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/******************************************************************************
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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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/** \file
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* EtherCAT Pdo configuration 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 "slave_config.h"
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#include "fsm_pdo_config.h"
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/*****************************************************************************/
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void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
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/*****************************************************************************/
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/** Constructor.
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*/
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void ec_fsm_pdo_config_init(
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ec_fsm_pdo_config_t *fsm, /**< pdo_config 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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/** Destructor.
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*/
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void ec_fsm_pdo_config_clear(
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ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
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)
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{
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}
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/*****************************************************************************/
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/** Start Pdo configuration state machine.
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*/
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void ec_fsm_pdo_config_start(
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ec_fsm_pdo_config_t *fsm, /**< Pdo configuration 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_pdo_config_state_start;
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}
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/*****************************************************************************/
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/** Get running state.
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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_pdo_config_running(
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const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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return fsm->state != ec_fsm_pdo_config_state_end
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&& fsm->state != ec_fsm_pdo_config_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state.
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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_pdo_config_exec(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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fsm->state(fsm);
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return ec_fsm_pdo_config_running(fsm);
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}
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/*****************************************************************************/
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/** Get execution result.
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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_pdo_config_success(
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const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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return fsm->state == ec_fsm_pdo_config_state_end;
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}
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/******************************************************************************
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* State functions.
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*****************************************************************************/
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/** Start Pdo configuration.
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*/
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void ec_fsm_pdo_config_state_start(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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if (!fsm->slave->config) {
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fsm->state = ec_fsm_pdo_config_state_end;
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return;
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}
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fsm->pdo = NULL;
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ec_fsm_pdo_config_next_pdo(fsm);
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}
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/*****************************************************************************/
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/** Process configuration of next Pdo.
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*/
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void ec_fsm_pdo_config_next_pdo(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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ec_direction_t dir;
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const ec_pdo_mapping_t *map;
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const ec_pdo_t *pdo, *mapped_pdo;
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for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
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map = &fsm->slave->config->mapping[dir];
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list_for_each_entry(pdo, &map->pdos, list) {
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if (fsm->pdo) {
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if (pdo == fsm->pdo)
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fsm->pdo = NULL;
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} else {
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if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
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if (ec_pdo_equal_entries(pdo, mapped_pdo))
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continue; // Pdo configured correctly
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fsm->pdo = pdo;
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goto configure;
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}
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}
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}
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if (fsm->slave->master->debug_level) {
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EC_DBG("No more Pdos to configure for slave %u.\n",
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fsm->slave->ring_position);
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}
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fsm->state = ec_fsm_pdo_config_state_end;
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return;
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configure:
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if (fsm->slave->master->debug_level) {
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EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
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fsm->pdo->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 = fsm->pdo->index;
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fsm->sdodata.subindex = 0; // number of configured entries
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EC_WRITE_U8(&fsm->sdo_value, 0);
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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 entry count to zero for Pdo 0x%04X.\n",
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fsm->pdo->index);
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fsm->state = ec_fsm_pdo_config_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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/** Process next Pdo entry.
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*/
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ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
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const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
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const struct list_head *list /**< current entry list item */
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)
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{
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list = list->next;
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if (list == &fsm->pdo->entries)
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return NULL; // no next entry
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return list_entry(list, ec_pdo_entry_t, list);
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}
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/*****************************************************************************/
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/** Starts to add a Pdo entry.
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*/
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void ec_fsm_pdo_config_add_entry(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
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)
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{
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uint32_t value;
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fsm->sdodata.subindex = fsm->entry_count;
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value = fsm->entry->index << 16
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| fsm->entry->subindex << 8 | fsm->entry->bit_length;
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EC_WRITE_U32(&fsm->sdo_value, value);
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fsm->sdodata.size = 4;
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if (fsm->slave->master->debug_level)
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EC_DBG("Configuring Pdo entry %08X at position %u.\n",
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value, fsm->entry_count);
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fsm->state = ec_fsm_pdo_config_state_add_entry;
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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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/** Set the number of configured entries to zero.
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*/
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void ec_fsm_pdo_config_state_zero_count(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 configuration for slave %u.\n",
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fsm->slave->ring_position);
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fsm->state = ec_fsm_pdo_config_state_error;
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return;
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}
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// find first entry
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if (!(fsm->entry =
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ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
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if (fsm->slave->master->debug_level)
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EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
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fsm->pdo->index, fsm->slave->ring_position);
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ec_fsm_pdo_config_next_pdo(fsm);
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return;
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}
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// add first entry
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fsm->entry_count = 1;
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ec_fsm_pdo_config_add_entry(fsm);
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}
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/*****************************************************************************/
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/** Add a Pdo entry.
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*/
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void ec_fsm_pdo_config_state_add_entry(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 add entry 0x%04X:%u for slave %u.\n",
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fsm->entry->index, fsm->entry->subindex,
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fsm->slave->ring_position);
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fsm->state = ec_fsm_pdo_config_state_error;
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return;
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}
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// find next entry
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if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
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// No more entries to add. Write entry count.
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fsm->sdodata.subindex = 0;
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EC_WRITE_U8(&fsm->sdo_value, fsm->entry_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 Pdo entries to %u.\n",
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fsm->entry_count);
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fsm->state = ec_fsm_pdo_config_state_entry_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 entry
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fsm->entry_count++;
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ec_fsm_pdo_config_add_entry(fsm);
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}
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/*****************************************************************************/
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/** Set the number of entries.
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*/
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void ec_fsm_pdo_config_state_entry_count(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 entries for slave %u.\n",
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fsm->slave->ring_position);
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fsm->state = ec_fsm_pdo_config_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 configured Pdo 0x%04X on slave %u.\n",
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fsm->pdo->index, fsm->slave->ring_position);
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ec_fsm_pdo_config_next_pdo(fsm);
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}
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/******************************************************************************
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* Common state functions
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*****************************************************************************/
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/** State: ERROR.
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*/
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void ec_fsm_pdo_config_state_error(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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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_pdo_config_state_end(
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
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)
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{
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}
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/*****************************************************************************/
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