fp@799: /******************************************************************************
fp@799:  *
fp@799:  *  $Id$
fp@799:  *
fp@799:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@799:  *
fp@799:  *  This file is part of the IgH EtherCAT Master.
fp@799:  *
fp@799:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@799:  *  and/or modify it under the terms of the GNU General Public License
fp@799:  *  as published by the Free Software Foundation; either version 2 of the
fp@799:  *  License, or (at your option) any later version.
fp@799:  *
fp@799:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@799:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@799:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@799:  *  GNU General Public License for more details.
fp@799:  *
fp@799:  *  You should have received a copy of the GNU General Public License
fp@799:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@799:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@799:  *
fp@799:  *  The right to use EtherCAT Technology is granted and comes free of
fp@799:  *  charge under condition of compatibility of product made by
fp@799:  *  Licensee. People intending to distribute/sell products based on the
fp@799:  *  code, have to sign an agreement to guarantee that products using
fp@799:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@799:  *  EtherCAT specification (which are released themselves as an open
fp@799:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@799:  *  Technology, IP and trade marks.
fp@799:  *
fp@799:  *****************************************************************************/
fp@799: 
fp@799: /** \file
fp@879:  * EtherCAT Pdo mapping state machine.
fp@799:  */
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: #include "globals.h"
fp@799: #include "master.h"
fp@799: #include "mailbox.h"
fp@799: #include "slave_config.h"
fp@799: 
fp@879: #include "fsm_pdo_mapping.h"
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
fp@879: void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
fp@879: void ec_fsm_pdo_mapping_state_add_entry(ec_fsm_pdo_mapping_t *);
fp@879: void ec_fsm_pdo_mapping_state_entry_count(ec_fsm_pdo_mapping_t *);
fp@879: void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
fp@879: void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);
fp@879: 
fp@879: void ec_fsm_pdo_mapping_next_pdo(ec_fsm_pdo_mapping_t *);
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Constructor.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_init(
fp@879:         ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
fp@879:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
fp@799:         )
fp@799: {
fp@799:     fsm->fsm_coe = fsm_coe;
fp@854:     ec_sdo_request_init(&fsm->request);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Destructor.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_clear(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@854:     ec_sdo_request_clear(&fsm->request);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@879: /** Start Pdo mapping state machine.
fp@879:  */
fp@879: void ec_fsm_pdo_mapping_start(
fp@879:         ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
fp@799:         ec_slave_t *slave /**< slave to configure */
fp@799:         )
fp@799: {
fp@799:     fsm->slave = slave;
fp@879:     fsm->state = ec_fsm_pdo_mapping_state_start;
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Get running state.
fp@799:  *
fp@799:  * \return false, if state machine has terminated
fp@799:  */
fp@879: int ec_fsm_pdo_mapping_running(
fp@879:         const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@879:         )
fp@879: {
fp@879:     return fsm->state != ec_fsm_pdo_mapping_state_end
fp@879:         && fsm->state != ec_fsm_pdo_mapping_state_error;
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Executes the current state.
fp@799:  *
fp@799:  * \return false, if state machine has terminated
fp@799:  */
fp@879: int ec_fsm_pdo_mapping_exec(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     fsm->state(fsm);
fp@879:     return ec_fsm_pdo_mapping_running(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Get execution result.
fp@799:  *
fp@799:  * \return true, if the state machine terminated gracefully
fp@799:  */
fp@879: int ec_fsm_pdo_mapping_success(
fp@879:         const ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@879:         )
fp@879: {
fp@879:     return fsm->state == ec_fsm_pdo_mapping_state_end;
fp@799: }
fp@799: 
fp@799: /******************************************************************************
fp@799:  * State functions.
fp@799:  *****************************************************************************/
fp@799: 
fp@879: /** Start Pdo mapping.
fp@879:  */
fp@879: void ec_fsm_pdo_mapping_state_start(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     if (!fsm->slave->config) {
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_end;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     fsm->pdo = NULL;
fp@890:     fsm->num_configured_pdos = 0;
fp@879:     ec_fsm_pdo_mapping_next_pdo(fsm);
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/
fp@879: 
fp@879: /** Process mapping of next Pdo.
fp@879:  */
fp@879: void ec_fsm_pdo_mapping_next_pdo(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     ec_direction_t dir;
fp@879:     const ec_pdo_list_t *pdos;
fp@879:     const ec_pdo_t *pdo, *assigned_pdo;
fp@799:     
fp@799:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@879:         pdos = &fsm->slave->config->pdos[dir];
fp@879: 
fp@879:         list_for_each_entry(pdo, &pdos->list, list) {
fp@879:             if (fsm->pdo) { // there was a Pdo mapping changed in the last run
fp@890:                 if (pdo == fsm->pdo) // this is the previously configured Pdo
fp@801:                     fsm->pdo = NULL; // take the next one
fp@799:             } else {
fp@879:                 if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
fp@879:                     if (ec_pdo_equal_entries(pdo, assigned_pdo))
fp@879:                         continue; // Pdo entries mapped correctly
fp@799: 
fp@799:                 fsm->pdo = pdo;
fp@890:                 fsm->num_configured_pdos++;
fp@801:                 break;
fp@799:             }
fp@799:         }
fp@799:     }
fp@799: 
fp@801:     if (!fsm->pdo) {
fp@890:         if (fsm->slave->master->debug_level && !fsm->num_configured_pdos)
fp@890:             EC_DBG("Pdo mappings of slave %u are already configured"
fp@890:                     " correctly.\n", fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_end;
fp@879:         return;
fp@879:     }
fp@879: 
fp@879:     // Pdo mapping has to be changed. Does the slave support this?
