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ethercat
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Cleaned up Pdo mapping and configuration state machines.

This commit is contained in:
Florian Pose 2008-02-19 16:09:58 +00:00
parent 6be227879d
commit 5f62803760
4 changed files with 70 additions and 62 deletions
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85
master/fsm_mapping.c
View File

@ -150,7 +150,7 @@ void ec_fsm_mapping_state_start(
return;
}
fsm->dir = EC_DIR_OUTPUT;
fsm->sync = NULL;
ec_fsm_mapping_next_sync(fsm);
}
@ -162,31 +162,38 @@ void ec_fsm_mapping_next_sync(
ec_fsm_mapping_t *fsm /**< mapping state machine */
)
{
while (1) {
if (fsm->dir > EC_DIR_INPUT) {
// no more directions to configure mappings for
fsm->state = ec_fsm_mapping_state_end;
return;
}
ec_direction_t dir;
const ec_sync_t *sync;
const ec_pdo_mapping_t *map;
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
EC_WARN("next_sync(): No sync manager!\n");
fsm->dir++;
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;
}
fsm->mapping = &fsm->slave->config->mapping[fsm->dir];
if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping)) {
// the mapping for this direction does not have to be altered
fsm->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 {
fsm->dir++;
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);
@ -222,6 +229,27 @@ ec_pdo_t *ec_fsm_mapping_next_pdo(
/*****************************************************************************/
/** 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(
@ -250,17 +278,7 @@ void ec_fsm_mapping_state_zero_count(
// add first PDO to mapping
fsm->pdo_count = 1;
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
ec_fsm_mapping_add_pdo(fsm);
}
/*****************************************************************************/
@ -299,16 +317,7 @@ void ec_fsm_mapping_state_add_pdo(
// add next PDO to mapping
fsm->pdo_count++;
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);
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
ec_fsm_mapping_add_pdo(fsm);
}
/*****************************************************************************/

19
master/fsm_mapping.h
View File

@ -54,18 +54,17 @@ typedef struct ec_fsm_mapping ec_fsm_mapping_t; /**< \see ec_fsm_mapping */
*/
struct ec_fsm_mapping
{
void (*state)(ec_fsm_mapping_t *); /**< state function */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
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. */
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_direction_t dir; /**< current PDO direction */
ec_sync_t *sync; /**< current sync manager */
const ec_pdo_mapping_t *mapping; /**< Mapping to assign. */
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 */
ec_sdo_data_t sdodata; /**< SDO configuration data. */
uint16_t sdo_value; /**< SDO value. */
unsigned int pdo_count; /**< Number of mapped Pdos. */
};
/*****************************************************************************/

21
master/fsm_pdo_config.c
View File

@ -167,27 +167,28 @@ void ec_fsm_pdo_config_next_pdo(
map = &fsm->slave->config->mapping[dir];
list_for_each_entry(pdo, &map->pdos, list) {
if (fsm->pdo) {
if (pdo == fsm->pdo)
fsm->pdo = NULL;
if (fsm->pdo) { // there was a Pdo configured in the last run
if (pdo == fsm->pdo) // this is the last Pdo
fsm->pdo = NULL; // take the next one
} else {
if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
if (ec_pdo_equal_entries(pdo, mapped_pdo))
continue; // Pdo configured correctly
fsm->pdo = pdo;
goto configure;
break;
}
}
}
if (fsm->slave->master->debug_level)
EC_DBG("Pdo configuration finished for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_end;
return;
if (!fsm->pdo) {
if (fsm->slave->master->debug_level)
EC_DBG("Pdo configuration finished for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_config_state_end;
return;
}
configure:
if (fsm->slave->master->debug_level) {
EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
fsm->pdo->index, fsm->slave->ring_position);

7
master/fsm_pdo_config.h
View File

@ -31,10 +31,9 @@
*
*****************************************************************************/
/**
\file
EtherCAT PDO configuration state machine structures.
*/
/** \file
* EtherCAT PDO configuration state machine structures.
*/
/*****************************************************************************/