# HG changeset patch # User Florian Pose # Date 1203437881 0 # Node ID b947d0b09f9a16a94358f110320b97b9b9b3df10 # Parent 6b1e2b0ed8bc414dfd284fb83386a03300c43eb1 Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t. diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/Kbuild.in --- a/master/Kbuild.in Tue Feb 19 16:09:58 2008 +0000 +++ b/master/Kbuild.in Tue Feb 19 16:18:01 2008 +0000 @@ -35,8 +35,8 @@ ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \ slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \ - canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o fsm_mapping.o \ - fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o + canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \ + fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o ifeq (@ENABLE_EOE@,1) ec_master-objs += ethernet.o diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/Makefile.am --- a/master/Makefile.am Tue Feb 19 16:09:58 2008 +0000 +++ b/master/Makefile.am Tue Feb 19 16:18:01 2008 +0000 @@ -47,7 +47,7 @@ fsm_change.c fsm_change.h \ fsm_coe.c fsm_coe.h \ fsm_coe_map.c fsm_coe_map.h \ - fsm_mapping.c fsm_mapping.h \ + fsm_pdo_mapping.c fsm_pdo_mapping.h \ fsm_pdo_config.c fsm_pdo_config.h \ fsm_slave.c fsm_slave.h \ fsm_master.c fsm_master.h \ diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_mapping.c --- a/master/fsm_mapping.c Tue Feb 19 16:09:58 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,370 +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 mapping state machine. - */ - -/*****************************************************************************/ - -#include "globals.h" -#include "master.h" -#include "mailbox.h" -#include "slave_config.h" - -#include "fsm_mapping.h" - -/*****************************************************************************/ - -void ec_fsm_mapping_state_start(ec_fsm_mapping_t *); -void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *); -void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *); -void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *); -void ec_fsm_mapping_state_end(ec_fsm_mapping_t *); -void ec_fsm_mapping_state_error(ec_fsm_mapping_t *); - -void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *); - -/*****************************************************************************/ - -/** Constructor. - */ -void ec_fsm_mapping_init( - ec_fsm_mapping_t *fsm, /**< mapping 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_mapping_clear( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ -} - -/*****************************************************************************/ - -/** Start PDO mapping configuration state machine. - */ -void ec_fsm_mapping_start( - ec_fsm_mapping_t *fsm, /**< mapping state machine */ - ec_slave_t *slave /**< slave to configure */ - ) -{ - fsm->slave = slave; - fsm->state = ec_fsm_mapping_state_start; -} - -/*****************************************************************************/ - -/** Get running state. - * - * \return false, if state machine has terminated - */ -int ec_fsm_mapping_running( - const ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - return fsm->state != ec_fsm_mapping_state_end - && fsm->state != ec_fsm_mapping_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_mapping_exec( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - fsm->state(fsm); - return ec_fsm_mapping_running(fsm); -} - -/*****************************************************************************/ - -/** Get execution result. - * - * \return true, if the state machine terminated gracefully - */ -int ec_fsm_mapping_success( - const ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - return fsm->state == ec_fsm_mapping_state_end; -} - -/****************************************************************************** - * State functions. - *****************************************************************************/ - -/** Start mapping configuration. - */ -void ec_fsm_mapping_state_start( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - if (!fsm->slave->config) { - fsm->state = ec_fsm_mapping_state_end; - return; - } - - fsm->sync = NULL; - ec_fsm_mapping_next_sync(fsm); -} - -/*****************************************************************************/ - -/** Process mapping of next sync manager. - */ -void ec_fsm_mapping_next_sync( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - ec_direction_t dir; - const ec_sync_t *sync; - const ec_pdo_mapping_t *map; - - for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { - if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) { - EC_WARN("No sync manager for direction %u!\n", dir); - continue; - } - - if (fsm->sync) { // there is a last SM - if (sync == fsm->sync) // this is the last SM - fsm->sync = NULL; // take the next one - } else { - map = &fsm->slave->config->mapping[dir]; - if (ec_pdo_mapping_equal(&sync->mapping, map)) - continue; - - fsm->sync = sync; - fsm->mapping = map; - break; - } - } - - if (!sync) { - if (fsm->slave->master->debug_level) - EC_DBG("Pdo mapping finished for slave %u.