master/fsm_pdo_mapping.c
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--
Fixed Pdo mapping bug.
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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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/** \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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    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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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_mapping_exec(
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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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    fsm->state(fsm);
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    return ec_fsm_pdo_mapping_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_mapping_success(
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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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}
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/******************************************************************************
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 * State functions.
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 *****************************************************************************/
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/** Start mapping configuration.
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 */
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void ec_fsm_pdo_mapping_state_start(
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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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    if (!fsm->slave->config) {
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        fsm->state = ec_fsm_pdo_mapping_state_end;
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        return;
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    }
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    fsm->sync = NULL;
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    ec_fsm_pdo_mapping_next_sync(fsm);
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}
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/*****************************************************************************/
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/** Process mapping of next sync manager.
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 */
802
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void ec_fsm_pdo_mapping_next_sync(
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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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    ec_direction_t dir;
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    const ec_sync_t *sync;
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    const ec_pdo_mapping_t *map;
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    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
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        if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {
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            EC_WARN("No sync manager for direction %u!\n", dir);
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            continue;
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        }
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        if (fsm->sync) { // there is a last SM
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            if (sync == fsm->sync) // this is the last SM
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                fsm->sync = NULL; // take the next one
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        } else {
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            map = &fsm->slave->config->mapping[dir];
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            if (ec_pdo_mapping_equal(&sync->mapping, map))
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                continue;
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            fsm->sync = sync;
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            fsm->mapping = map;
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            break;
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        }
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    }
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808
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    if (!fsm->sync) {
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        if (fsm->slave->master->debug_level)
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            EC_DBG("Pdo mapping finished for slave %u.\n",
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   192
                    fsm->slave->ring_position);
802
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        fsm->state = ec_fsm_pdo_mapping_state_end;
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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("Configuring PDO mapping for SM%u of slave %u.\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_pdo_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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/** Process mapping of next PDO.
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   218
 */
802
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ec_pdo_t *ec_fsm_pdo_mapping_next_pdo(
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   220
        const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
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        const struct list_head *list /**< current PDO list item */
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   222
        )
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{
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   224
    list = list->next; 
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   225
    if (list == &fsm->mapping->pdos)
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        return NULL; // no next PDO
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   227
    return list_entry(list, ec_pdo_t, list);
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   228
}
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   229
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   230
/*****************************************************************************/
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   231
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   232
/** Add a Pdo to the mapping.
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   233
 */
802
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   234
void ec_fsm_pdo_mapping_add_pdo(
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   235
        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
801
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   236
        )
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   237
{
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   238
    fsm->sdodata.subindex = fsm->pdo_count;
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   239
    EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
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   240
    fsm->sdodata.size = 2;
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   241
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   242
    if (fsm->slave->master->debug_level)
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   243
        EC_DBG("Mapping PDO 0x%04X at position %u.\n",
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   244
                fsm->pdo->index, fsm->sdodata.subindex);
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   245
    
802
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diff changeset
   246
    fsm->state = ec_fsm_pdo_mapping_state_add_pdo;
801
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   247
    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
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   248
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   249
}
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   250
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   251
/*****************************************************************************/
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   252
792
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   253
/** Set the number of mapped PDOs to zero.
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   254
 */
802
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   255
void ec_fsm_pdo_mapping_state_zero_count(
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   256
        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
635
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   257
        )
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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_pdo_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
802
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    if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->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);
802
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        ec_fsm_pdo_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;
802
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    ec_fsm_pdo_mapping_add_pdo(fsm);
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}
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/*****************************************************************************/
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792
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/** Add a PDO to the sync managers mapping.
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 */
802
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void ec_fsm_pdo_mapping_state_add_pdo(
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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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    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);
802
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        fsm->state = ec_fsm_pdo_mapping_state_error;
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        return;
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    }
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    // find next PDO
802
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    if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(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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802
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        fsm->state = ec_fsm_pdo_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++;
802
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    ec_fsm_pdo_mapping_add_pdo(fsm);
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}
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/*****************************************************************************/
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/** Set the number of mapped PDOs.
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 */
802
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void ec_fsm_pdo_mapping_state_pdo_count(
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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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    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);
802
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        fsm->state = ec_fsm_pdo_mapping_state_error;
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        return;
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    }
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   340
    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.
802
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    ec_fsm_pdo_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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/** State: ERROR.
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 */
802
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   354
void ec_fsm_pdo_mapping_state_error(
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   355
        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
635
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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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   363
 */
802
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   364
void ec_fsm_pdo_mapping_state_end(
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   365
        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
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   366
        )
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{
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   368
}
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   369
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/*****************************************************************************/