fp@635: /******************************************************************************
fp@635:  *
fp@635:  *  $Id$
fp@635:  *
fp@635:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@635:  *
fp@635:  *  This file is part of the IgH EtherCAT Master.
fp@635:  *
fp@635:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@635:  *  and/or modify it under the terms of the GNU General Public License
fp@635:  *  as published by the Free Software Foundation; either version 2 of the
fp@635:  *  License, or (at your option) any later version.
fp@635:  *
fp@635:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@635:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@635:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@635:  *  GNU General Public License for more details.
fp@635:  *
fp@635:  *  You should have received a copy of the GNU General Public License
fp@635:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@635:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@635:  *
fp@635:  *  The right to use EtherCAT Technology is granted and comes free of
fp@635:  *  charge under condition of compatibility of product made by
fp@635:  *  Licensee. People intending to distribute/sell products based on the
fp@635:  *  code, have to sign an agreement to guarantee that products using
fp@635:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@635:  *  EtherCAT specification (which are released themselves as an open
fp@635:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@635:  *  Technology, IP and trade marks.
fp@635:  *
fp@635:  *****************************************************************************/
fp@635: 
fp@792: /** \file
fp@879:  * EtherCAT Pdo assignment state machine.
fp@792:  */
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: #include "globals.h"
fp@635: #include "master.h"
fp@635: #include "mailbox.h"
fp@792: #include "slave_config.h"
fp@792: 
fp@879: #include "fsm_pdo_assign.h"
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);
fp@879: void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);
fp@879: void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);
fp@879: void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);
fp@879: void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);
fp@879: void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);
fp@879: 
fp@879: void ec_fsm_pdo_assign_next_dir(ec_fsm_pdo_assign_t *);
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Constructor.
fp@792:  */
fp@879: void ec_fsm_pdo_assign_init(
fp@879:         ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
fp@635:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
fp@635:         )
fp@635: {
fp@635:     fsm->fsm_coe = fsm_coe;
fp@854:     ec_sdo_request_init(&fsm->request);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Destructor.
fp@792:  */
fp@879: void ec_fsm_pdo_assign_clear(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@792:         )
fp@792: {
fp@854:     ec_sdo_request_clear(&fsm->request);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@879: /** Start Pdo assignment state machine.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_start(
fp@879:         ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
fp@635:         ec_slave_t *slave /**< slave to configure */
fp@635:         )
fp@635: {
fp@635:     fsm->slave = slave;
fp@879:     fsm->state = ec_fsm_pdo_assign_state_start;
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Get running state.
fp@792:  *
fp@635:  * \return false, if state machine has terminated
fp@635:  */
fp@879: int ec_fsm_pdo_assign_running(
fp@879:         const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@879:         )
fp@879: {
fp@879:     return fsm->state != ec_fsm_pdo_assign_state_end
fp@879:         && fsm->state != ec_fsm_pdo_assign_state_error;
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Executes the current state of the state machine.
fp@792:  *
fp@635:  * If the state machine's datagram is not sent or received yet, the execution
fp@635:  * of the state machine is delayed to the next cycle.
fp@792:  *
fp@635:  * \return false, if state machine has terminated
fp@635:  */
fp@879: int ec_fsm_pdo_assign_exec(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@635:     fsm->state(fsm);
fp@879:     return ec_fsm_pdo_assign_running(fsm);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Get execution result.
fp@792:  *
fp@635:  * \return true, if the state machine terminated gracefully
fp@635:  */
fp@879: int ec_fsm_pdo_assign_success(
fp@879:         const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@879:         )
fp@879: {
fp@879:     return fsm->state == ec_fsm_pdo_assign_state_end;
fp@635: }
fp@635: 
fp@635: /******************************************************************************
fp@792:  * State functions.
fp@635:  *****************************************************************************/
fp@635: 
fp@879: /** Start Pdo assignment.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_state_start(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@792:     if (!fsm->slave->config) {
fp@879:         fsm->state = ec_fsm_pdo_assign_state_end;
fp@792:         return;
fp@792:     }
fp@792: 
fp@821:     fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
fp@890:     fsm->num_configured_dirs = 0;
fp@879:     ec_fsm_pdo_assign_next_dir(fsm);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: /** Process Pdo assignment of next direction.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_next_dir(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@821:         )
fp@821: {
fp@827:     fsm->dir++;
fp@827: 
fp@821:     for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
fp@879:         fsm->pdos = &fsm->slave->config->pdos[fsm->dir];
fp@821:         
fp@821:         if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
fp@879:             if (!list_empty(&fsm->pdos->list)) {
fp@821:                 EC_ERR("No sync manager for direction %u!\n", fsm->dir);
fp@879:                 fsm->state = ec_fsm_pdo_assign_state_end;
fp@821:                 return;
fp@821:             }
fp@660:             continue;
fp@635:         }
fp@660: 
fp@879:         // check if assignment has to be altered
fp@879:         if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
fp@821:             continue;
fp@821: 
fp@879:         // Pdo assignment has to be changed. Does the slave support this?