\n", - fsm->slave->ring_position); - fsm->state = ec_fsm_mapping_state_end; - return; - } - - if (fsm->slave->master->debug_level) { - EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n", - fsm->sync->index, fsm->slave->ring_position); - } - - // set mapped PDO count to zero - fsm->sdodata.index = 0x1C10 + fsm->sync->index; - fsm->sdodata.subindex = 0; // mapped PDO count - EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped - fsm->sdodata.size = 1; - if (fsm->slave->master->debug_level) - EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index); - - fsm->state = ec_fsm_mapping_state_zero_count; - ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); - ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately -} - -/*****************************************************************************/ - -/** Process mapping of next PDO. - */ -ec_pdo_t *ec_fsm_mapping_next_pdo( - const ec_fsm_mapping_t *fsm, /**< mapping state machine */ - const struct list_head *list /**< current PDO list item */ - ) -{ - list = list->next; - if (list == &fsm->mapping->pdos) - return NULL; // no next PDO - return list_entry(list, ec_pdo_t, list); -} - -/*****************************************************************************/ - -/** Add a Pdo to the mapping. - */ -void ec_fsm_mapping_add_pdo( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ - fsm->sdodata.subindex = fsm->pdo_count; - EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); - fsm->sdodata.size = 2; - - if (fsm->slave->master->debug_level) - EC_DBG("Mapping PDO 0x%04X at position %u.\n", - fsm->pdo->index, fsm->sdodata.subindex); - - fsm->state = ec_fsm_mapping_state_add_pdo; - ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); - ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately -} - -/*****************************************************************************/ - -/** Set the number of mapped PDOs to zero. - */ -void ec_fsm_mapping_state_zero_count( - ec_fsm_mapping_t *fsm /**< mapping 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 mapping for slave %u.\n", - fsm->slave->ring_position); - fsm->state = ec_fsm_mapping_state_error; - return; - } - - // map all PDOs belonging to the current sync manager - - // find first PDO - if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->mapping->pdos))) { - if (fsm->slave->master->debug_level) - EC_DBG("No PDOs to map for SM%u of slave %u.\n", - fsm->sync->index, fsm->slave->ring_position); - ec_fsm_mapping_next_sync(fsm); - return; - } - - // add first PDO to mapping - fsm->pdo_count = 1; - ec_fsm_mapping_add_pdo(fsm); -} - -/*****************************************************************************/ - -/** Add a PDO to the sync managers mapping. - */ -void ec_fsm_mapping_state_add_pdo( - ec_fsm_mapping_t *fsm /**< mapping 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_mapping_state_error; - return; - } - - // find next PDO - if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->pdo->list))) { - // no more PDOs to map. write PDO count - fsm->sdodata.subindex = 0; - EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); - fsm->sdodata.size = 1; - - if (fsm->slave->master->debug_level) - EC_DBG("Setting number of mapped PDOs to %u.\n", - fsm->pdo_count); - - fsm->state = ec_fsm_mapping_state_pdo_count; - ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); - ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately - return; - } - - // add next PDO to mapping - fsm->pdo_count++; - ec_fsm_mapping_add_pdo(fsm); -} - -/*****************************************************************************/ - -/** Set the number of mapped PDOs. - */ -void ec_fsm_mapping_state_pdo_count( - ec_fsm_mapping_t *fsm /**< mapping 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 mapped PDOs for slave %u.\n", - fsm->slave->ring_position); - fsm->state = ec_fsm_mapping_state_error; - return; - } - - if (fsm->slave->master->debug_level) - EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n", - fsm->sync->index, fsm->slave->ring_position); - - // mapping configuration for this sync manager complete. - ec_fsm_mapping_next_sync(fsm); -} - -/****************************************************************************** - * Common state functions - *****************************************************************************/ - -/** State: ERROR. - */ -void ec_fsm_mapping_state_error( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ -} - -/*****************************************************************************/ - -/** State: END. - */ -void ec_fsm_mapping_state_end( - ec_fsm_mapping_t *fsm /**< mapping state machine */ - ) -{ -} - -/*****************************************************************************/ diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_mapping.h --- a/master/fsm_mapping.h Tue Feb 19 16:09:58 2008 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,81 +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 mapping state machine structures. -*/ - -/*****************************************************************************/ - -#ifndef __EC_FSM_MAPPING__ -#define __EC_FSM_MAPPING__ - -#include "globals.h" -#include "../include/ecrt.h" -#include "datagram.h" -#include "fsm_coe.h" - -/*****************************************************************************/ - -typedef struct ec_fsm_mapping ec_fsm_mapping_t; /**< \see ec_fsm_mapping */ - -/** Pdo mapping state machine. - */ -struct ec_fsm_mapping -{ - void (*state)(ec_fsm_mapping_t *); /**< State function. */ - ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */ - ec_slave_t *slave; /**< Slave the FSM runs on. */ - - const ec_sync_t *sync; /**< Current sync manager. */ - const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */ - const ec_pdo_t *pdo; /**< Current Pdo. */ - - ec_sdo_data_t sdodata; /**< SDO configuration data. */ - uint16_t sdo_value; /**< SDO value. */ - unsigned int pdo_count; /**< Number of mapped Pdos. */ -}; - -/*****************************************************************************/ - -void ec_fsm_mapping_init(ec_fsm_mapping_t *, ec_fsm_coe_t *); -void ec_fsm_mapping_clear(ec_fsm_mapping_t *); - -void ec_fsm_mapping_start(ec_fsm_mapping_t *, ec_slave_t *); -int ec_fsm_mapping_exec(ec_fsm_mapping_t *); -int ec_fsm_mapping_success(const ec_fsm_mapping_t *); - -/*****************************************************************************/ - -#endif diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_pdo_mapping.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/fsm_pdo_mapping.c Tue Feb 19 16:18:01 2008 +0000 @@ -0,0 +1,370 @@ +/****************************************************************************** + * + * $Id$ + * + * 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 mapping state machine. + */ + +/*****************************************************************************/ + +#include "globals.h" +#include "master.h" +#include "mailbox.h" +#include "slave_config.h" + +#include "fsm_pdo_mapping.h" + +/*****************************************************************************/ + +void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *); +void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *); +void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *); +void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *); +void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *); +void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *); + +void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *); + +/*****************************************************************************/ + +/** Constructor. + */ +void ec_fsm_pdo_mapping_init( + ec_fsm_pdo_mapping_t *fsm, /**< mapping 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_mapping_clear( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ +} + +/*****************************************************************************/ + +/** Start PDO mapping configuration state machine. + */ +void ec_fsm_pdo_mapping_start( + ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */ + ec_slave_t *slave /**< slave to configure */ + ) +{ + fsm->slave = slave; + fsm->state = ec_fsm_pdo_mapping_state_start; +} + +/*****************************************************************************/ + +/** Get running state. + * + * \return false, if state machine has terminated + */ +int ec_fsm_pdo_mapping_running( + const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + return fsm->state != ec_fsm_pdo_mapping_state_end + && fsm->state != ec_fsm_pdo_mapping_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_mapping_exec( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + fsm->state(fsm); + return ec_fsm_pdo_mapping_running(fsm); +} + +/*****************************************************************************/ + +/** Get execution result. + * + * \return true, if the state machine terminated gracefully + */ +int ec_fsm_pdo_mapping_success( + const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + return fsm->state == ec_fsm_pdo_mapping_state_end; +} + +/****************************************************************************** + * State functions. + *****************************************************************************/ + +/** Start mapping configuration. + */ +void ec_fsm_pdo_mapping_state_start( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + if (!fsm->slave->config) { + fsm->state = ec_fsm_pdo_mapping_state_end; + return; + } + + fsm->sync = NULL; + ec_fsm_pdo_mapping_next_sync(fsm); +} + +/*****************************************************************************/ + +/** Process mapping of next sync manager. + */ +void ec_fsm_pdo_mapping_next_sync( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + ec_direction_t dir; + const ec_sync_t *sync; + const ec_pdo_mapping_t *map; + + for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { + if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) { + EC_WARN("No sync manager for direction %u!\n", dir); + continue; + } + + if (fsm->sync) { // there is a last SM + if (sync == fsm->sync) // this is the last SM + fsm->sync = NULL; // take the next one + } else { + map = &fsm->slave->config->mapping[dir]; + if (ec_pdo_mapping_equal(&sync->mapping, map)) + continue; + + fsm->sync = sync; + fsm->mapping = map; + break; + } + } + + if (!sync) { + if (fsm->slave->master->debug_level) + EC_DBG("Pdo mapping finished for slave %u.