diff -r 2ec9651a6c89 -r 235f34ca50e2 master/fsm_pdo_assign.c
--- a/master/fsm_pdo_assign.c	Thu Jul 31 09:30:38 2008 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,389 +0,0 @@
-/******************************************************************************
- *
- *  $Id$
- *
- *  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 assignment state machine.
- */
-
-/*****************************************************************************/
-
-#include "globals.h"
-#include "master.h"
-#include "mailbox.h"
-#include "slave_config.h"
-
-#include "fsm_pdo_assign.h"
-
-/*****************************************************************************/
-
-void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);
-void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);
-
-void ec_fsm_pdo_assign_next_sync(ec_fsm_pdo_assign_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_pdo_assign_init(
-        ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
-        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
-        )
-{
-    fsm->fsm_coe = fsm_coe;
-    ec_sdo_request_init(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Destructor.
- */
-void ec_fsm_pdo_assign_clear(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    ec_sdo_request_clear(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Start Pdo assignment state machine.
- */
-void ec_fsm_pdo_assign_start(
-        ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
-        ec_slave_t *slave /**< slave to configure */
-        )
-{
-    fsm->slave = slave;
-    fsm->state = ec_fsm_pdo_assign_state_start;
-}
-
-/*****************************************************************************/
-
-/** Get running state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_assign_running(
-        const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    return fsm->state != ec_fsm_pdo_assign_state_end
-        && fsm->state != ec_fsm_pdo_assign_state_error;
-}
-
-/*****************************************************************************/
-
-/** Executes the current state of the state machine.
- *
- * If the state machine's datagram is not sent or received yet, the execution
- * of the state machine is delayed to the next cycle.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_assign_exec(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    fsm->state(fsm);
-    return ec_fsm_pdo_assign_running(fsm);
-}
-
-/*****************************************************************************/
-
-/** Get execution result.
- *
- * \return true, if the state machine terminated gracefully
- */
-int ec_fsm_pdo_assign_success(
-        const ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    return fsm->state == ec_fsm_pdo_assign_state_end;
-}
-
-/******************************************************************************
- * State functions.
- *****************************************************************************/
-
-/** Start Pdo assignment.
- */
-void ec_fsm_pdo_assign_state_start(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    if (!fsm->slave->config) {
-        fsm->state = ec_fsm_pdo_assign_state_end;
-        return;
-    }
-
-    fsm->sync_index = 0xff; // next is zero
-    fsm->num_configured_syncs = 0;
-    ec_fsm_pdo_assign_next_sync(fsm);
-}
-
-/*****************************************************************************/
-
-/** Process Pdo assignment of next sync manager.
- */
-void ec_fsm_pdo_assign_next_sync(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    fsm->sync_index++;
-
-    for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
-        fsm->pdos = &fsm->slave->config->sync_configs[fsm->sync_index].pdos;
-        
-        if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
-            if (!list_empty(&fsm->pdos->list)) {
-                EC_WARN("Slave %u does not provide a configuration "
-                        "for SM%u!\n", fsm->slave->ring_position,
-                        fsm->sync_index);
-                fsm->state = ec_fsm_pdo_assign_state_error;
-                return;
-            }
-            continue;
-        }
-
-        // check if assignment has to be altered
-        if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
-            continue;
-
-        if (fsm->slave->master->debug_level) {
-            EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
-            EC_DBG("Currently assigned Pdos: ");
-            ec_pdo_list_print(&fsm->sync->pdos);
-            printk("\n");
-            EC_DBG("Pdos to assign: ");
-            ec_pdo_list_print(fsm->pdos);
-            printk("\n");
-        }
-
-        // Pdo assignment has to be changed. Does the slave support this?
