fp@741: /******************************************************************************
fp@741:  *
fp@768:  *  $Id$
fp@741:  *
fp@741:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@741:  *
fp@741:  *  This file is part of the IgH EtherCAT Master.
fp@741:  *
fp@741:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@741:  *  and/or modify it under the terms of the GNU General Public License
fp@741:  *  as published by the Free Software Foundation; either version 2 of the
fp@741:  *  License, or (at your option) any later version.
fp@741:  *
fp@741:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@741:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@741:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@741:  *  GNU General Public License for more details.
fp@741:  *
fp@741:  *  You should have received a copy of the GNU General Public License
fp@741:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@741:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@741:  *
fp@741:  *  The right to use EtherCAT Technology is granted and comes free of
fp@741:  *  charge under condition of compatibility of product made by
fp@741:  *  Licensee. People intending to distribute/sell products based on the
fp@741:  *  code, have to sign an agreement to guarantee that products using
fp@741:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@741:  *  EtherCAT specification (which are released themselves as an open
fp@741:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@741:  *  Technology, IP and trade marks.
fp@741:  *
fp@741:  *****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    \file
fp@741:    EtherCAT CoE mapping state machines.
fp@741: */
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: #include "globals.h"
fp@741: #include "master.h"
fp@741: #include "mailbox.h"
fp@847: #include "sdo_request.h"
fp@741: #include "fsm_coe_map.h"
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
fp@741: 
fp@741: void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
fp@741: 
fp@831: void ec_fsm_coe_map_action_next_dir(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
fp@741: void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    Constructor.
fp@741: */
fp@741: 
fp@741: void ec_fsm_coe_map_init(
fp@741:         ec_fsm_coe_map_t *fsm, /**< finite state machine */
fp@758:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
fp@741:         )
fp@741: {
fp@852:     fsm->fsm_coe = fsm_coe;
fp@741:     fsm->state = NULL;
fp@852:     ec_sdo_request_init(&fsm->request);
fp@792:     ec_pdo_mapping_init(&fsm->mapping);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    Destructor.
fp@741: */
fp@741: 
fp@741: void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
fp@741: {
fp@852:     ec_sdo_request_clear(&fsm->request);
fp@792:     ec_pdo_mapping_clear(&fsm->mapping);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:    Starts to upload an Sdo from a slave.
fp@741: */
fp@741: 
fp@741: void ec_fsm_coe_map_start(
fp@741:         ec_fsm_coe_map_t *fsm, /**< finite state machine */
fp@741:         ec_slave_t *slave /**< EtherCAT slave */
fp@741:         )
fp@741: {
fp@741:     fsm->slave = slave;
fp@741:     fsm->state = ec_fsm_coe_map_state_start;
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    Executes the current state of the state machine.
fp@741:    \return false, if state machine has terminated
fp@741: */
fp@741: 
fp@741: int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
fp@741: {
fp@741:     fsm->state(fsm);
fp@741: 
fp@741:     return fsm->state != ec_fsm_coe_map_state_end
fp@741:         && fsm->state != ec_fsm_coe_map_state_error;
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    Returns, if the state machine terminated with success.
fp@741:    \return non-zero if successful.
fp@741: */
fp@741: 
fp@741: int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
fp@741: {
fp@741:     return fsm->state == ec_fsm_coe_map_state_end;
fp@741: }
fp@741: 
fp@741: /******************************************************************************
fp@751:  *  state functions
fp@741:  *****************************************************************************/
fp@741: 
fp@741: /**
fp@758:  * Start reading mapping.
fp@741:  */
fp@741: 
fp@751: void ec_fsm_coe_map_state_start(
fp@751:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@751:         )
fp@741: {
fp@831:     // read mapping for first direction
fp@831:     fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
fp@831:     ec_fsm_coe_map_action_next_dir(fsm);
fp@831: }
fp@831: 
fp@831: /*****************************************************************************/
fp@831: 
fp@831: /**
fp@831:  * Read mapping of next direction manager.