\n", + fsm->slave->ring_position); + fsm->state = ec_fsm_pdo_mapping_state_end; + return; + } + + if (fsm->slave->master->debug_level) { + EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n", + fsm->sync->index, fsm->slave->ring_position); + } + + // set mapped PDO count to zero + fsm->sdodata.index = 0x1C10 + fsm->sync->index; + fsm->sdodata.subindex = 0; // mapped PDO count + EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped + fsm->sdodata.size = 1; + 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_mapping_state_zero_count; + ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); + ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately +} + +/*****************************************************************************/ + +/** Process mapping of next PDO. + */ +ec_pdo_t *ec_fsm_pdo_mapping_next_pdo( + const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */ + const struct list_head *list /**< current PDO list item */ + ) +{ + list = list->next; + if (list == &fsm->mapping->pdos) + return NULL; // no next PDO + return list_entry(list, ec_pdo_t, list); +} + +/*****************************************************************************/ + +/** Add a Pdo to the mapping. + */ +void ec_fsm_pdo_mapping_add_pdo( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ + fsm->sdodata.subindex = fsm->pdo_count; + EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); + fsm->sdodata.size = 2; + + if (fsm->slave->master->debug_level) + EC_DBG("Mapping PDO 0x%04X at position %u.\n", + fsm->pdo->index, fsm->sdodata.subindex); + + fsm->state = ec_fsm_pdo_mapping_state_add_pdo; + ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); + ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately +} + +/*****************************************************************************/ + +/** Set the number of mapped PDOs to zero. + */ +void ec_fsm_pdo_mapping_state_zero_count( + ec_fsm_pdo_mapping_t *fsm /**< mapping 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 mapping for slave %u.\n", + fsm->slave->ring_position); + fsm->state = ec_fsm_pdo_mapping_state_error; + return; + } + + // map all PDOs belonging to the current sync manager + + // find first PDO + if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) { + if (fsm->slave->master->debug_level) + EC_DBG("No PDOs to map for SM%u of slave %u.\n", + fsm->sync->index, fsm->slave->ring_position); + ec_fsm_pdo_mapping_next_sync(fsm); + return; + } + + // add first PDO to mapping + fsm->pdo_count = 1; + ec_fsm_pdo_mapping_add_pdo(fsm); +} + +/*****************************************************************************/ + +/** Add a PDO to the sync managers mapping. + */ +void ec_fsm_pdo_mapping_state_add_pdo( + ec_fsm_pdo_mapping_t *fsm /**< mapping 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_mapping_state_error; + return; + } + + // find next PDO + if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) { + // no more PDOs to map. write PDO count + fsm->sdodata.subindex = 0; + EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); + fsm->sdodata.size = 1; + + if (fsm->slave->master->debug_level) + EC_DBG("Setting number of mapped PDOs to %u.\n", + fsm->pdo_count); + + fsm->state = ec_fsm_pdo_mapping_state_pdo_count; + ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); + ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately + return; + } + + // add next PDO to mapping + fsm->pdo_count++; + ec_fsm_pdo_mapping_add_pdo(fsm); +} + +/*****************************************************************************/ + +/** Set the number of mapped PDOs. + */ +void ec_fsm_pdo_mapping_state_pdo_count( + ec_fsm_pdo_mapping_t *fsm /**< mapping 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 mapped PDOs for slave %u.\n", + fsm->slave->ring_position); + fsm->state = ec_fsm_pdo_mapping_state_error; + return; + } + + if (fsm->slave->master->debug_level) + EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n", + fsm->sync->index, fsm->slave->ring_position); + + // mapping configuration for this sync manager complete. + ec_fsm_pdo_mapping_next_sync(fsm); +} + +/****************************************************************************** + * Common state functions + *****************************************************************************/ + +/** State: ERROR. + */ +void ec_fsm_pdo_mapping_state_error( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ +} + +/*****************************************************************************/ + +/** State: END. + */ +void ec_fsm_pdo_mapping_state_end( + ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ + ) +{ +} + +/*****************************************************************************/ diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_pdo_mapping.