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@792:  * EtherCAT PDO mapping 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@635: #include "fsm_mapping.h"
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@635: void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
fp@635: void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *);
fp@635: void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *);
fp@635: void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *);
fp@635: void ec_fsm_mapping_state_end(ec_fsm_mapping_t *);
fp@635: void ec_fsm_mapping_state_error(ec_fsm_mapping_t *);
fp@635: 
fp@635: void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *);
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Constructor.
fp@792:  */
fp@792: void ec_fsm_mapping_init(
fp@792:         ec_fsm_mapping_t *fsm, /**< mapping 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@635:     fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Destructor.
fp@792:  */
fp@792: void ec_fsm_mapping_clear(
fp@792:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@792:         )
fp@792: {
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@792: /** Start PDO mapping configuration state machine.
fp@792:  */
fp@635: void ec_fsm_mapping_start(
fp@635:         ec_fsm_mapping_t *fsm, /**< mapping state machine */
fp@635:         ec_slave_t *slave /**< slave to configure */
fp@635:         )
fp@635: {
fp@635:     fsm->slave = slave;
fp@635:     fsm->state = ec_fsm_mapping_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@635: int ec_fsm_mapping_running(
fp@635:         const ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@635:     return fsm->state != ec_fsm_mapping_state_end
fp@635:         && fsm->state != ec_fsm_mapping_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@635: int ec_fsm_mapping_exec(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@635:     fsm->state(fsm);
fp@635:     return ec_fsm_mapping_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@635: int ec_fsm_mapping_success(
fp@635:         const ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@635:     return fsm->state == ec_fsm_mapping_state_end;
fp@635: }
fp@635: 
fp@635: /******************************************************************************
fp@792:  * State functions.
fp@635:  *****************************************************************************/
fp@635: 
fp@792: /** Start mapping configuration.
fp@792:  */
fp@635: void ec_fsm_mapping_state_start(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@792:     if (!fsm->slave->config) {
fp@792:         fsm->state = ec_fsm_mapping_state_end;
fp@792:         return;
fp@792:     }
fp@792: 
fp@801:     fsm->sync = NULL;
fp@635:     ec_fsm_mapping_next_sync(fsm);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Process mapping of next sync manager.
fp@792:  */
fp@635: void ec_fsm_mapping_next_sync(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@801:     ec_direction_t dir;
fp@801:     const ec_sync_t *sync;
fp@801:     const ec_pdo_mapping_t *map;
fp@801: 
fp@801:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@801:         if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {
fp@801:             EC_WARN("No sync manager for direction %u!\n", dir);
fp@660:             continue;
fp@635:         }
fp@660: 
fp@801:         if (fsm->sync) { // there is a last SM
fp@801:             if (sync == fsm->sync) // this is the last SM
fp@801:                 fsm->sync = NULL; // take the next one
fp@792:         } else {
fp@801:             map = &fsm->slave->config->mapping[dir];
fp@801:             if (ec_pdo_mapping_equal(&sync->mapping, map))
fp@801:                 continue;
fp@801: 
fp@801:             fsm->sync = sync;
fp@801:             fsm->mapping = map;
fp@660:             break;
fp@792:         }
fp@660:     }
fp@635: 
fp@801:     if (!sync) {
fp@801:         if (fsm->slave->master->debug_level)
fp@801:             EC_DBG("Pdo mapping finished for slave %u.\n",
fp@801:                     fsm->slave->ring_position);
fp@801:         fsm->state = ec_fsm_mapping_state_end;
fp@801:         return;
fp@801:     }
fp@801: 
fp@635:     if (fsm->slave->master->debug_level) {
fp@792:         EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n",
fp@635:                 fsm->sync->index, fsm->slave->ring_position);
fp@635:     }
fp@635: 
fp@635:     // set mapped PDO count to zero
fp@635:     fsm->sdodata.index = 0x1C10 + fsm->sync->index;
fp@635:     fsm->sdodata.subindex = 0; // mapped PDO count
fp@635:     EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
fp@635:     fsm->sdodata.size = 1;
fp@635:     if (fsm->slave->master->debug_level)
fp@635:         EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
fp@635: 
fp@635:     fsm->state = ec_fsm_mapping_state_zero_count;
fp@635:     ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
fp@635:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Process mapping of next PDO.
