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ethercat/master/fsm_coe_map.c

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/******************************************************************************
*
* $Id$
*
* 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 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_dir(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;
ec_pdo_mapping_init(&fsm->mapping);
}
/*****************************************************************************/
/**
Destructor.
*/
void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
{
ec_pdo_mapping_clear(&fsm->mapping);
}
/*****************************************************************************/
/**
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;
}
/******************************************************************************
* state functions
*****************************************************************************/
/**
* Start reading mapping.
*/
void ec_fsm_coe_map_state_start(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
// read mapping for first direction
fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
ec_fsm_coe_map_action_next_dir(fsm);
}
/*****************************************************************************/
/**
* Read mapping of next direction manager.
*/
void ec_fsm_coe_map_action_next_dir(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
ec_slave_t *slave = fsm->slave;
fsm->dir++;
if (slave->master->debug_level)
EC_DBG("Processing dir %u of slave %u.\n",
fsm->dir, slave->ring_position);
for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
if (!(fsm->sync = ec_slave_get_pdo_sync(slave, fsm->dir))) {
if (slave->master->debug_level)
EC_DBG("No sync manager for direction %u!\n", fsm->dir);
continue;
}
fsm->sync_sdo_index = 0x1C10 + fsm->sync->index;
if (slave->master->debug_level)
EC_DBG("Reading Pdo mapping of sync manager %u of slave %u.\n",
fsm->sync->index, slave->ring_position);
ec_pdo_mapping_clear_pdos(&fsm->mapping);
ec_sdo_request_init_read(&fsm->request, slave, fsm->sync_sdo_index, 0);
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;
}
if (slave->master->debug_level)
EC_DBG("Reading of Pdo mapping finished for slave %u.\n",
slave->ring_position);
fsm->state = ec_fsm_coe_map_state_end;
}
/*****************************************************************************/
/**
* Count mapped Pdos.
*/
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);
}
/*****************************************************************************/
/**
* Read next Pdo.
*/
void ec_fsm_coe_map_action_next_pdo(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (fsm->sync_subindex <= fsm->sync_subindices) {
ec_sdo_request_init_read(&fsm->request, fsm->slave,
fsm->sync_sdo_index, fsm->sync_subindex);
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;
}
// finished reading Pdo mapping/configuration
if (ec_pdo_mapping_copy(&fsm->sync->mapping, &fsm->mapping)) {
fsm->state = ec_fsm_coe_map_state_error;
return;
}
fsm->sync->mapping_source = EC_SYNC_MAPPING_COE;
ec_pdo_mapping_clear_pdos(&fsm->mapping);
// next direction
ec_fsm_coe_map_action_next_dir(fsm);
}
/*****************************************************************************/
/**
* Fetch Pdo information.
*/
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;
}
if (!(fsm->pdo = (ec_pdo_t *)
kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo.\n");
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_pdo_init(fsm->pdo);
fsm->pdo->index = EC_READ_U16(fsm->request.data);
fsm->pdo->dir = ec_sync_direction(fsm->sync);
if (fsm->slave->master->debug_level)
EC_DBG(" Pdo 0x%04X.\n", fsm->pdo->index);
list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
ec_sdo_request_init_read(&fsm->request, fsm->slave, fsm->pdo->index, 0);
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
}
/*****************************************************************************/
/**
* Read number of Pdo entries.
*/
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);
}
/*****************************************************************************/
/**
* Read next Pdo entry.
*/
void ec_fsm_coe_map_action_next_pdo_entry(
ec_fsm_coe_map_t *fsm /**< finite state machine */
)
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
ec_sdo_request_init_read(&fsm->request, fsm->slave,
fsm->pdo->index, fsm->pdo_subindex);
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);
}
/*****************************************************************************/
/**
* Read Pdo entry information.
*/
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;
ec_pdo_entry_t *pdo_entry;
pdo_entry_info = EC_READ_U32(fsm->request.data);
if (!(pdo_entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry.\n");
fsm->state = ec_fsm_coe_map_state_error;
return;
}
ec_pdo_entry_init(pdo_entry);
pdo_entry->index = pdo_entry_info >> 16;
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
pdo_entry->bit_length = pdo_entry_info & 0xFF;
if (!pdo_entry->index && !pdo_entry->subindex) {
if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
ec_pdo_entry_clear(pdo_entry);
kfree(pdo_entry);
fsm->state = ec_fsm_coe_map_state_error;
return;
}
}
if (fsm->slave->master->debug_level) {
EC_DBG(" Pdo entry 0x%04X \"%s\" (%u bit).\n", pdo_entry->index,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
}
// next Pdo entry
list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
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 */
)
{
}
/*****************************************************************************/
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