author | Florian Pose <fp@igh-essen.com> |
Thu, 21 Feb 2008 12:43:55 +0000 | |
changeset 808 | 1feddbd65608 |
parent 802 | b947d0b09f9a |
child 814 | a51f857b1b2d |
permissions | -rw-r--r-- |
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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 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 "slave_config.h" |
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#include "fsm_pdo_mapping.h" |
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/*****************************************************************************/ |
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void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_pdo_mapping_init( |
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ec_fsm_pdo_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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/** Destructor. |
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*/ |
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void ec_fsm_pdo_mapping_clear( |
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ec_fsm_pdo_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_pdo_mapping_start( |
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ec_fsm_pdo_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_pdo_mapping_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_mapping_running( |
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const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
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) |
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{ |
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return fsm->state != ec_fsm_pdo_mapping_state_end |
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&& fsm->state != ec_fsm_pdo_mapping_state_error; |
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} |
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/*****************************************************************************/ |
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/** Executes the current state of the state machine. |
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* |
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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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|
116 |
*/ |
802
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Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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|
117 |
int ec_fsm_pdo_mapping_exec( |
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Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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diff
changeset
|
118 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
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parents:
diff
changeset
|
119 |
) |
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parents:
diff
changeset
|
120 |
{ |
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|
121 |
fsm->state(fsm); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
122 |
return ec_fsm_pdo_mapping_running(fsm); |
635
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parents:
diff
changeset
|
123 |
} |
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parents:
diff
changeset
|
124 |
|
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parents:
diff
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|
125 |
/*****************************************************************************/ |
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parents:
diff
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|
126 |
|
792
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diff
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|
127 |
/** Get execution result. |
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|
128 |
* |
635
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|
129 |
* \return true, if the state machine terminated gracefully |
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|
130 |
*/ |
802
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Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
131 |
int ec_fsm_pdo_mapping_success( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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diff
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|
132 |
const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
133 |
) |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
134 |
{ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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diff
changeset
|
135 |
return fsm->state == ec_fsm_pdo_mapping_state_end; |
635
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parents:
diff
changeset
|
136 |
} |
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parents:
diff
changeset
|
137 |
|
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diff
changeset
|
138 |
/****************************************************************************** |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
139 |
* State functions. |
635
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|
140 |
*****************************************************************************/ |
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parents:
diff
changeset
|
141 |
|
792
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diff
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|
142 |
/** Start mapping configuration. |
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diff
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|
143 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
144 |
void ec_fsm_pdo_mapping_state_start( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
145 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
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parents:
diff
changeset
|
146 |
) |
d304ef4af542
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parents:
diff
changeset
|
147 |
{ |
792
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Implemented most realtime interface changes for version 1.4, improved
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758
diff
changeset
|
148 |
if (!fsm->slave->config) { |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
149 |
fsm->state = ec_fsm_pdo_mapping_state_end; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
150 |
return; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
758
diff
changeset
|
151 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
758
diff
changeset
|
152 |
|
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
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diff
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|
153 |
fsm->sync = NULL; |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
154 |
ec_fsm_pdo_mapping_next_sync(fsm); |
635
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parents:
diff
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|
155 |
} |
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parents:
diff
changeset
|
156 |
|
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parents:
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changeset
|
157 |
/*****************************************************************************/ |
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parents:
diff
changeset
|
158 |
|
792
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parents:
758
diff
changeset
|
159 |
/** Process mapping of next sync manager. |
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diff
changeset
|
160 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
161 |
void ec_fsm_pdo_mapping_next_sync( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
162 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
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parents:
diff
changeset
|
163 |
) |
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parents:
diff
changeset
|
164 |
{ |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
165 |
ec_direction_t dir; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
166 |
const ec_sync_t *sync; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
167 |
const ec_pdo_mapping_t *map; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
168 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
169 |
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) { |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
170 |
if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) { |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
171 |
EC_WARN("No sync manager for direction %u!\n", dir); |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
172 |
continue; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
173 |
} |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
174 |
|
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
175 |
if (fsm->sync) { // there is a last SM |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
176 |
if (sync == fsm->sync) // this is the last SM |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
177 |
fsm->sync = NULL; // take the next one |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
178 |
} else { |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
179 |
map = &fsm->slave->config->mapping[dir]; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
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diff
changeset
|
180 |
if (ec_pdo_mapping_equal(&sync->mapping, map)) |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
181 |
continue; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
182 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
183 |
fsm->sync = sync; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
184 |
fsm->mapping = map; |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
185 |
break; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
186 |
} |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
187 |
} |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
|
808 | 189 |
if (!fsm->sync) { |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
190 |
if (fsm->slave->master->debug_level) |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
191 |
EC_DBG("Pdo mapping finished for slave %u.\n", |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
192 |
fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
193 |
fsm->state = ec_fsm_pdo_mapping_state_end; |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
194 |
return; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
195 |
} |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
196 |
|
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
197 |
if (fsm->slave->master->debug_level) { |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
198 |
EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
199 |
fsm->sync->index, fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
201 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
// set mapped PDO count to zero |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
fsm->sdodata.index = 0x1C10 + fsm->sync->index; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
fsm->sdodata.subindex = 0; // mapped PDO count |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
fsm->sdodata.size = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
if (fsm->slave->master->debug_level) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
208 |
EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
|
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
210 |
fsm->state = ec_fsm_pdo_mapping_state_zero_count; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
212 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
213 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
214 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
215 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
216 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
217 |
/** Process mapping of next PDO. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
218 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
219 |
ec_pdo_t *ec_fsm_pdo_mapping_next_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
220 |
const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
221 |
const struct list_head *list /**< current PDO list item */ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
222 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
223 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
224 |
list = list->next; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
225 |
if (list == &fsm->mapping->pdos) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
226 |
return NULL; // no next PDO |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
227 |
return list_entry(list, ec_pdo_t, list); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
228 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
229 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
230 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
231 |
|
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
232 |
/** Add a Pdo to the mapping. |
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Cleaned up Pdo mapping and configuration state machines.
