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@799:  * EtherCAT Pdo configuration 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@799: #include "fsm_pdo_config.h"
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
fp@799: void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
fp@799: void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
fp@799: void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
fp@799: void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
fp@799: void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
fp@799: 
fp@799: void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Constructor.
fp@799:  */
fp@799: void ec_fsm_pdo_config_init(
fp@799:         ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */
fp@799:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
fp@799:         )
fp@799: {
fp@799:     fsm->fsm_coe = fsm_coe;
fp@799:     fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Destructor.
fp@799:  */
fp@799: void ec_fsm_pdo_config_clear(
fp@799:         ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
fp@799:         )
fp@799: {
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Start Pdo configuration state machine.
fp@799:  */
fp@799: void ec_fsm_pdo_config_start(
fp@799:         ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
fp@799:         ec_slave_t *slave /**< slave to configure */
fp@799:         )
fp@799: {
fp@799:     fsm->slave = slave;
fp@799:     fsm->state = ec_fsm_pdo_config_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@799: int ec_fsm_pdo_config_running(
fp@799:         const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799:     return fsm->state != ec_fsm_pdo_config_state_end
fp@799:         && fsm->state != ec_fsm_pdo_config_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@799: int ec_fsm_pdo_config_exec(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799:     fsm->state(fsm);
fp@799:     return ec_fsm_pdo_config_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@799: int ec_fsm_pdo_config_success(
fp@799:         const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799:     return fsm->state == ec_fsm_pdo_config_state_end;
fp@799: }
fp@799: 
fp@799: /******************************************************************************
fp@799:  * State functions.
fp@799:  *****************************************************************************/
fp@799: 
fp@799: /** Start Pdo configuration.
fp@799:  */
fp@799: void ec_fsm_pdo_config_state_start(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799:     if (!fsm->slave->config) {
fp@799:         fsm->state = ec_fsm_pdo_config_state_end;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     fsm->pdo = NULL;
fp@799:     ec_fsm_pdo_config_next_pdo(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Process configuration of next Pdo.
fp@799:  */
fp@799: void ec_fsm_pdo_config_next_pdo(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799:     ec_direction_t dir;
fp@799:     const ec_pdo_mapping_t *map;
fp@799:     const ec_pdo_t *pdo, *mapped_pdo;
fp@799:     
fp@799:     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
fp@799:         map = &fsm->slave->config->mapping[dir];
fp@799: 
fp@799:         list_for_each_entry(pdo, &map->pdos, list) {
fp@799:             if (fsm->pdo) {
fp@799:                 if (pdo == fsm->pdo)
fp@799:                     fsm->pdo = NULL;
fp@799:             } else {
fp@799:                 if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
fp@799:                     if (ec_pdo_equal_entries(pdo, mapped_pdo))
fp@799:                         continue; // Pdo configured correctly
fp@799: 
fp@799:                 fsm->pdo = pdo;
fp@799:                 goto configure;
fp@799:             }
fp@799:         }
fp@799:     }
fp@799: 
fp@800:     if (fsm->slave->master->debug_level)
fp@800:         EC_DBG("Pdo configuration finished for slave %u.\n",
fp@799:                 fsm->slave->ring_position);
fp@799:     fsm->state = ec_fsm_pdo_config_state_end;
fp@799:     return;
fp@799: 
fp@799: configure:
fp@799:     if (fsm->slave->master->debug_level) {
fp@799:         EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
fp@799:                 fsm->pdo->index, fsm->slave->ring_position);
fp@799:     }
fp@799: 
fp@799:     // set mapped PDO count to zero
fp@799:     fsm->sdodata.index = fsm->pdo->index;
fp@799:     fsm->sdodata.subindex = 0; // number of configured entries
fp@799:     EC_WRITE_U8(&fsm->sdo_value, 0);
fp@799:     fsm->sdodata.size = 1;
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@799:     fsm->state = ec_fsm_pdo_config_state_zero_count;
fp@799:     ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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@799: ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
fp@799:         const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration 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@799: void ec_fsm_pdo_config_add_entry(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
fp@799:         )
fp@799: {
fp@799:     uint32_t value;
fp@799: 
fp@799:     fsm->sdodata.subindex = fsm->entry_count;
fp@799:     value = fsm->entry->index << 16
fp@799:         | fsm->entry->subindex << 8 | fsm->entry->bit_length;
fp@799:     EC_WRITE_U32(&fsm->sdo_value, value);
fp@799:     fsm->sdodata.size = 4;
fp@799: 
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@799:     fsm->state = ec_fsm_pdo_config_state_add_entry;
fp@799:     ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
fp@799:     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Set the number of configured entries to zero.
fp@799:  */
fp@799: void ec_fsm_pdo_config_state_zero_count(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 clear Pdo configuration for slave %u.\n",
fp@799:                 fsm->slave->ring_position);
fp@799:         fsm->state = ec_fsm_pdo_config_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // find first entry
fp@799:     if (!(fsm->entry =
fp@799:                 ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
fp@799:         if (fsm->slave->master->debug_level)
fp@799:             EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
fp@799:                     fsm->pdo->index, fsm->slave->ring_position);
fp@799:         ec_fsm_pdo_config_next_pdo(fsm);
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // add first entry
fp@799:     fsm->entry_count = 1;
fp@799:     ec_fsm_pdo_config_add_entry(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Add a Pdo entry.
fp@799:  */
fp@799: void ec_fsm_pdo_config_state_add_entry(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 add entry 0x%04X:%u for slave %u.\n",
fp@799:                 fsm->entry->index, fsm->entry->subindex,
fp@799:                 fsm->slave->ring_position);
fp@799:         fsm->state = ec_fsm_pdo_config_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     // find next entry
fp@799:     if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
fp@799:         // No more entries to add. Write entry count.
fp@799:         fsm->sdodata.subindex = 0;
fp@799:         EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count);
fp@799:         fsm->sdodata.size = 1;
fp@799: 
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@799:         fsm->state = ec_fsm_pdo_config_state_entry_count;
fp@799:         ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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@799:     ec_fsm_pdo_config_add_entry(fsm);
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** Set the number of entries.
fp@799:  */
fp@799: void ec_fsm_pdo_config_state_entry_count(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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@799:         fsm->state = ec_fsm_pdo_config_state_error;
fp@799:         return;
fp@799:     }
fp@799: 
fp@799:     if (fsm->slave->master->debug_level)
fp@799:         EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
fp@799:                 fsm->pdo->index, fsm->slave->ring_position);
fp@799: 
fp@799:     ec_fsm_pdo_config_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@799: void ec_fsm_pdo_config_state_error(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /** State: END.
fp@799:  */
fp@799: void ec_fsm_pdo_config_state_end(
fp@799:         ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
fp@799:         )
fp@799: {
fp@799: }
fp@799: 
fp@799: /*****************************************************************************/