fp@879:         if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@835:                 || (fsm->slave->sii.has_general
fp@835:                     && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
fp@879:             EC_ERR("Slave %u does not support assigning Pdos!\n",
fp@835:                     fsm->slave->ring_position);
fp@879:             fsm->state = ec_fsm_pdo_assign_state_error;
fp@835:             return;
fp@835:         }
fp@835: 
fp@890:         fsm->num_configured_dirs++;
fp@890: 
fp@821:         if (fsm->slave->master->debug_level) {
fp@879:             EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
fp@821:                     fsm->sync->index, fsm->slave->ring_position);
fp@792:         }
fp@821: 
fp@854:         if (ec_sdo_request_alloc(&fsm->request, 2)) {
fp@879:             fsm->state = ec_fsm_pdo_assign_state_error;
fp@854:             return;
fp@854:         }
fp@854: 
fp@821:         // set mapped Pdo count to zero
fp@875:         EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
fp@854:         fsm->request.data_size = 1;
fp@854:         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
fp@858:         ecrt_sdo_request_write(&fsm->request);
fp@801:         if (fsm->slave->master->debug_level)
fp@821:             EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
fp@821: 
fp@879:         fsm->state = ec_fsm_pdo_assign_state_zero_count;
fp@859:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@821:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@821:         return;
fp@821:     }
fp@821: 
fp@890:     if (fsm->slave->master->debug_level && !fsm->num_configured_dirs)
fp@890:         EC_DBG("Pdo assignments of slave %u are already configured"
fp@890:                 " correctly.\n", fsm->slave->ring_position);
fp@879:     fsm->state = ec_fsm_pdo_assign_state_end;
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: /** Assign next Pdo.
fp@879:  */
fp@879: ec_pdo_t *ec_fsm_pdo_assign_next_pdo(
fp@879:         const ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
fp@814:         const struct list_head *list /**< current Pdo list item */
fp@792:         )
fp@792: {
fp@792:     list = list->next; 
fp@879:     if (list == &fsm->pdos->list)
fp@814:         return NULL; // no next Pdo
fp@792:     return list_entry(list, ec_pdo_t, list);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@879: /** Assign a Pdo.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_add_pdo(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@801:         )
fp@801: {
fp@875:     EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
fp@854:     fsm->request.data_size = 2;
fp@854:     ec_sdo_request_address(&fsm->request,
fp@854:             0x1C10 + fsm->sync->index, fsm->pdo_count);
fp@858:     ecrt_sdo_request_write(&fsm->request);
fp@801:     if (fsm->slave->master->debug_level)
fp@879:         EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
fp@854:                 fsm->pdo->index, fsm->pdo_count);
fp@801:     
fp@879:     fsm->state = ec_fsm_pdo_assign_state_add_pdo;
fp@859:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@801:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@801: }
fp@801: 
fp@801: /*****************************************************************************/
fp@801: 
fp@879: /** Set the number of assigned Pdos to zero.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_state_zero_count(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@635:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@635: 
fp@635:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@879:         EC_ERR("Failed to clear Pdo assignment of slave %u.\n",
fp@635:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_assign_state_error;
fp@879:         return;
fp@879:     }
fp@879: 
fp@879:     // assign all Pdos belonging to the current sync manager
fp@635:     
fp@814:     // find first Pdo
fp@879:     if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
fp@635:         if (fsm->slave->master->debug_level)
fp@879:             EC_DBG("No Pdos to assign for SM%u of slave %u.\n",
fp@635:                     fsm->sync->index, fsm->slave->ring_position);
fp@879:         ec_fsm_pdo_assign_next_dir(fsm);
fp@879:         return;
fp@879:     }
fp@879: 
fp@879:     // assign first Pdo
fp@635:     fsm->pdo_count = 1;
fp@879:     ec_fsm_pdo_assign_add_pdo(fsm);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: /** Add a Pdo to the sync managers Pdo assignment.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_state_add_pdo(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@635:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@635: 
fp@635:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@814:         EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
fp@635:                 fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_assign_state_error;
fp@635:         return;
fp@635:     }
fp@635: 
fp@814:     // find next Pdo
fp@879:     if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {
fp@814:         // no more Pdos to map. write Pdo count
fp@875:         EC_WRITE_U8(fsm->request.data, fsm->pdo_count);
fp@854:         fsm->request.data_size = 1;
fp@854:         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync->index, 0);
fp@858:         ecrt_sdo_request_write(&fsm->request);
fp@635:         if (fsm->slave->master->debug_level)
fp@879:             EC_DBG("Setting number of assigned Pdos to %u.\n",
fp@635:                     fsm->pdo_count);
fp@635:         
fp@879:         fsm->state = ec_fsm_pdo_assign_state_pdo_count;
fp@859:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@635:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@635:         return;
fp@635:     }
fp@635: 
fp@879:     // add next Pdo to assignment
fp@635:     fsm->pdo_count++;
fp@879:     ec_fsm_pdo_assign_add_pdo(fsm);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: /** Set the number of assigned Pdos.
fp@879:  */
fp@879: void ec_fsm_pdo_assign_state_pdo_count(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@635:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@635: 
fp@635:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@879:         EC_ERR("Failed to set number of assigned Pdos for slave %u.\n",
fp@635:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_assign_state_error;
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     if (fsm->slave->master->debug_level)
fp@890:         EC_DBG("Successfully configured Pdo assignment for SM%u of"
fp@890:                 " slave %u.\n", fsm->sync->index, fsm->slave->ring_position);
fp@635: 
fp@879:     // assignment for this direction finished
fp@879:     ec_fsm_pdo_assign_next_dir(fsm);
fp@635: }
fp@635: 
fp@635: /******************************************************************************
fp@635:  * Common state functions
fp@635:  *****************************************************************************/
fp@635: 
fp@792: /** State: ERROR.
fp@792:  */
fp@879: void ec_fsm_pdo_assign_state_error(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@635:         )
fp@635: {
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** State: END.
fp@792:  */
fp@879: void ec_fsm_pdo_assign_state_end(
fp@879:         ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
fp@879:         )
fp@879: {
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/