fp@877:     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_configuration)) {
fp@879:         EC_ERR("Slave %u does not support changing the Pdo mapping!\n",
fp@835:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_error;
fp@835:         return;
fp@835:     }
fp@835: 
fp@799:     if (fsm->slave->master->debug_level) {
fp@879:         EC_DBG("Changing mapping of Pdo 0x%04X of slave %u.\n",
fp@799:                 fsm->pdo->index, fsm->slave->ring_position);
fp@799:     }
fp@799: 
fp@854:     if (ec_sdo_request_alloc(&fsm->request, 4)) {
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_error;
fp@854:         return;
fp@854:     }
fp@854: 
fp@814:     // set mapped Pdo count to zero
fp@875:     EC_WRITE_U8(fsm->request.data, 0);
fp@854:     fsm->request.data_size = 1;
fp@854:     ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
fp@858:     ecrt_sdo_request_write(&fsm->request);
fp@799:     if (fsm->slave->master->debug_level)
fp@799:         EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
fp@799:                 fsm->pdo->index);
fp@799: 
fp@879:     fsm->state = ec_fsm_pdo_mapping_state_zero_count;
fp@859:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@799:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Process next Pdo entry.
fp@799:  */
fp@879: ec_pdo_entry_t *ec_fsm_pdo_mapping_next_entry(
fp@879:         const ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
fp@799:         const struct list_head *list /**< current entry list item */
fp@799:         )
fp@799: {
fp@799:     list = list->next; 
fp@799:     if (list == &fsm->pdo->entries)
fp@799:         return NULL; // no next entry
fp@799:     return list_entry(list, ec_pdo_entry_t, list);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Starts to add a Pdo entry.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_add_entry(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     uint32_t value;
fp@799: 
fp@799:     value = fsm->entry->index << 16
fp@799:         | fsm->entry->subindex << 8 | fsm->entry->bit_length;
fp@875:     EC_WRITE_U32(fsm->request.data, value);
fp@854:     fsm->request.data_size = 4;
fp@854:     ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
fp@858:     ecrt_sdo_request_write(&fsm->request);
fp@799:     if (fsm->slave->master->debug_level)
fp@799:         EC_DBG("Configuring Pdo entry %08X at position %u.\n",
fp@799:                 value, fsm->entry_count);
fp@799:     
fp@879:     fsm->state = ec_fsm_pdo_mapping_state_add_entry;
fp@859:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@799:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@879: /** Set the number of mapped entries to zero.
fp@879:  */
fp@879: void ec_fsm_pdo_mapping_state_zero_count(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@799: 
fp@799:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@879:         EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
fp@799:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // find first entry
fp@799:     if (!(fsm->entry =
fp@879:                 ec_fsm_pdo_mapping_next_entry(fsm, &fsm->pdo->entries))) {
fp@799:         if (fsm->slave->master->debug_level)
fp@879:             EC_DBG("No entries to map for Pdo 0x%04X of slave %u.\n",
fp@799:                     fsm->pdo->index, fsm->slave->ring_position);
fp@879:         ec_fsm_pdo_mapping_next_pdo(fsm);
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // add first entry
fp@799:     fsm->entry_count = 1;
fp@879:     ec_fsm_pdo_mapping_add_entry(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Add a Pdo entry.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_state_add_entry(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@799: 
fp@799:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@926:         EC_ERR("Failed to add entry 0x%04X:%02X for slave %u.\n",
fp@799:                 fsm->entry->index, fsm->entry->subindex,
fp@799:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // find next entry
fp@879:     if (!(fsm->entry = ec_fsm_pdo_mapping_next_entry(fsm, &fsm->entry->list))) {
fp@799:         // No more entries to add. Write entry count.
fp@875:         EC_WRITE_U8(fsm->request.data, fsm->entry_count);
fp@854:         fsm->request.data_size = 1;
fp@854:         ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
fp@858:         ecrt_sdo_request_write(&fsm->request);
fp@799:         if (fsm->slave->master->debug_level)
fp@799:             EC_DBG("Setting number of Pdo entries to %u.\n",
fp@799:                     fsm->entry_count);
fp@799:         
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_entry_count;
fp@859:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@799:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // add next entry
fp@799:     fsm->entry_count++;
fp@879:     ec_fsm_pdo_mapping_add_entry(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Set the number of entries.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_state_entry_count(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@799: 
fp@799:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@799:         EC_ERR("Failed to set number of entries for slave %u.\n",
fp@799:                 fsm->slave->ring_position);
fp@879:         fsm->state = ec_fsm_pdo_mapping_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     if (fsm->slave->master->debug_level)
fp@879:         EC_DBG("Successfully configured mapping for Pdo 0x%04X on slave %u.\n",
fp@799:                 fsm->pdo->index, fsm->slave->ring_position);
fp@799: 
fp@879:     ec_fsm_pdo_mapping_next_pdo(fsm);
fp@799: }
fp@799: 
fp@799: /******************************************************************************
fp@799:  * Common state functions
fp@799:  *****************************************************************************/
fp@799: 
fp@799: /** State: ERROR.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_state_error(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@799:         )
fp@799: {
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** State: END.
fp@799:  */
fp@879: void ec_fsm_pdo_mapping_state_end(
fp@879:         ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
fp@879:         )
fp@879: {
fp@879: }
fp@879: 
fp@879: /*****************************************************************************/