| author | Florian Pose <fp@igh-essen.com> |
| Tue, 04 Mar 2008 10:18:02 +0000 | |
| changeset 859 | 233e32f428e1 |
| parent 858 | 69122084d066 |
| child 875 | c5df898a3618 |
| permissions | -rw-r--r-- |
| 799 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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||
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/** \file |
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* EtherCAT Pdo 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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854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
68 |
ec_sdo_request_init(&fsm->request); |
| 799 | 69 |
} |
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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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854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
79 |
ec_sdo_request_clear(&fsm->request); |
| 799 | 80 |
} |
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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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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
171 |
if (fsm->pdo) { // there was a Pdo configured in the last run
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
172 |
if (pdo == fsm->pdo) // this is the last Pdo |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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173 |
fsm->pdo = NULL; // take the next one |
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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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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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break; |
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} |
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} |
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} |
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||
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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
185 |
if (!fsm->pdo) {
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
186 |
if (fsm->slave->master->debug_level) |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
187 |
EC_DBG("Pdo configuration finished for slave %u.\n",
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
188 |
fsm->slave->ring_position); |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
189 |
fsm->state = ec_fsm_pdo_config_state_end; |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
190 |
return; |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
191 |
} |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
|
192 |
|
|
835
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
193 |
// Pdo configuration has to be changed. Does the slave support this? |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
194 |
if (fsm->slave->sii.mailbox_protocols & EC_MBOX_COE |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
195 |
|| (fsm->slave->sii.has_general |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
196 |
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
|
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23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
197 |
EC_ERR("Slave %u does not support changing the Pdo configuration!\n",
|
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23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
198 |
fsm->slave->ring_position); |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
199 |
fsm->state = ec_fsm_pdo_config_state_error; |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
200 |
return; |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
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201 |
} |
|
23fd8b510803
Evaluate CoE details from general category; moved current consumption
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
202 |
|
| 799 | 203 |
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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||
|
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
208 |
if (ec_sdo_request_alloc(&fsm->request, 4)) {
|
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
209 |
fsm->state = ec_fsm_pdo_config_state_error; |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
210 |
return; |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
211 |
} |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
212 |
|
| 814 | 213 |
// set mapped Pdo count to zero |
|
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
214 |
EC_WRITE_U8(&fsm->request.data, 0); |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
215 |
fsm->request.data_size = 1; |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
216 |
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0); |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
217 |
ecrt_sdo_request_write(&fsm->request); |
| 799 | 218 |
if (fsm->slave->master->debug_level) |
219 |
EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
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fsm->pdo->index); |
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221 |
||
222 |
fsm->state = ec_fsm_pdo_config_state_zero_count; |
|
|
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
223 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
| 799 | 224 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
225 |
} |
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226 |
||
227 |
/*****************************************************************************/ |
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228 |
||
229 |
/** Process next Pdo entry. |
|
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*/ |
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231 |
ec_pdo_entry_t *ec_fsm_pdo_config_next_entry( |
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232 |
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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} |
