diff -r 5a58606726f3 -r 068a58b96965 master/fsm_pdo_config.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_config.c	Tue Feb 19 14:06:50 2008 +0000
@@ -0,0 +1,369 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/** \file
+ * EtherCAT Pdo configuration state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_pdo_config.h"
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
+void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
+
+void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_pdo_config_init(
+        ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */
+        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
+        )
+{
+    fsm->fsm_coe = fsm_coe;
+    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_pdo_config_clear(
+        ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** Start Pdo configuration state machine.
+ */
+void ec_fsm_pdo_config_start(
+        ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_pdo_config_state_start;
+}
+
+/*****************************************************************************/
+
+/** Get running state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_running(
+        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    return fsm->state != ec_fsm_pdo_config_state_end
+        && fsm->state != ec_fsm_pdo_config_state_error;
+}
+
+/*****************************************************************************/
+
+/** Executes the current state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_config_exec(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    fsm->state(fsm);
+    return ec_fsm_pdo_config_running(fsm);
+}
+
+/*****************************************************************************/
+
+/** Get execution result.
+ *
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_pdo_config_success(
+        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    return fsm->state == ec_fsm_pdo_config_state_end;
+}
+
+/******************************************************************************
+ * State functions.
+ *****************************************************************************/
+
+/** Start Pdo configuration.
+ */
+void ec_fsm_pdo_config_state_start(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (!fsm->slave->config) {
+        fsm->state = ec_fsm_pdo_config_state_end;
+        return;
+    }
+
+    fsm->pdo = NULL;
+    ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process configuration of next Pdo.
+ */
+void ec_fsm_pdo_config_next_pdo(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    ec_direction_t dir;
+    const ec_pdo_mapping_t *map;
+    const ec_pdo_t *pdo, *mapped_pdo;
+    
+    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
+        map = &fsm->slave->config->mapping[dir];
+
+        list_for_each_entry(pdo, &map->pdos, list) {
+            if (fsm->pdo) {
+                if (pdo == fsm->pdo)
+                    fsm->pdo = NULL;
+            } else {
+                if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
+                    if (ec_pdo_equal_entries(pdo, mapped_pdo))
+                        continue; // Pdo configured correctly
+
+                fsm->pdo = pdo;
+                goto configure;
+            }
+        }
+    }
+
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("No more Pdos to configure for slave %u.\n",
+                fsm->slave->ring_position);
+    }
+    fsm->state = ec_fsm_pdo_config_state_end;
+    return;
+
+configure:
+    if (fsm->slave->master->debug_level) {
+        EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
+                fsm->pdo->index, fsm->slave->ring_position);
+    }
+
+    // set mapped PDO count to zero
+    fsm->sdodata.index = fsm->pdo->index;
+    fsm->sdodata.subindex = 0; // number of configured entries
+    EC_WRITE_U8(&fsm->sdo_value, 0);
+    fsm->sdodata.size = 1;
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
+                fsm->pdo->index);
+
+    fsm->state = ec_fsm_pdo_config_state_zero_count;
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Process next Pdo entry.
+ */
+ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
+        const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
+        const struct list_head *list /**< current entry list item */
+        )
+{
+    list = list->next; 
+    if (list == &fsm->pdo->entries)
+        return NULL; // no next entry
+    return list_entry(list, ec_pdo_entry_t, list);
+}
+
+/*****************************************************************************/
+
+/** Starts to add a Pdo entry.
+ */
+void ec_fsm_pdo_config_add_entry(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
+        )
+{
+    uint32_t value;
+
+    fsm->sdodata.subindex = fsm->entry_count;
+    value = fsm->entry->index << 16
+        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
+    EC_WRITE_U32(&fsm->sdo_value, value);
+    fsm->sdodata.size = 4;
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Configuring Pdo entry %08X at position %u.\n",
+                value, fsm->entry_count);
+    
+    fsm->state = ec_fsm_pdo_config_state_add_entry;
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** Set the number of configured entries to zero.
+ */
+void ec_fsm_pdo_config_state_zero_count(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to clear Pdo configuration for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    // find first entry
+    if (!(fsm->entry =
+                ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
+        if (fsm->slave->master->debug_level)
+            EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
+                    fsm->pdo->index, fsm->slave->ring_position);
+        ec_fsm_pdo_config_next_pdo(fsm);
+        return;
+    }
+
+    // add first entry
+    fsm->entry_count = 1;
+    ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo entry.
+ */
+void ec_fsm_pdo_config_state_add_entry(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
+                fsm->entry->index, fsm->entry->subindex,
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    // find next entry
+    if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
+        // No more entries to add. Write entry count.
+        fsm->sdodata.subindex = 0;
+        EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count);
+        fsm->sdodata.size = 1;
+
+        if (fsm->slave->master->debug_level)
+            EC_DBG("Setting number of Pdo entries to %u.\n",
+                    fsm->entry_count);
+        
+        fsm->state = ec_fsm_pdo_config_state_entry_count;
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // add next entry
+    fsm->entry_count++;
+    ec_fsm_pdo_config_add_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/** Set the number of entries.
+ */
+void ec_fsm_pdo_config_state_entry_count(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to set number of entries for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
+                fsm->pdo->index, fsm->slave->ring_position);
+
+    ec_fsm_pdo_config_next_pdo(fsm);
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_pdo_config_state_error(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_pdo_config_state_end(
+        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
+        )
+{
+}
+
+/*****************************************************************************/