fp@741: /******************************************************************************
fp@741:  *
fp@741:  *  $Id: fsm_coe.c 920 2007-09-12 10:07:55Z fp $
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@741: #include "canopen.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@741: void ec_fsm_coe_map_action_next_sync(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@741:         ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
fp@741:         )
fp@741: {
fp@741:     fsm->state = NULL;
fp@741:     fsm->fsm_coe = fsm_coe;
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@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    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@741:  *  CoE dictionary state machine
fp@741:  *****************************************************************************/
fp@741: 
fp@741: /**
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *fsm /**< finite state machine */)
fp@741: {
fp@741:     // read mapping of first sync manager
fp@741:     fsm->sync_index = 0;
fp@741:     ec_fsm_coe_map_action_next_sync(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
fp@741:  */
fp@741: 
fp@741: void ec_fsm_coe_map_action_next_sync(
fp@741:         ec_fsm_coe_map_t *fsm /**< finite state machine */
fp@741:         )
fp@741: {
fp@741:     ec_slave_t *slave = fsm->slave;
fp@741:     ec_sdo_entry_t *entry;
fp@741: 
fp@741:     for (; fsm->sync_index < 4; fsm->sync_index++) {
fp@741:         if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
fp@741:             continue;
fp@741: 
fp@741:         if (slave->master->debug_level)
fp@741:             EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
fp@741:                     fsm->sync_index, slave->ring_position);
fp@741: 
fp@741:         if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
fp@741:             EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
fp@741:                     fsm->sync_sdo->index,
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:         ec_sdo_request_init_read(&fsm->request, entry);
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@741:     fsm->state = ec_fsm_coe_map_state_end;
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
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@741:         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@741:         EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);
fp@741: 
fp@741:     // 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@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:     ec_sdo_entry_t *entry;
fp@741: 
fp@741:     if (fsm->sync_subindex <= fsm->sync_subindices) {
fp@741:         if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
fp@741:                         fsm->sync_subindex))) {
fp@741:             EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
fp@741:                     fsm->sync_sdo->index,
fp@741:                     fsm->sync_subindex,
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:         ec_sdo_request_init_read(&fsm->request, entry);
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@741:     // next sync manager
fp@741:     fsm->sync_index++;
fp@741:     ec_fsm_coe_map_action_next_sync(fsm);
fp@741: }
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
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@741:         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@741:     {
fp@741:         uint16_t pdo_index = EC_READ_U16(fsm->request.data);
fp@741:         ec_sdo_entry_t *entry;
fp@741: 
fp@741:         if (fsm->slave->master->debug_level)
fp@741:             EC_DBG("  PDO 0x%04X.\n", pdo_index);
fp@741: 
fp@741:         if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, pdo_index))) {
fp@741:             EC_ERR("Slave %u has no SDO 0x%04X.\n",
fp@741:                     fsm->slave->ring_position, pdo_index);
fp@741:             fsm->state = ec_fsm_coe_map_state_error;
fp@741:             return;
fp@741:         }
fp@741: 
fp@741:         if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
fp@741:             EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
fp@741:                     fsm->pdo_sdo->index,
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:         ec_sdo_request_init_read(&fsm->request, entry);
fp@741:         fsm->state = ec_fsm_coe_map_state_pdo_entry_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@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: /**
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@741:         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@741:         EC_DBG("    %u PDO entries mapped.\n", fsm->pdo_subindices);
fp@741: 
fp@741:     // 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@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:     ec_sdo_entry_t *entry;
fp@741: 
fp@741:     if (fsm->pdo_subindex <= fsm->pdo_subindices) {
fp@741:         if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
fp@741:                         fsm->pdo_subindex))) {
fp@741:             EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
fp@741:                     fsm->pdo_sdo->index, fsm->pdo_subindex,
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:         ec_sdo_request_init_read(&fsm->request, entry);
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@741:     // 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@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@741:         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@741:         uint16_t pdo_entry_index;
fp@741:         ec_sdo_t *sdo;
fp@741: 
fp@741:         pdo_entry_info = EC_READ_U32(fsm->request.data);
fp@741:         pdo_entry_index = pdo_entry_info >> 16;
fp@741: 
fp@741:         if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry_index))) {
fp@741:             EC_ERR("Slave %u has no SDO 0x%04X.\n",
fp@741:                     fsm->slave->ring_position, pdo_entry_index);
fp@741:             fsm->state = ec_fsm_coe_map_state_error;
fp@741:             return;
fp@741:         }
fp@741: 
fp@741:         if (fsm->slave->master->debug_level) {
fp@741:             size_t bitsize = pdo_entry_info & 0xFFFF;
fp@741:             EC_DBG("    PDO entry 0x%04X \"%s\" (%u bit).\n",
fp@741:                     pdo_entry_index, sdo->name, bitsize);
fp@741:         }
fp@741: 
fp@741:         // next PDO entry
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: /*****************************************************************************/