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diff
changeset
|
233 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
234 |
void ec_fsm_pdo_mapping_add_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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801
diff
changeset
|
235 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
236 |
) |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
237 |
{ |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
238 |
fsm->sdodata.subindex = fsm->pdo_count; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
239 |
EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
240 |
fsm->sdodata.size = 2; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
241 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
242 |
if (fsm->slave->master->debug_level) |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
243 |
EC_DBG("Mapping PDO 0x%04X at position %u.\n", |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
244 |
fsm->pdo->index, fsm->sdodata.subindex); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
245 |
|
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
246 |
fsm->state = ec_fsm_pdo_mapping_state_add_pdo; |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
247 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
248 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
249 |
} |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
250 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
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parents:
792
diff
changeset
|
251 |
/*****************************************************************************/ |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
252 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
253 |
/** Set the number of mapped PDOs to zero. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
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diff
changeset
|
254 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
255 |
void ec_fsm_pdo_mapping_state_zero_count( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
256 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
257 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
258 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
259 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
260 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
261 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
262 |
EC_ERR("Failed to clear PDO mapping for slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
263 |
fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
264 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
265 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
266 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
267 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
268 |
// map all PDOs belonging to the current sync manager |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
269 |
|
d304ef4af542
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parents:
diff
changeset
|
270 |
// find first PDO |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
271 |
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) { |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
272 |
if (fsm->slave->master->debug_level) |
d304ef4af542
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parents:
diff
changeset
|
273 |
EC_DBG("No PDOs to map for SM%u of slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
274 |
fsm->sync->index, fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
275 |
ec_fsm_pdo_mapping_next_sync(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
276 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
277 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
278 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
279 |
// add first PDO to mapping |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
280 |
fsm->pdo_count = 1; |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
281 |
ec_fsm_pdo_mapping_add_pdo(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
286 |
/** Add a PDO to the sync managers mapping. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
287 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
288 |
void ec_fsm_pdo_mapping_state_add_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
289 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
292 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
297 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
// find next PDO |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
302 |
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) { |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
// no more PDOs to map. write PDO count |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
fsm->sdodata.subindex = 0; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
fsm->sdodata.size = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
if (fsm->slave->master->debug_level) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
EC_DBG("Setting number of mapped PDOs to %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
fsm->pdo_count); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
311 |
|
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
312 |
fsm->state = ec_fsm_pdo_mapping_state_pdo_count; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
// add next PDO to mapping |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
fsm->pdo_count++; |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
320 |
ec_fsm_pdo_mapping_add_pdo(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
325 |
/** Set the number of mapped PDOs. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
326 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
327 |
void ec_fsm_pdo_mapping_state_pdo_count( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
328 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
EC_ERR("Failed to set number of mapped PDOs for slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
336 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
if (fsm->slave->master->debug_level) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
fsm->sync->index, fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
// mapping configuration for this sync manager complete. |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
345 |
ec_fsm_pdo_mapping_next_sync(fsm); |
635
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parents:
diff
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|
346 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
347 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
348 |
/****************************************************************************** |
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parents:
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|
349 |
* Common state functions |
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parents:
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|
350 |
*****************************************************************************/ |
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Implemented alternative PDO mapping configuration interface.
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parents:
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changeset
|
351 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
352 |
/** State: ERROR. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
353 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
354 |
void ec_fsm_pdo_mapping_state_error( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
355 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
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parents:
diff
changeset
|
356 |
) |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
357 |
{ |
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parents:
diff
changeset
|
358 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
|
d304ef4af542
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parents:
diff
changeset
|
360 |
/*****************************************************************************/ |
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
362 |
/** State: END. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
363 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
364 |
void ec_fsm_pdo_mapping_state_end( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
365 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
366 |
) |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
367 |
{ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
368 |
} |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
369 |
|
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
370 |
/*****************************************************************************/ |