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/fsm_pdo_mapping.h Tue Feb 19 16:18:01 2008 +0000 @@ -0,0 +1,85 @@ +/****************************************************************************** + * + * $Id$ + * + * 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 mapping state machine structures. +*/ + +/*****************************************************************************/ + +#ifndef __EC_FSM_PDO_MAPPING__ +#define __EC_FSM_PDO_MAPPING__ + +#include "../include/ecrt.h" + +#include "globals.h" +#include "datagram.h" +#include "fsm_coe.h" + +/*****************************************************************************/ + +/** + * \see ec_fsm_pdo_mapping + */ +typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t; + +/** Pdo mapping state machine. + */ +struct ec_fsm_pdo_mapping +{ + void (*state)(ec_fsm_pdo_mapping_t *); /**< State function. */ + ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */ + ec_slave_t *slave; /**< Slave the FSM runs on. */ + + const ec_sync_t *sync; /**< Current sync manager. */ + const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */ + const ec_pdo_t *pdo; /**< Current Pdo. */ + + ec_sdo_data_t sdodata; /**< SDO configuration data. */ + uint16_t sdo_value; /**< SDO value. */ + unsigned int pdo_count; /**< Number of mapped Pdos. */ +}; + +/*****************************************************************************/ + +void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *); +void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *); + +void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *); +int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *); +int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *); + +/*****************************************************************************/ + +#endif diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_slave.c --- a/master/fsm_slave.c Tue Feb 19 16:09:58 2008 +0000 +++ b/master/fsm_slave.c Tue Feb 19 16:18:01 2008 +0000 @@ -92,8 +92,8 @@ ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram); ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); - ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe); - ec_fsm_pdo_config_init(&fsm->fsm_pdo, &fsm->fsm_coe); + ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe); + ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe); } /*****************************************************************************/ @@ -106,8 +106,8 @@ ec_fsm_sii_clear(&fsm->fsm_sii); ec_fsm_change_clear(&fsm->fsm_change); ec_fsm_coe_clear(&fsm->fsm_coe); - ec_fsm_mapping_clear(&fsm->fsm_map); - ec_fsm_pdo_config_clear(&fsm->fsm_pdo); + ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map); + ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf); } /*****************************************************************************/ @@ -941,8 +941,8 @@ { // start configuring PDO mapping fsm->state = ec_fsm_slave_conf_state_mapping; - ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave); - ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately + ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave); + ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately } /*****************************************************************************/ @@ -955,9 +955,9 @@ ec_fsm_slave_t *fsm /**< slave state machine */ ) { - if (ec_fsm_mapping_exec(&fsm->fsm_map)) return; - - if (!ec_fsm_mapping_success(&fsm->fsm_map)) { + if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return; + + if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) { EC_ERR("PDO mapping configuration failed for slave %u.\n", fsm->slave->ring_position); fsm->slave->error_flag = 1; @@ -967,8 +967,8 @@ // Start Pdo configuration fsm->state = ec_fsm_slave_conf_state_pdo_conf; - ec_fsm_pdo_config_start(&fsm->fsm_pdo, fsm->slave); - ec_fsm_pdo_config_exec(&fsm->fsm_pdo); // execute immediately + ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave); + ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately } /*****************************************************************************/ @@ -981,9 +981,9 @@ ec_fsm_slave_t *fsm /**< slave state machine */ ) { - if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo)) return; - - if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo)) { + if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return; + + if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) { EC_ERR("Pdo configuration failed for slave %u.\n", fsm->slave->ring_position); fsm->slave->error_flag = 1; diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_slave.h --- a/master/fsm_slave.h Tue Feb 19 16:09:58 2008 +0000 +++ b/master/fsm_slave.h Tue Feb 19 16:18:01 2008 +0000 @@ -48,7 +48,7 @@ #include "fsm_sii.h" #include "fsm_change.h" #include "fsm_coe.h" -#include "fsm_mapping.h" +#include "fsm_pdo_mapping.h" #include "fsm_pdo_config.h" /*****************************************************************************/ @@ -70,8 +70,8 @@ ec_fsm_sii_t fsm_sii; /**< SII state machine. */ ec_fsm_change_t fsm_change; /**< State change state machine. */ ec_fsm_coe_t fsm_coe; /**< CoE state machine. */ - ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine. */ - ec_fsm_pdo_config_t fsm_pdo; /**< PDO configuration state machine. */ + ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */ + ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */ }; /*****************************************************************************/