--- a/NEWS Wed Sep 19 17:32:39 2007 +0000
+++ b/NEWS Wed Sep 19 17:44:28 2007 +0000
@@ -6,6 +6,7 @@
Changes in version 1.3.2:
+* Read dynamic PDO mapping from SDO dictionary.
* Improved handling for spontaneous AL state changes.
* Master takes mailbox sync manager configurations from EEPROM words
0x0018-0x001b, if no sync manager configurations are provided.
--- a/TODO Wed Sep 19 17:32:39 2007 +0000
+++ b/TODO Wed Sep 19 17:44:28 2007 +0000
@@ -9,7 +9,6 @@
* Future features:
- Interface/buffers for asynchronous domain IO.
- Distributed clocks.
- - Dynamic PDO mapping from SDO dictionary (see can-cia.org: cia301ds4).
- Redundancy with 2 network adapters.
- Mailbox handler
- Support slaves, that don't support the LRW datagram, only LRD/LWR.
--- a/master/Kbuild.in Wed Sep 19 17:32:39 2007 +0000
+++ b/master/Kbuild.in Wed Sep 19 17:44:28 2007 +0000
@@ -35,7 +35,7 @@
ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu.o slave.o \
datagram.o domain.o mailbox.o canopen.o fsm_sii.o fsm_change.o \
- fsm_coe.o fsm_mapping.o fsm_slave.o fsm_master.o xmldev.o
+ fsm_coe.o fsm_coe_map.o fsm_mapping.o fsm_slave.o fsm_master.o xmldev.o
ifeq (@ENABLE_EOE@,1)
ec_master-objs += ethernet.o
--- /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 */
+ )
+{
+}
+
+/*****************************************************************************/
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe_map.h Wed Sep 19 17:44:28 2007 +0000
@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ * $Id: fsm_coe.h 702 2006-12-18 18:10:52Z 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.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_COE_MAP__
+#define __EC_FSM_COE_MAP__
+
+#include "globals.h"
+#include "datagram.h"
+#include "slave.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_coe_map ec_fsm_coe_map_t; /**< \see ec_fsm_coe_map */
+
+/**
+ */
+
+struct ec_fsm_coe_map
+{
+ void (*state)(ec_fsm_coe_map_t *); /**< CoE mapping state function */
+ ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
+
+ ec_slave_t *slave; /**< EtherCAT slave */
+ ec_sdo_request_t request;
+
+ unsigned int sync_index;
+ ec_sdo_t *sync_sdo;
+ uint8_t sync_subindices;
+ uint16_t sync_subindex;
+
+ ec_sdo_t *pdo_sdo;
+ uint8_t pdo_subindices;
+ uint16_t pdo_subindex;
+};
+
+/*****************************************************************************/
+
+void ec_fsm_coe_map_init(ec_fsm_coe_map_t *, ec_fsm_coe_t *);
+void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *);
+
+void ec_fsm_coe_map_start(ec_fsm_coe_map_t *, ec_slave_t *);
+
+int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *);
+int ec_fsm_coe_map_success(ec_fsm_coe_map_t *);
+
+/*****************************************************************************/
+
+#endif
--- a/master/fsm_master.c Wed Sep 19 17:32:39 2007 +0000
+++ b/master/fsm_master.c Wed Sep 19 17:44:28 2007 +0000
@@ -60,6 +60,7 @@
void ec_fsm_master_state_scan_slaves(ec_fsm_master_t *);
void ec_fsm_master_state_write_eeprom(ec_fsm_master_t *);
void ec_fsm_master_state_sdodict(ec_fsm_master_t *);
+void ec_fsm_master_state_pdomap(ec_fsm_master_t *);
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *);
void ec_fsm_master_state_end(ec_fsm_master_t *);
void ec_fsm_master_state_error(ec_fsm_master_t *);
@@ -90,6 +91,7 @@
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_coe_map_init(&fsm->fsm_coe_map, &fsm->fsm_coe);
}
/*****************************************************************************/
@@ -105,6 +107,7 @@
ec_fsm_sii_clear(&fsm->fsm_sii);
ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_coe_clear(&fsm->fsm_coe);
+ ec_fsm_coe_map_clear(&fsm->fsm_coe_map);
}
/*****************************************************************************/
@@ -521,6 +524,29 @@
return;
}
+ // check, if slaves have their PDO mapping to be read.
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
+ || slave->pdo_mapping_fetched
+ || !slave->sdo_dictionary_fetched
+ || slave->current_state == EC_SLAVE_STATE_INIT
+ || slave->online_state == EC_SLAVE_OFFLINE) continue;
+
+ if (master->debug_level) {
+ EC_DBG("Fetching PDO mapping from slave %i via CoE.\n",
+ slave->ring_position);
+ }
+
+ slave->pdo_mapping_fetched = 1;
+
+ // start fetching PDO mapping
+ fsm->idle = 0;
+ fsm->state = ec_fsm_master_state_pdomap;
+ ec_fsm_coe_map_start(&fsm->fsm_coe_map, slave);
+ ec_fsm_coe_map_exec(&fsm->fsm_coe_map); // execute immediately
+ return;
+ }
+
// check for pending EEPROM write operations.
if (ec_fsm_master_action_process_eeprom(fsm))
return; // EEPROM write request found
@@ -1003,6 +1029,26 @@
/*****************************************************************************/
/**
+ */
+
+void ec_fsm_master_state_pdomap(
+ ec_fsm_master_t *fsm /**< master state machine */
+ )
+{
+ if (ec_fsm_coe_map_exec(&fsm->fsm_coe_map)) return;
+
+ if (!ec_fsm_coe_map_success(&fsm->fsm_coe_map)) {
+ fsm->state = ec_fsm_master_state_error;
+ return;
+ }
+
+ // fetching of PDO mapping finished
+ fsm->state = ec_fsm_master_state_end;
+}
+
+/*****************************************************************************/
+
+/**
Master state: SDO REQUEST.
*/
--- a/master/fsm_master.h Wed Sep 19 17:32:39 2007 +0000
+++ b/master/fsm_master.h Wed Sep 19 17:44:28 2007 +0000
@@ -48,6 +48,7 @@
#include "canopen.h"
#include "fsm_slave.h"
+#include "fsm_coe_map.h"
/*****************************************************************************/
@@ -99,6 +100,7 @@
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_coe_map_t fsm_coe_map; /**< CoE mapping state machine */
};
/*****************************************************************************/
--- a/master/slave.c Wed Sep 19 17:32:39 2007 +0000
+++ b/master/slave.c Wed Sep 19 17:44:28 2007 +0000
@@ -154,6 +154,7 @@
INIT_LIST_HEAD(&slave->sdo_confs);
slave->sdo_dictionary_fetched = 0;
+ slave->pdo_mapping_fetched = 0;
slave->jiffies_preop = 0;
for (i = 0; i < 4; i++) {
--- a/master/slave.h Wed Sep 19 17:32:39 2007 +0000
+++ b/master/slave.h Wed Sep 19 17:44:28 2007 +0000
@@ -175,6 +175,7 @@
struct list_head sdo_dictionary; /**< SDO dictionary list */
struct list_head sdo_confs; /**< list of SDO configurations */
uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */
+ uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */
unsigned long jiffies_preop; /**< time, the slave went to PREOP */
};