fp@1174: /******************************************************************************
fp@1174:  *
fp@1174:  *  $Id$
fp@1174:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1174:  *
fp@1174:  *  This file is part of the IgH EtherCAT Master.
fp@1174:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1174:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1174:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1174:  *
fp@1174:  *****************************************************************************/
fp@1174: 
fp@2522: /** \file
fp@2522:  * EtherCAT PDO configuration state machine.
fp@1174:  */
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #include "globals.h"
fp@1174: #include "master.h"
fp@1174: #include "mailbox.h"
fp@1174: #include "slave_config.h"
fp@1174: 
fp@1174: #include "fsm_pdo.h"
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@2498: void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_state_end(ec_fsm_pdo_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_state_error(ec_fsm_pdo_t *, ec_datagram_t *);
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Constructor.
fp@1174:  */
fp@1174: void ec_fsm_pdo_init(
fp@1327:         ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
fp@1174:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->fsm_coe = fsm_coe;
fp@1174:     ec_fsm_pdo_entry_init(&fsm->fsm_pdo_entry, fsm_coe);
fp@1174:     ec_pdo_list_init(&fsm->pdos);
fp@1174:     ec_sdo_request_init(&fsm->request);
fp@1174:     ec_pdo_init(&fsm->slave_pdo);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Destructor.
fp@1174:  */
fp@1174: void ec_fsm_pdo_clear(
fp@1327:         ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
fp@1174:     ec_pdo_list_clear(&fsm->pdos);
fp@1174:     ec_sdo_request_clear(&fsm->request);
fp@1174:     ec_pdo_clear(&fsm->slave_pdo);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1823: /** Print the current and desired PDO assignment.
fp@1823:  */
fp@1823: void ec_fsm_pdo_print(
fp@1823:         ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
fp@1823:         )
fp@1823: {
fp@1823:     printk("Currently assigned PDOs: ");
fp@1823:     ec_pdo_list_print(&fsm->sync->pdos);
fp@1823:     printk(". PDOs to assign: ");
fp@1823:     ec_pdo_list_print(&fsm->pdos);
fp@1823:     printk("\n");
fp@1823: }
fp@1823: 
fp@1823: /*****************************************************************************/
fp@1823: 
fp@1327: /** Start reading the PDO configuration.
fp@1174:  */
fp@1174: void ec_fsm_pdo_start_reading(
fp@1327:         ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
fp@1174:         ec_slave_t *slave /**< slave to configure */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->slave = slave;
fp@1174:     fsm->state = ec_fsm_pdo_read_state_start;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Start writing the PDO configuration.
fp@1174:  */
fp@1174: void ec_fsm_pdo_start_configuration(
fp@1327:         ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
fp@1174:         ec_slave_t *slave /**< slave to configure */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->slave = slave;
fp@1174:     fsm->state = ec_fsm_pdo_conf_state_start;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Get running state.
fp@1174:  *
fp@1174:  * \return false, if state machine has terminated
fp@1174:  */
fp@1174: int ec_fsm_pdo_running(
fp@1327:         const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     return fsm->state != ec_fsm_pdo_state_end
fp@1174:         && fsm->state != ec_fsm_pdo_state_error;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Executes the current state of the state machine.
fp@1174:  *
fp@1174:  * If the state machine's datagram is not sent or received yet, the execution
fp@1174:  * of the state machine is delayed to the next cycle.
fp@1174:  *
fp@1174:  * \return false, if state machine has terminated
fp@1174:  */
fp@1174: int ec_fsm_pdo_exec(
fp@2498:         ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     fsm->state(fsm, datagram);
fp@2498: 
fp@1174:     return ec_fsm_pdo_running(fsm);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Get execution result.
fp@1174:  *
fp@1174:  * \return true, if the state machine terminated gracefully
fp@1174:  */
fp@1174: int ec_fsm_pdo_success(
fp@1327:         const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     return fsm->state == ec_fsm_pdo_state_end;
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Reading state funtions.