fp@831:  */
fp@831: 
fp@831: void ec_fsm_coe_map_action_next_dir(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     ec_slave_t *slave = fsm->slave;
fp@831: 
fp@831:     fsm->dir++;
fp@831: 
fp@831:     if (slave->master->debug_level)
fp@831:         EC_DBG("Processing dir %u of slave %u.\n",
fp@831:                 fsm->dir, slave->ring_position);
fp@831: 
fp@831:     for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
fp@831: 
fp@831:         if (!(fsm->sync = ec_slave_get_pdo_sync(slave, fsm->dir))) {
fp@831:             if (slave->master->debug_level)
fp@831:                 EC_DBG("No sync manager for direction %u!\n", fsm->dir);
fp@741:             continue;
fp@831:         }
fp@831: 
fp@831:         fsm->sync_sdo_index = 0x1C10 + fsm->sync->index;
fp@741: 
fp@741:         if (slave->master->debug_level)
fp@814:             EC_DBG("Reading Pdo mapping of sync manager %u of slave %u.\n",
fp@831:                     fsm->sync->index, slave->ring_position);
fp@741: 
fp@792:         ec_pdo_mapping_clear_pdos(&fsm->mapping);
fp@749: 
fp@852:         ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index, 0);
fp@741:         fsm->state = ec_fsm_coe_map_state_pdo_count;
fp@741:         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@741:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@741:         return;
fp@741:     }
fp@741: 
fp@831:     if (slave->master->debug_level)
fp@831:         EC_DBG("Reading of Pdo mapping finished for slave %u.\n",
fp@831:                 slave->ring_position);
fp@831: 
fp@741:     fsm->state = ec_fsm_coe_map_state_end;
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Count mapped Pdos.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_state_pdo_count(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@741: 
fp@741:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@814:         EC_ERR("Failed to read number of mapped Pdos from slave %u.\n",
fp@741:                 fsm->slave->ring_position);
fp@741:         fsm->state = ec_fsm_coe_map_state_error;
fp@741:         return;
fp@741:     }
fp@741: 
fp@741:     fsm->sync_subindices = EC_READ_U8(fsm->request.data);
fp@741: 
fp@741:     if (fsm->slave->master->debug_level)
fp@814:         EC_DBG("  %u Pdos mapped.\n", fsm->sync_subindices);
fp@814: 
fp@814:     // read first Pdo
fp@741:     fsm->sync_subindex = 1;
fp@741:     ec_fsm_coe_map_action_next_pdo(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Read next Pdo.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_action_next_pdo(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (fsm->sync_subindex <= fsm->sync_subindices) {
fp@852:         ec_sdo_request_read(&fsm->request, fsm->sync_sdo_index,
fp@849:                 fsm->sync_subindex);
fp@741:         fsm->state = ec_fsm_coe_map_state_pdo;
fp@741:         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@741:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@741:         return;
fp@741:     }
fp@741: 
fp@831:     // finished reading Pdo mapping/configuration
fp@831:     
fp@831:     if (ec_pdo_mapping_copy(&fsm->sync->mapping, &fsm->mapping)) {
fp@831:         fsm->state = ec_fsm_coe_map_state_error;
fp@831:         return;
fp@831:     }
fp@831: 
fp@831:     fsm->sync->mapping_source = EC_SYNC_MAPPING_COE;
fp@831:     ec_pdo_mapping_clear_pdos(&fsm->mapping);
fp@831: 
fp@831:     // next direction
fp@831:     ec_fsm_coe_map_action_next_dir(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Fetch Pdo information.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_state_pdo(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@741: 
fp@741:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@814:         EC_ERR("Failed to read mapped Pdo index from slave %u.\n",
fp@741:                 fsm->slave->ring_position);
fp@741:         fsm->state = ec_fsm_coe_map_state_error;
fp@741:         return;
fp@741:     }
fp@741: 
fp@831:     if (!(fsm->pdo = (ec_pdo_t *)
fp@831:                 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@831:         EC_ERR("Failed to allocate Pdo.\n");
fp@831:         fsm->state = ec_fsm_coe_map_state_error;
fp@831:         return;
fp@831:     }
fp@831: 
fp@831:     ec_pdo_init(fsm->pdo);
fp@831:     fsm->pdo->index = EC_READ_U16(fsm->request.data);
fp@831:     fsm->pdo->dir = ec_sync_direction(fsm->sync);
fp@831: 
fp@831:     if (fsm->slave->master->debug_level)
