diff -r 40c379697ebf -r 9b395c5646ab master/fsm_pdo_assign.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_assign.c	Thu Apr 03 13:34:13 2008 +0000
@@ -0,0 +1,380 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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_dir(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->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
+    ec_fsm_pdo_assign_next_dir(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process Pdo assignment of next direction.
+ */
+void ec_fsm_pdo_assign_next_dir(
+        ec_fsm_pdo_assign_t *fsm /**< Pdo assignment state machine. */
+        )
+{
+    fsm->dir++;
+
+    for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
+        fsm->pdos = &fsm->slave->config->pdos[fsm->dir];
+        
+        if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
+            if (!list_empty(&fsm->pdos->list)) {
+                EC_ERR("No sync manager for direction %u!\n", fsm->dir);
+                fsm->state = ec_fsm_pdo_assign_state_end;
+                return;
+            }
+            continue;
+        }
+
+        // check if assignment has to be altered
+        if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
+            continue;
+
+        // 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_ERR("Slave %u does not support assigning Pdos!\n",
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_pdo_assign_state_error;
+            return;
+        }
+
+        if (fsm->slave->master->debug_level) {
+            EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
+                    fsm->sync->index, fsm->slave->ring_position);
+        }
+
+        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 for SM%u.\n", fsm->sync->index);
+
+        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)
+        EC_DBG("Pdo assignment finished for slave %u.\n",
+                fsm->slave->ring_position);
+    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_ERR("Failed to clear Pdo assignment of slave %u.\n",
+                fsm->slave->ring_position);
+        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 for SM%u of slave %u.\n",
+                    fsm->sync->index, fsm->slave->ring_position);
+        ec_fsm_pdo_assign_next_dir(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_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
+                fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
+        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_ERR("Failed to set number of assigned Pdos for slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_assign_state_error;
+        return;
+    }
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("Successfully set Pdo assignment for SM%u of slave %u.\n",
+                fsm->sync->index, fsm->slave->ring_position);
+
+    // assignment for this direction finished
+    ec_fsm_pdo_assign_next_dir(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. */
+        )
+{
+}
+
+/*****************************************************************************/