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1327: /** Start reading PDO assignment.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_state_start(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1327:     // read PDO assignment for first sync manager not reserved for mailbox
fp@1174:     fsm->sync_index = 1; // next is 2
fp@2498:     ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Read PDO assignment of next sync manager.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_action_next_sync(
fp@2498:         ec_fsm_pdo_t *fsm, /**< finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     ec_slave_t *slave = fsm->slave;
fp@1174: 
fp@1174:     fsm->sync_index++;
fp@1174: 
fp@1174:     for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
fp@1174:         if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
fp@1174:             continue;
fp@1174: 
fp@1921:         EC_SLAVE_DBG(slave, 1, "Reading PDO assignment of SM%u.\n",
fp@1921:                 fsm->sync_index);
fp@1174: 
fp@1174:         ec_pdo_list_clear_pdos(&fsm->pdos);
fp@1174: 
fp@2434:         ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
fp@1174:         ecrt_sdo_request_read(&fsm->request);
fp@1174:         fsm->state = ec_fsm_pdo_read_state_pdo_count;
fp@1174:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1921:     EC_SLAVE_DBG(slave, 1, "Reading of PDO configuration finished.\n");
fp@1174: 
fp@1472:     ec_pdo_list_clear_pdos(&fsm->pdos);
fp@1174:     fsm->state = ec_fsm_pdo_state_end;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Count assigned PDOs.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_state_pdo_count(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to read number of assigned PDOs"
fp@1921:                 " for SM%u.\n", fsm->sync_index);
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     if (fsm->request.data_size != sizeof(uint8_t)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
fp@1921:                 " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
fp@1921:                 fsm->request.index, fsm->request.subindex);
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174:     fsm->pdo_count = EC_READ_U8(fsm->request.data);
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "%u PDOs assigned.\n", fsm->pdo_count);
fp@1327: 
fp@1327:     // read first PDO
fp@1174:     fsm->pdo_pos = 1;
fp@2498:     ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Read next PDO.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_action_next_pdo(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     if (fsm->pdo_pos <= fsm->pdo_count) {
fp@2434:         ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index,
fp@1174:                 fsm->pdo_pos);
fp@1174:         ecrt_sdo_request_read(&fsm->request);
fp@1174:         fsm->state = ec_fsm_pdo_read_state_pdo;
fp@1174:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // finished reading PDO configuration
fp@2421: 
fp@1472:     ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
fp@1174:     ec_pdo_list_clear_pdos(&fsm->pdos);
fp@1174: 
fp@1174:     // next sync manager
fp@2498:     ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Fetch PDO information.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_state_pdo(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to read index of"
fp@1921:                 " assigned PDO %u from SM%u.\n",
fp@1174:                 fsm->pdo_pos, fsm->sync_index);
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     if (fsm->request.data_size != sizeof(uint16_t)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
fp@1921:                 " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
fp@1921:                 fsm->request.index, fsm->request.subindex);
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     if (!(fsm->pdo = (ec_pdo_t *)
fp@1174:                 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO.\n");
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     ec_pdo_init(fsm->pdo);
fp@1174:     fsm->pdo->index = EC_READ_U16(fsm->request.data);
fp@1174:     fsm->pdo->sync_index = fsm->sync_index;
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "PDO 0x%04X.\n", fsm->pdo->index);
fp@1174: 
fp@1174:     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_read_state_pdo_entries;
fp@1174:     ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
fp@2498:     fsm->state(fsm, datagram); // execute immediately
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Fetch PDO information.
fp@1174:  */
fp@1174: void ec_fsm_pdo_read_state_pdo_entries(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entries"
fp@1921:                 " for PDO 0x%04X.\n", fsm->pdo->index);
fp@2498:         ec_fsm_pdo_read_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // next PDO
fp@1174:     fsm->pdo_pos++;
fp@2498:     ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Writing state functions.
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1327: /** Start PDO configuration.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_start(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     if (!fsm->slave->config) {
fp@1174:         fsm->state = ec_fsm_pdo_state_end;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1964:     fsm->sync_index = 1; // next is 2
fp@2498:     ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Assign next PDO.
fp@2522:  *
fp@2522:  * \return Next PDO, or NULL.
