377 lines
11 KiB
C
377 lines
11 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT PDO mapping state machine.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "fsm_mapping.h"
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/*****************************************************************************/
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void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
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void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *);
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void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *);
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void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *);
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void ec_fsm_mapping_state_end(ec_fsm_mapping_t *);
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void ec_fsm_mapping_state_error(ec_fsm_mapping_t *);
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void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *);
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/*****************************************************************************/
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/**
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* Constructor.
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*/
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void ec_fsm_mapping_init(ec_fsm_mapping_t *fsm, /**< mapping state machine */
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ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
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)
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{
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fsm->fsm_coe = fsm_coe;
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fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
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}
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/*****************************************************************************/
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/**
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* Destructor.
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*/
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void ec_fsm_mapping_clear(ec_fsm_mapping_t *fsm /**< mapping state machine */)
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{
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}
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/*****************************************************************************/
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/**
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* Start PDO mapping configuration state machine.
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*/
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void ec_fsm_mapping_start(
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ec_fsm_mapping_t *fsm, /**< mapping state machine */
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ec_slave_t *slave /**< slave to configure */
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)
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{
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fsm->slave = slave;
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fsm->state = ec_fsm_mapping_state_start;
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}
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/*****************************************************************************/
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/**
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* \return false, if state machine has terminated
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*/
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int ec_fsm_mapping_running(
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const ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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return fsm->state != ec_fsm_mapping_state_end
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&& fsm->state != ec_fsm_mapping_state_error;
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}
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/*****************************************************************************/
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/**
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* Executes the current state of the state machine.
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* If the state machine's datagram is not sent or received yet, the execution
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* of the state machine is delayed to the next cycle.
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* \return false, if state machine has terminated
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*/
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int ec_fsm_mapping_exec(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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fsm->state(fsm);
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return ec_fsm_mapping_running(fsm);
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}
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/*****************************************************************************/
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/**
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* \return true, if the state machine terminated gracefully
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*/
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int ec_fsm_mapping_success(
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const ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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return fsm->state == ec_fsm_mapping_state_end;
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}
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/******************************************************************************
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* state functions
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*****************************************************************************/
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/**
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* Start mapping configuration.
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*/
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void ec_fsm_mapping_state_start(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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fsm->dir = EC_DIR_OUTPUT;
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ec_fsm_mapping_next_sync(fsm);
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}
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/*****************************************************************************/
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/**
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* Process mapping of next sync manager.
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*/
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void ec_fsm_mapping_next_sync(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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while (1) {
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if (fsm->dir > EC_DIR_INPUT) {
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// no more directions to configure mappings for
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fsm->state = ec_fsm_mapping_state_end;
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return;
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}
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if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
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// no sync manager found for this direction
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fsm->dir++;
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continue;
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}
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fsm->dir++;
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if (fsm->sync->alt_mapping)
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break;
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}
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if (fsm->slave->master->debug_level) {
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EC_DBG("Configuring PDO mapping for SM%u of slave %i.\n",
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fsm->sync->index, fsm->slave->ring_position);
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}
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// set mapped PDO count to zero
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fsm->sdodata.index = 0x1C10 + fsm->sync->index;
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fsm->sdodata.subindex = 0; // mapped PDO count
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EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
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fsm->sdodata.size = 1;
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if (fsm->slave->master->debug_level)
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EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
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fsm->state = ec_fsm_mapping_state_zero_count;
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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}
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/*****************************************************************************/
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/**
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* Process mapping of next PDO.
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*/
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ec_pdo_t *ec_fsm_mapping_next_pdo(
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ec_fsm_mapping_t *fsm, /**< mapping state machine */
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struct list_head *list /**< current PDO list item */
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)
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{
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ec_pdo_t *pdo;
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do {
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list = list->next;
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if (list == &fsm->sync->pdos)
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return NULL; // no next PDO
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pdo = list_entry(list, ec_pdo_t, list);
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}
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while (pdo->sync_index != fsm->sync->index);
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return pdo;
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}
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/*****************************************************************************/
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/**
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* Set the number of mapped PDOs to zero.
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*/
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void ec_fsm_mapping_state_zero_count(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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EC_ERR("Failed to clear PDO mapping for slave %u.\n",
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fsm->slave->ring_position);
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fsm->state = ec_fsm_mapping_state_error;
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return;
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}
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// map all PDOs belonging to the current sync manager
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// find first PDO
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if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
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fsm, &fsm->sync->pdos))) {
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if (fsm->slave->master->debug_level)
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EC_DBG("No PDOs to map for SM%u of slave %u.\n",
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fsm->sync->index, fsm->slave->ring_position);
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ec_fsm_mapping_next_sync(fsm);
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return;
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}
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// add first PDO to mapping
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fsm->pdo_count = 1;
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fsm->sdodata.subindex = fsm->pdo_count;
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EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
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fsm->sdodata.size = 2;
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if (fsm->slave->master->debug_level)
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EC_DBG("Mapping PDO 0x%04X at position %u.\n",
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fsm->pdo->index, fsm->sdodata.subindex);
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fsm->state = ec_fsm_mapping_state_add_pdo;
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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}
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/*****************************************************************************/
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/**
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* Add a PDO to the sync managers mapping.
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*/
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void ec_fsm_mapping_state_add_pdo(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n",
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fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
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fsm->state = ec_fsm_mapping_state_error;
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return;
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}
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// find next PDO
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if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
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fsm, &fsm->pdo->list))) {
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// no more PDOs to map. write PDO count
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fsm->sdodata.subindex = 0;
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EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
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fsm->sdodata.size = 1;
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if (fsm->slave->master->debug_level)
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EC_DBG("Setting number of mapped PDOs to %u.\n",
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fsm->pdo_count);
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fsm->state = ec_fsm_mapping_state_pdo_count;
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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return;
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}
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// add next PDO to mapping
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fsm->pdo_count++;
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fsm->sdodata.subindex = fsm->pdo_count;
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EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
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fsm->sdodata.size = 2;
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if (fsm->slave->master->debug_level)
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EC_DBG("Mapping PDO 0x%04X at position %u.\n",
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fsm->pdo->index, fsm->sdodata.subindex);
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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}
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/*****************************************************************************/
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/**
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* Set the number of mapped PDOs.
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*/
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void ec_fsm_mapping_state_pdo_count(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
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fsm->slave->ring_position);
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fsm->state = ec_fsm_mapping_state_error;
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return;
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}
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if (fsm->slave->master->debug_level)
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EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
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fsm->sync->index, fsm->slave->ring_position);
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// mapping configuration for this sync manager complete.
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ec_fsm_mapping_next_sync(fsm);
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}
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/******************************************************************************
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* Common state functions
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*****************************************************************************/
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/**
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State: ERROR.
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*/
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void ec_fsm_mapping_state_error(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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}
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/*****************************************************************************/
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/**
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State: END.
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*/
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void ec_fsm_mapping_state_end(
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ec_fsm_mapping_t *fsm /**< mapping state machine */
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)
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{
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}
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/*****************************************************************************/
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