fp@792:  */
fp@635: ec_pdo_t *ec_fsm_mapping_next_pdo(
fp@792:         const ec_fsm_mapping_t *fsm, /**< mapping state machine */
fp@792:         const struct list_head *list /**< current PDO list item */
fp@792:         )
fp@792: {
fp@792:     list = list->next; 
fp@792:     if (list == &fsm->mapping->pdos)
fp@792:         return NULL; // no next PDO
fp@792:     return list_entry(list, ec_pdo_t, list);
fp@792: }
fp@792: 
fp@792: /*****************************************************************************/
fp@792: 
fp@801: /** Add a Pdo to the mapping.
fp@801:  */
fp@801: void ec_fsm_mapping_add_pdo(
fp@801:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@801:         )
fp@801: {
fp@801:     fsm->sdodata.subindex = fsm->pdo_count;
fp@801:     EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
fp@801:     fsm->sdodata.size = 2;
fp@801: 
fp@801:     if (fsm->slave->master->debug_level)
fp@801:         EC_DBG("Mapping PDO 0x%04X at position %u.\n",
fp@801:                 fsm->pdo->index, fsm->sdodata.subindex);
fp@801:     
fp@801:     fsm->state = ec_fsm_mapping_state_add_pdo;
fp@801:     ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
fp@801:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@801: }
fp@801: 
fp@801: /*****************************************************************************/
fp@801: 
fp@792: /** Set the number of mapped PDOs to zero.
fp@792:  */
fp@635: void ec_fsm_mapping_state_zero_count(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping 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@635:         EC_ERR("Failed to clear PDO mapping for slave %u.\n",
fp@635:                 fsm->slave->ring_position);
fp@635:         fsm->state = ec_fsm_mapping_state_error;
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     // map all PDOs belonging to the current sync manager
fp@635:     
fp@635:     // find first PDO
fp@792:     if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
fp@635:         if (fsm->slave->master->debug_level)
fp@635:             EC_DBG("No PDOs to map for SM%u of slave %u.\n",
fp@635:                     fsm->sync->index, fsm->slave->ring_position);
fp@635:         ec_fsm_mapping_next_sync(fsm);
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     // add first PDO to mapping
fp@635:     fsm->pdo_count = 1;
fp@801:     ec_fsm_mapping_add_pdo(fsm);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Add a PDO to the sync managers mapping.
fp@792:  */
fp@635: void ec_fsm_mapping_state_add_pdo(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping 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@635:         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@635:         fsm->state = ec_fsm_mapping_state_error;
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     // find next PDO
fp@792:     if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->pdo->list))) {
fp@635:         // no more PDOs to map. write PDO count
fp@635:         fsm->sdodata.subindex = 0;
fp@635:         EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
fp@635:         fsm->sdodata.size = 1;
fp@635: 
fp@635:         if (fsm->slave->master->debug_level)
fp@635:             EC_DBG("Setting number of mapped PDOs to %u.\n",
fp@635:                     fsm->pdo_count);
fp@635:         
fp@635:         fsm->state = ec_fsm_mapping_state_pdo_count;
fp@635:         ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
fp@635:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     // add next PDO to mapping
fp@635:     fsm->pdo_count++;
fp@801:     ec_fsm_mapping_add_pdo(fsm);
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** Set the number of mapped PDOs.
fp@792:  */
fp@635: void ec_fsm_mapping_state_pdo_count(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping 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@635:         EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
fp@635:                 fsm->slave->ring_position);
fp@635:         fsm->state = ec_fsm_mapping_state_error;
fp@635:         return;
fp@635:     }
fp@635: 
fp@635:     if (fsm->slave->master->debug_level)
fp@635:         EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
fp@635:                 fsm->sync->index, fsm->slave->ring_position);
fp@635: 
fp@635:     // mapping configuration for this sync manager complete.
fp@635:     ec_fsm_mapping_next_sync(fsm);
fp@635: }
fp@635: 
fp@635: /******************************************************************************
fp@635:  * Common state functions
fp@635:  *****************************************************************************/
fp@635: 
fp@792: /** State: ERROR.
fp@792:  */
fp@635: void ec_fsm_mapping_state_error(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/
fp@635: 
fp@792: /** State: END.
fp@792:  */
fp@635: void ec_fsm_mapping_state_end(
fp@635:         ec_fsm_mapping_t *fsm /**< mapping state machine */
fp@635:         )
fp@635: {
fp@635: }
fp@635: 
fp@635: /*****************************************************************************/