fp@1174:  */
fp@1174: ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
fp@1327:         const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
fp@1327:         const struct list_head *list /**< current PDO list item */
fp@1174:         )
fp@1174: {
fp@2421:     list = list->next;
fp@1174:     if (list == &fsm->pdos.list)
fp@1327:         return NULL; // no next PDO
fp@1174:     return list_entry(list, ec_pdo_t, list);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Get the next sync manager for a pdo configuration.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_next_sync(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->sync_index++;
fp@1174: 
fp@1174:     for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
fp@2421:         if (!fsm->slave->config) {
fp@1921:             // slave configuration removed in the meantime
fp@1318:             fsm->state = ec_fsm_pdo_state_error;
fp@1318:             return;
fp@1318:         }
fp@1318: 
fp@1174:         if (ec_pdo_list_copy(&fsm->pdos,
fp@1921:                     &fsm->slave->config->sync_configs[fsm->sync_index].pdos))
fp@1921:         {
fp@1174:             fsm->state = ec_fsm_pdo_state_error;
fp@1174:             return;
fp@1174:         }
fp@2421: 
fp@1174:         if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
fp@1174:             if (!list_empty(&fsm->pdos.list))
fp@1921:                 EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"
fp@1921:                         " but slave does not provide the"
fp@1921:                         " sync manager information!\n",
fp@1921:                         fsm->sync_index);
fp@1174:             continue;
fp@1174:         }
fp@1174: 
fp@1327:         // get first configured PDO
fp@1964:         if (!(fsm->pdo =
fp@1964:                     ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
fp@1174:             // no pdos configured
fp@2498:             ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
fp@1174:             return;
fp@1174:         }
fp@1174: 
fp@2498:         ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_state_end;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1193: /** Check if the mapping has to be read, otherwise start to configure it.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_pdo_mapping(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     const ec_pdo_t *assigned_pdo;
fp@1174: 
fp@1174:     fsm->slave_pdo.index = fsm->pdo->index;
fp@1174: 
fp@1174:     if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
fp@1174:         ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
fp@1327:     } else { // configured PDO is not assigned and thus unknown
fp@1174:         ec_pdo_clear_entries(&fsm->slave_pdo);
fp@1174:     }
fp@1174: 
fp@1174:     if (list_empty(&fsm->slave_pdo.entries)) {
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",
fp@1921:                 fsm->pdo->index);
fp@2421: 
fp@1174:         // pdo mapping is unknown; start loading it
fp@1174:         ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
fp@1174:                 &fsm->slave_pdo);
fp@1174:         fsm->state = ec_fsm_pdo_conf_state_read_mapping;
fp@2498:         fsm->state(fsm, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // pdo mapping is known, check if it most be re-configured
fp@2498:     ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Execute the PDO entry state machine to read the current PDO's mapping.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_read_mapping(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
fp@1921:         EC_SLAVE_WARN(fsm->slave,
fp@1921:                 "Failed to read PDO entries for PDO 0x%04X.\n",
fp@1174:                 fsm->pdo->index);
fp@1174: 
fp@1174:     // check if the mapping must be re-configured
fp@2498:     ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1193: /** Check if the mapping has to be re-configured.
fp@1193:  *
fp@1193:  * \todo Display mapping differences.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_check_mapping(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1964:     // check, if slave supports PDO configuration
fp@1964:     if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@1964:             && fsm->slave->sii.has_general
fp@1964:             && fsm->slave->sii.coe_details.enable_pdo_configuration) {
fp@1964: 
fp@1964:         // always write PDO mapping
fp@1964:         ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
fp@1964:                 fsm->pdo, &fsm->slave_pdo);
fp@1964:         fsm->state = ec_fsm_pdo_conf_state_mapping;
fp@2498:         fsm->state(fsm, datagram); // execure immediately
fp@1964:         return;
fp@1964:     }
fp@1964:     else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
fp@1964:         EC_SLAVE_WARN(fsm->slave, "Slave does not support"
fp@1964:                 " changing the PDO mapping!\n");
fp@1964:         EC_SLAVE_WARN(fsm->slave, "");
fp@1964:         printk("Currently mapped PDO entries: ");
fp@1964:         ec_pdo_print_entries(&fsm->slave_pdo);
fp@1964:         printk(". Entries to map: ");
fp@1964:         ec_pdo_print_entries(fsm->pdo);
fp@1964:         printk("\n");
fp@1964:     }
fp@1964: 
fp@2498:     ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Let the PDO entry state machine configure the current PDO's mapping.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_mapping(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
fp@1921:         EC_SLAVE_WARN(fsm->slave,
fp@1921:                 "Failed to configure mapping of PDO 0x%04X.\n",
fp@1174:                 fsm->pdo->index);
fp@1174: 
fp@2498:     ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Check mapping of next PDO, otherwise configure assignment.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_next_pdo_mapping(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1327:         )
fp@1327: {
fp@1327:     // get next configured PDO
fp@1174:     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
