--- 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
--- 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 \
--- 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 */
- )
-{
-}
-
-/*****************************************************************************/
--- 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
--- /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 */
+ )
+{
+}
+
+/*****************************************************************************/
--- /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
--- 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;
--- 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. */
};
/*****************************************************************************/