diff -r 68d83b45dfa2 -r aece53f82df3 master/fsm_coe_map.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe_map.c	Wed Sep 19 17:44:28 2007 +0000
@@ -0,0 +1,421 @@
+/******************************************************************************
+ *
+ *  $Id: fsm_coe.c 920 2007-09-12 10:07:55Z fp $
+ *
+ *  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 CoE mapping state machines.
+*/
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "canopen.h"
+#include "fsm_coe_map.h"
+
+/*****************************************************************************/
+
+void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
+
+void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
+
+void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
+void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
+
+/*****************************************************************************/
+
+/**
+   Constructor.
+*/
+
+void ec_fsm_coe_map_init(
+        ec_fsm_coe_map_t *fsm, /**< finite state machine */
+        ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
+        )
+{
+    fsm->state = NULL;
+    fsm->fsm_coe = fsm_coe;
+}
+
+/*****************************************************************************/
+
+/**
+   Destructor.
+*/
+
+void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+   Starts to upload an SDO from a slave.
+*/
+
+void ec_fsm_coe_map_start(
+        ec_fsm_coe_map_t *fsm, /**< finite state machine */
+        ec_slave_t *slave /**< EtherCAT slave */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_coe_map_state_start;
+}
+
+/*****************************************************************************/
+
+/**
+   Executes the current state of the state machine.
+   \return false, if state machine has terminated
+*/
+
+int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
+{
+    fsm->state(fsm);
+
+    return fsm->state != ec_fsm_coe_map_state_end
+        && fsm->state != ec_fsm_coe_map_state_error;
+}
+
+/*****************************************************************************/
+
+/**
+   Returns, if the state machine terminated with success.
+   \return non-zero if successful.
+*/
+
+int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
+{
+    return fsm->state == ec_fsm_coe_map_state_end;
+}
+
+/******************************************************************************
+ *  CoE dictionary state machine
+ *****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *fsm /**< finite state machine */)
+{
+    // read mapping of first sync manager
+    fsm->sync_index = 0;
+    ec_fsm_coe_map_action_next_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_action_next_sync(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    ec_slave_t *slave = fsm->slave;
+    ec_sdo_entry_t *entry;
+
+    for (; fsm->sync_index < 4; fsm->sync_index++) {
+        if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
+            continue;
+
+        if (slave->master->debug_level)
+            EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
+                    fsm->sync_index, slave->ring_position);
+
+        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
+            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
+                    fsm->sync_sdo->index,
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        ec_sdo_request_init_read(&fsm->request, entry);
+        fsm->state = ec_fsm_coe_map_state_pdo_count;
+        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    fsm->state = ec_fsm_coe_map_state_end;
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_state_pdo_count(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_coe_map_state_error;
+        return;
+    }
+
+    fsm->sync_subindices = EC_READ_U8(fsm->request.data);
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);
+
+    // read first PDO
+    fsm->sync_subindex = 1;
+    ec_fsm_coe_map_action_next_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_action_next_pdo(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    ec_sdo_entry_t *entry;
+
+    if (fsm->sync_subindex <= fsm->sync_subindices) {
+        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
+                        fsm->sync_subindex))) {
+            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
+                    fsm->sync_sdo->index,
+                    fsm->sync_subindex,
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        ec_sdo_request_init_read(&fsm->request, entry);
+        fsm->state = ec_fsm_coe_map_state_pdo;
+        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // next sync manager
+    fsm->sync_index++;
+    ec_fsm_coe_map_action_next_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_state_pdo(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to read mapped PDO index from slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_coe_map_state_error;
+        return;
+    }
+
+    {
+        uint16_t pdo_index = EC_READ_U16(fsm->request.data);
+        ec_sdo_entry_t *entry;
+
+        if (fsm->slave->master->debug_level)
+            EC_DBG("  PDO 0x%04X.\n", pdo_index);
+
+        if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, pdo_index))) {
+            EC_ERR("Slave %u has no SDO 0x%04X.\n",
+                    fsm->slave->ring_position, pdo_index);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
+            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
+                    fsm->pdo_sdo->index,
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        ec_sdo_request_init_read(&fsm->request, entry);
+        fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
+        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_state_pdo_entry_count(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_coe_map_state_error;
+        return;
+    }
+
+    fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
+
+    if (fsm->slave->master->debug_level)
+        EC_DBG("    %u PDO entries mapped.\n", fsm->pdo_subindices);
+
+    // read first PDO entry
+    fsm->pdo_subindex = 1;
+    ec_fsm_coe_map_action_next_pdo_entry(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_action_next_pdo_entry(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    ec_sdo_entry_t *entry;
+
+    if (fsm->pdo_subindex <= fsm->pdo_subindices) {
+        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
+                        fsm->pdo_subindex))) {
+            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
+                    fsm->pdo_sdo->index, fsm->pdo_subindex,
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        ec_sdo_request_init_read(&fsm->request, entry);
+        fsm->state = ec_fsm_coe_map_state_pdo_entry;
+        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // next PDO
+    fsm->sync_subindex++;
+    ec_fsm_coe_map_action_next_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/**
+ */
+
+void ec_fsm_coe_map_state_pdo_entry(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+
+    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
+        EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_coe_map_state_error;
+        return;
+    }
+
+    {
+        uint32_t pdo_entry_info;
+        uint16_t pdo_entry_index;
+        ec_sdo_t *sdo;
+
+        pdo_entry_info = EC_READ_U32(fsm->request.data);
+        pdo_entry_index = pdo_entry_info >> 16;
+
+        if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry_index))) {
+            EC_ERR("Slave %u has no SDO 0x%04X.\n",
+                    fsm->slave->ring_position, pdo_entry_index);
+            fsm->state = ec_fsm_coe_map_state_error;
+            return;
+        }
+
+        if (fsm->slave->master->debug_level) {
+            size_t bitsize = pdo_entry_info & 0xFFFF;
+            EC_DBG("    PDO entry 0x%04X \"%s\" (%u bit).\n",
+                    pdo_entry_index, sdo->name, bitsize);
+        }
+
+        // next PDO entry
+        fsm->pdo_subindex++;
+        ec_fsm_coe_map_action_next_pdo_entry(fsm);
+    }
+}
+
+/*****************************************************************************/
+
+/**
+   State: ERROR.
+*/
+
+void ec_fsm_coe_map_state_error(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/**
+   State: END.
+*/
+
+void ec_fsm_coe_map_state_end(
+        ec_fsm_coe_map_t *fsm /**< finite state machine */
+        )
+{
+}
+
+/*****************************************************************************/