
fsm->pdo->index, fsm->slave->ring_position);
}
if (ec_sdo_request_alloc(&fsm->request, 4)) {
fsm->state = ec_fsm_pdo_config_state_error;
return;
}
// set mapped Pdo count to zero
EC_WRITE_U8(&fsm->request.data, 0);
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
fsm->pdo->index);
fsm->state = ec_fsm_pdo_config_state_zero_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}
/*****************************************************************************/
/** Process next Pdo entry.
*/
ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
const struct list_head *list /**< current entry list item */
)
{
list = list->next;
if (list == &fsm->pdo->entries)
return NULL; // no next entry
return list_entry(list, ec_pdo_entry_t, list);
}
/*****************************************************************************/
/** Starts to add a Pdo entry.
*/
void ec_fsm_pdo_config_add_entry(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
)
{
uint32_t value;
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;
ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Configuring Pdo entry %08X at position %u.\n",
value, fsm->entry_count);
fsm->state = ec_fsm_pdo_config_state_add_entry;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
}
/*****************************************************************************/
/** Set the number of configured entries to zero.
*/
void ec_fsm_pdo_config_state_zero_count(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 configuration for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_error;
return;
}
// find first entry
if (!(fsm->entry =
ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
if (fsm->slave->master->debug_level)
EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
fsm->pdo->index, fsm->slave->ring_position);
ec_fsm_pdo_config_next_pdo(fsm);
return;
}
// add first entry
fsm->entry_count = 1;
ec_fsm_pdo_config_add_entry(fsm);
}
/*****************************************************************************/
/** Add a Pdo entry.
*/
void ec_fsm_pdo_config_state_add_entry(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
fsm->entry->index, fsm->entry->subindex,
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_error;
return;
}
// find next entry
if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
// No more entries to add. Write entry count.
EC_WRITE_U8(&fsm->request.data, fsm->entry_count);
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Setting number of Pdo entries to %u.\n",
fsm->entry_count);
fsm->state = ec_fsm_pdo_config_state_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
// add next entry
fsm->entry_count++;
ec_fsm_pdo_config_add_entry(fsm);
}
/*****************************************************************************/
/** Set the number of entries.
*/
void ec_fsm_pdo_config_state_entry_count(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 entries for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_error;
return;
}
if (fsm->slave->master->debug_level)
EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
fsm->pdo->index, fsm->slave->ring_position);
ec_fsm_pdo_config_next_pdo(fsm);
}
/******************************************************************************
* Common state functions
*****************************************************************************/
/** State: ERROR.
*/
void ec_fsm_pdo_config_state_error(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_pdo_config_state_end(
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
)
{
}
/*****************************************************************************/