-        if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
-                || (fsm->slave->sii.has_general
-                    && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
-            EC_WARN("Slave %u does not support assigning Pdos!\n",
-                    fsm->slave->ring_position);
-            fsm->state = ec_fsm_pdo_assign_state_error;
-            return;
-        }
-
-        fsm->num_configured_syncs++;
-
-        if (ec_sdo_request_alloc(&fsm->request, 2)) {
-            fsm->state = ec_fsm_pdo_assign_state_error;
-            return;
-        }
-
-        // set mapped Pdo count to zero
-        EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
-        fsm->request.data_size = 1;
-        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
-        ecrt_sdo_request_write(&fsm->request);
-
-        if (fsm->slave->master->debug_level)
-            EC_DBG("Setting Pdo count to zero.\n");
-
-        fsm->state = ec_fsm_pdo_assign_state_zero_count;
-        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-        return;
-    }
-
-    if (fsm->slave->master->debug_level && !fsm->num_configured_syncs)
-        EC_DBG("Pdo assignments are already configured correctly.\n");
-    fsm->state = ec_fsm_pdo_assign_state_end;
-}
-
-/*****************************************************************************/
-
-/** Assign next Pdo.
- */
-ec_pdo_t *ec_fsm_pdo_assign_next_pdo(
-        const ec_fsm_pdo_assign_t *fsm, /**< Pdo assignment state machine. */
-        const struct list_head *list /**< current Pdo list item */
-        )
-{
-    list = list->next; 
-    if (list == &fsm->pdos->list)
-        return NULL; // no next Pdo
-    return list_entry(list, ec_pdo_t, list);
-}
-
-/*****************************************************************************/
-
-/** Assign a Pdo.
- */
-void ec_fsm_pdo_assign_add_pdo(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
-    fsm->request.data_size = 2;
-    ec_sdo_request_address(&fsm->request,
-            0x1C10 + fsm->sync_index, fsm->pdo_count);
-    ecrt_sdo_request_write(&fsm->request);
-
-    if (fsm->slave->master->debug_level)
-        EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
-                fsm->pdo->index, fsm->pdo_count);
-    
-    fsm->state = ec_fsm_pdo_assign_state_add_pdo;
-    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Set the number of assigned Pdos to zero.
- */
-void ec_fsm_pdo_assign_state_zero_count(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
-        fsm->state = ec_fsm_pdo_assign_state_error;
-        return;
-    }
-
-    // assign all Pdos belonging to the current sync manager
-    
-    // find first Pdo
-    if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
-        if (fsm->slave->master->debug_level)
-            EC_DBG("No Pdos to assign.\n");
-        ec_fsm_pdo_assign_next_sync(fsm);
-        return;
-    }
-
-    // assign first Pdo
-    fsm->pdo_count = 1;
-    ec_fsm_pdo_assign_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Add a Pdo to the sync managers Pdo assignment.
- */
-void ec_fsm_pdo_assign_state_add_pdo(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to assign Pdo 0x%04X to position %u in SM%u.\n",
-                fsm->pdo->index, fsm->pdo_count, fsm->sync_index);
-        fsm->state = ec_fsm_pdo_assign_state_error;
-        return;
-    }
-
-    // find next Pdo
-    if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {
-        // no more Pdos to map. write Pdo count
-        EC_WRITE_U8(fsm->request.data, fsm->pdo_count);
-        fsm->request.data_size = 1;
-        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
-        ecrt_sdo_request_write(&fsm->request);
-
-        if (fsm->slave->master->debug_level)
-            EC_DBG("Setting number of assigned Pdos to %u.\n",
-                    fsm->pdo_count);
-        
-        fsm->state = ec_fsm_pdo_assign_state_pdo_count;
-        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-        return;
-    }
-
-    // add next Pdo to assignment
-    fsm->pdo_count++;
-    ec_fsm_pdo_assign_add_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Set the number of assigned Pdos.
- */
-void ec_fsm_pdo_assign_state_pdo_count(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to set number of assigned Pdos for SM%u.\n",
-                fsm->sync_index);
-        fsm->state = ec_fsm_pdo_assign_state_error;
-        return;
-    }
-
-    if (fsm->slave->master->debug_level)
-        EC_DBG("Pdo assignment successful for SM%u.\n", fsm->sync_index);
-
-    // assignment for this sync manager finished
-    ec_fsm_pdo_assign_next_sync(fsm);
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_pdo_assign_state_error(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_pdo_assign_state_end(
-        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
-        )
-{
-}
-
-/*****************************************************************************/