|
241 |
||
242 |
/*****************************************************************************/ |
|
243 |
||
244 |
/** Starts to add a Pdo entry. |
|
245 |
*/ |
|
246 |
void ec_fsm_pdo_config_add_entry( |
|
247 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */ |
|
248 |
) |
|
249 |
{
|
|
250 |
uint32_t value; |
|
251 |
||
252 |
value = fsm->entry->index << 16 |
|
253 |
| fsm->entry->subindex << 8 | fsm->entry->bit_length; |
|
|
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
254 |
EC_WRITE_U32(&fsm->request.data, value); |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
255 |
fsm->request.data_size = 4; |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
256 |
ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count); |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
257 |
ecrt_sdo_request_write(&fsm->request); |
| 799 | 258 |
if (fsm->slave->master->debug_level) |
259 |
EC_DBG("Configuring Pdo entry %08X at position %u.\n",
|
|
260 |
value, fsm->entry_count); |
|
261 |
||
262 |
fsm->state = ec_fsm_pdo_config_state_add_entry; |
|
|
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
263 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
| 799 | 264 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
265 |
} |
|
266 |
||
267 |
/*****************************************************************************/ |
|
268 |
||
269 |
/** Set the number of configured entries to zero. |
|
270 |
*/ |
|
271 |
void ec_fsm_pdo_config_state_zero_count( |
|
272 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
|
273 |
) |
|
274 |
{
|
|
275 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
|
276 |
||
277 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
|
|
278 |
EC_ERR("Failed to clear Pdo configuration for slave %u.\n",
|
|
279 |
fsm->slave->ring_position); |
|
280 |
fsm->state = ec_fsm_pdo_config_state_error; |
|
281 |
return; |
|
282 |
} |
|
283 |
||
284 |
// find first entry |
|
285 |
if (!(fsm->entry = |
|
286 |
ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
|
|
287 |
if (fsm->slave->master->debug_level) |
|
288 |
EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
|
|
289 |
fsm->pdo->index, fsm->slave->ring_position); |
|
290 |
ec_fsm_pdo_config_next_pdo(fsm); |
|
291 |
return; |
|
292 |
} |
|
293 |
||
294 |
// add first entry |
|
295 |
fsm->entry_count = 1; |
|
296 |
ec_fsm_pdo_config_add_entry(fsm); |
|
297 |
} |
|
298 |
||
299 |
/*****************************************************************************/ |
|
300 |
||
301 |
/** Add a Pdo entry. |
|
302 |
*/ |
|
303 |
void ec_fsm_pdo_config_state_add_entry( |
|
304 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
|
305 |
) |
|
306 |
{
|
|
307 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
|
308 |
||
309 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
|
|
310 |
EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
|
|
311 |
fsm->entry->index, fsm->entry->subindex, |
|
312 |
fsm->slave->ring_position); |
|
313 |
fsm->state = ec_fsm_pdo_config_state_error; |
|
314 |
return; |
|
315 |
} |
|
316 |
||
317 |
// find next entry |
|
318 |
if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
|
|
319 |
// No more entries to add. Write entry count. |
|
|
854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
320 |
EC_WRITE_U8(&fsm->request.data, fsm->entry_count); |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
321 |
fsm->request.data_size = 1; |
|
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
835
diff
changeset
|
322 |
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0); |
|
858
69122084d066
Basic reading realtime Sdo access working.
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
|
323 |
ecrt_sdo_request_write(&fsm->request); |
| 799 | 324 |
if (fsm->slave->master->debug_level) |
325 |
EC_DBG("Setting number of Pdo entries to %u.\n",
|
|
326 |
fsm->entry_count); |
|
327 |
||
328 |
fsm->state = ec_fsm_pdo_config_state_entry_count; |
|
|
859
233e32f428e1
Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
Florian Pose <fp@igh-essen.com>
parents:
858
diff
changeset
|
329 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
| 799 | 330 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
331 |
return; |
|
332 |
} |
|
333 |
||
334 |
// add next entry |
|
335 |
fsm->entry_count++; |
|
336 |
ec_fsm_pdo_config_add_entry(fsm); |
|
337 |
} |
|
338 |
||
339 |
/*****************************************************************************/ |
|
340 |
||
341 |
/** Set the number of entries. |
|
342 |
*/ |
|
343 |
void ec_fsm_pdo_config_state_entry_count( |
|
344 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
|
345 |
) |
|
346 |
{
|
|
347 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
|
348 |
||
349 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
|
|
350 |
EC_ERR("Failed to set number of entries for slave %u.\n",
|
|
351 |
fsm->slave->ring_position); |
|
352 |
fsm->state = ec_fsm_pdo_config_state_error; |
|
353 |
return; |
|
354 |
} |
|
355 |
||
356 |
if (fsm->slave->master->debug_level) |
|
357 |
EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
|
|
358 |
fsm->pdo->index, fsm->slave->ring_position); |
|
359 |
||
360 |
ec_fsm_pdo_config_next_pdo(fsm); |
|
361 |
} |
|
362 |
||
363 |
/****************************************************************************** |
|
364 |
* Common state functions |
|
365 |
*****************************************************************************/ |
|
366 |
||
367 |
/** State: ERROR. |
|
368 |
*/ |
|
369 |
void ec_fsm_pdo_config_state_error( |
|
370 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
|
371 |
) |
|
372 |
{
|
|
373 |
} |
|
374 |
||
375 |
/*****************************************************************************/ |
|
376 |
||
377 |
/** State: END. |
|
378 |
*/ |
|
379 |
void ec_fsm_pdo_config_state_end( |
|
380 |
ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
|
381 |
) |
|
382 |
{
|
|
383 |
} |
|
384 |
||
385 |
/*****************************************************************************/ |