fp@831:         EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);
fp@831: 
fp@831:     list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
fp@831: 
fp@852:     ec_sdo_request_read(&fsm->request, fsm->pdo->index, 0);
fp@831:     fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
fp@831:     ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@831:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Read number of Pdo entries.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_state_pdo_entry_count(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@741: 
fp@741:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@814:         EC_ERR("Failed to read number of mapped Pdo entries from slave %u.\n",
fp@741:                 fsm->slave->ring_position);
fp@741:         fsm->state = ec_fsm_coe_map_state_error;
fp@741:         return;
fp@741:     }
fp@741: 
fp@741:     fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
fp@741: 
fp@741:     if (fsm->slave->master->debug_level)
fp@814:         EC_DBG("    %u Pdo entries mapped.\n", fsm->pdo_subindices);
fp@814: 
fp@814:     // read first Pdo entry
fp@741:     fsm->pdo_subindex = 1;
fp@741:     ec_fsm_coe_map_action_next_pdo_entry(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Read next Pdo entry.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_action_next_pdo_entry(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (fsm->pdo_subindex <= fsm->pdo_subindices) {
fp@852:         ec_sdo_request_read(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
fp@741:         fsm->state = ec_fsm_coe_map_state_pdo_entry;
fp@741:         ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@741:         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@741:         return;
fp@741:     }
fp@741: 
fp@814:     // next Pdo
fp@741:     fsm->sync_subindex++;
fp@741:     ec_fsm_coe_map_action_next_pdo(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@814:  * Read Pdo entry information.
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_state_pdo_entry(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
fp@741: 
fp@741:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@814:         EC_ERR("Failed to read index of mapped Pdo entry from slave %u.\n",
fp@741:                 fsm->slave->ring_position);
fp@741:         fsm->state = ec_fsm_coe_map_state_error;
fp@741:         return;
fp@741:     }
fp@741: 
fp@741:     {
fp@741:         uint32_t pdo_entry_info;
fp@749:         ec_pdo_entry_t *pdo_entry;
fp@741: 
fp@741:         pdo_entry_info = EC_READ_U32(fsm->request.data);
fp@749: 
fp@749:         if (!(pdo_entry = (ec_pdo_entry_t *)
fp@749:                     kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
fp@814:             EC_ERR("Failed to allocate Pdo entry.\n");
fp@749:             fsm->state = ec_fsm_coe_map_state_error;
fp@749:             return;
fp@749:         }
fp@749: 
fp@792:         ec_pdo_entry_init(pdo_entry);
fp@749:         pdo_entry->index = pdo_entry_info >> 16;
fp@749:         pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
fp@749:         pdo_entry->bit_length = pdo_entry_info & 0xFF;
fp@749: 
fp@767:         if (!pdo_entry->index && !pdo_entry->subindex) {
fp@792:             if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
fp@792:                 ec_pdo_entry_clear(pdo_entry);
fp@767:                 kfree(pdo_entry);
fp@767:                 fsm->state = ec_fsm_coe_map_state_error;
fp@767:                 return;
fp@767:             }
fp@741:         }
fp@741: 
fp@741:         if (fsm->slave->master->debug_level) {
fp@814:             EC_DBG("    Pdo entry 0x%04X \"%s\" (%u bit).\n", pdo_entry->index,
fp@792:                     pdo_entry->name ? pdo_entry->name : "???",
fp@749:                     pdo_entry->bit_length);
fp@749:         }
fp@749: 
fp@831:         // next Pdo entry
fp@749:         list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
fp@741:         fsm->pdo_subindex++;
fp@741:         ec_fsm_coe_map_action_next_pdo_entry(fsm);
fp@741:     }
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    State: ERROR.
fp@741: */
fp@741: 
fp@741: void ec_fsm_coe_map_state_error(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    State: END.
fp@741: */
fp@741: 
fp@741: void ec_fsm_coe_map_state_end(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/