fp@1174:         // no more configured pdos
fp@2498:         ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
fp@2498:         return;
fp@2498:     }
fp@2498: 
fp@2498:     ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Check if the PDO assignment of the current SM has to be re-configured.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_check_assignment(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1964:     if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
fp@1964:             && fsm->slave->sii.has_general
fp@1964:             && fsm->slave->sii.coe_details.enable_pdo_assign) {
fp@1964: 
fp@1964:         // always write PDO assignment
fp@1964:         if (fsm->slave->master->debug_level) {
fp@1964:             EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
fp@1964:                     fsm->sync_index);
fp@1964:             EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
fp@1964:         }
fp@1964: 
fp@1964:         if (ec_sdo_request_alloc(&fsm->request, 2)) {
fp@1964:             fsm->state = ec_fsm_pdo_state_error;
fp@1964:             return;
fp@1964:         }
fp@1964: 
fp@1964:         // set mapped PDO count to zero
fp@1964:         EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
fp@1964:         fsm->request.data_size = 1;
fp@2434:         ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
fp@1964:         ecrt_sdo_request_write(&fsm->request);
fp@1964: 
fp@1964:         EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
fp@1964:                 " PDOs to zero.\n");
fp@1964: 
fp@1964:         fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
fp@1964:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1964:         return;
fp@1964:     }
fp@1964:     else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fp@1964:     }
fp@1964: 
fp@2498:     ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Set the number of assigned PDOs to zero.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_zero_pdo_count(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
fp@1921:                 fsm->sync_index);
fp@2498:         EC_SLAVE_WARN(fsm->slave, "");
fp@2498:         ec_fsm_pdo_print(fsm);
fp@2498:         ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
fp@1327:         return;
fp@1327:     }
fp@1327: 
fp@1327:     // the sync manager's assigned PDOs have been cleared
fp@1174:     ec_pdo_list_clear_pdos(&fsm->sync->pdos);
fp@1174: 
fp@1327:     // assign all PDOs belonging to the current sync manager
fp@2421: 
fp@1327:     // find first PDO
fp@1174:     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
fp@1174:         // check for mapping to be altered
fp@2498:         ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // assign first PDO
fp@1174:     fsm->pdo_pos = 1;
fp@2498:     ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Assign a PDO.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_action_assign_pdo(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
fp@1174:     fsm->request.data_size = 2;
fp@2434:     ecrt_sdo_request_index(&fsm->request,
fp@1174:             0x1C10 + fsm->sync_index, fsm->pdo_pos);
fp@1174:     ecrt_sdo_request_write(&fsm->request);
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",
fp@1921:             fsm->pdo->index, fsm->pdo_pos);
fp@2421: 
fp@1174:     fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
fp@1174:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:     ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Add a PDO to the sync managers PDO assignment.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_assign_pdo(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to assign PDO 0x%04X at position %u"
fp@1921:                 " of SM%u.\n",
fp@1174:                 fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fp@1174:         fsm->state = ec_fsm_pdo_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // find next PDO
fp@1174:     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
fp@1327:         // no more PDOs to assign, set PDO count
fp@1174:         EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
fp@1174:         fsm->request.data_size = 1;
fp@2434:         ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
fp@1174:         ecrt_sdo_request_write(&fsm->request);
fp@1174: 
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1,
fp@1921:                 "Setting number of assigned PDOs to %u.\n",
fp@1921:                 fsm->pdo_pos);
fp@2421: 
fp@1174:         fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
fp@1174:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // add next PDO to assignment
fp@1174:     fsm->pdo_pos++;
fp@2498:     ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
fp@1174: }
fp@2421: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Set the number of assigned PDOs.
fp@1174:  */
fp@1174: void ec_fsm_pdo_conf_state_set_pdo_count(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to set number of"
fp@1921:                 " assigned PDOs of SM%u.\n", fsm->sync_index);
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
fp@1174:         fsm->state = ec_fsm_pdo_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // PDOs have been configured
fp@1174:     ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
fp@1921:             " PDO assignment of SM%u.\n", fsm->sync_index);
fp@1174: 
fp@1327:     // check if PDO mapping has to be altered
fp@2498:     ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Common state functions
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1174: /** State: ERROR.
fp@1174:  */
fp@1174: void ec_fsm_pdo_state_error(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** State: END.
fp@1174:  */
fp@1174: void ec_fsm_pdo_state_end(
fp@2498:         ec_fsm_pdo_t *fsm, /**< Finite state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498: }
fp@2498: 
fp@2498: /*****************************************************************************/