master/fsm_pdo_mapping.c
author Florian Pose <fp@igh-essen.com>
Thu, 19 Jun 2008 13:35:34 +0000
changeset 1043 2abea4233a6d
parent 926 6bb33c6ec770
child 1055 2be8918682fa
permissions -rw-r--r--
Response timeout for checking Sdo upload.
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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_entry(ec_fsm_pdo_mapping_t *);
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void ec_fsm_pdo_mapping_state_entry_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_pdo(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, /**< Pdo 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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    ec_sdo_request_init(&fsm->request);
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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 /**< Pdo mapping state machine. */
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        )
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{
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    ec_sdo_request_clear(&fsm->request);
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}
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/*****************************************************************************/
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/** Start Pdo mapping 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, /**< Pdo 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 /**< Pdo 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.
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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 /**< Pdo 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 /**< Pdo 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 Pdo mapping.
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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 /**< Pdo 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->pdo = NULL;
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    fsm->num_configured_pdos = 0;
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    ec_fsm_pdo_mapping_next_pdo(fsm);
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}
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/*****************************************************************************/
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/** Process mapping of next Pdo.
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 */
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void ec_fsm_pdo_mapping_next_pdo(
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        ec_fsm_pdo_mapping_t *fsm /**< Pdo 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_pdo_list_t *pdos;
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    const ec_pdo_t *pdo, *assigned_pdo;
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    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
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        pdos = &fsm->slave->config->pdos[dir];
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        list_for_each_entry(pdo, &pdos->list, list) {
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            if (fsm->pdo) { // there was a Pdo mapping changed in the last run
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                if (pdo == fsm->pdo) // this is the previously configured Pdo
801
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                    fsm->pdo = NULL; // take the next one
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            } else {
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                if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
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                    if (ec_pdo_equal_entries(pdo, assigned_pdo))
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                        continue; // Pdo entries mapped correctly
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                fsm->pdo = pdo;
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                fsm->num_configured_pdos++;
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                break;
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            }
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        }
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    }
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801
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    if (!fsm->pdo) {
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        if (fsm->slave->master->debug_level && !fsm->num_configured_pdos)
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            EC_DBG("Pdo mappings of slave %u are already configured"
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   190
                    " correctly.\n", fsm->slave->ring_position);
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        fsm->state = ec_fsm_pdo_mapping_state_end;
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        return;
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   193
    }
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    // Pdo mapping has to be changed. Does the slave support this?
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d2915690047f Fixed minor bug.
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   196
    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
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   197
            || (fsm->slave->sii.has_general
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   198
                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
879
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        EC_ERR("Slave %u does not support changing the Pdo mapping!\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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   203
    }
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    if (fsm->slave->master->debug_level) {
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        EC_DBG("Changing mapping of Pdo 0x%04X of slave %u.\n",
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                fsm->pdo->index, fsm->slave->ring_position);
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   208
    }
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f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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   210
    if (ec_sdo_request_alloc(&fsm->request, 4)) {
879
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   211
        fsm->state = ec_fsm_pdo_mapping_state_error;
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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   212
        return;
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   213
    }
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   214
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
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   215
    // set mapped Pdo count to zero
875
c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's.
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   216
    EC_WRITE_U8(fsm->request.data, 0);
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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   217
    fsm->request.data_size = 1;
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   218
    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
858
69122084d066 Basic reading realtime Sdo access working.
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   219
    ecrt_sdo_request_write(&fsm->request);
799
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   220
    if (fsm->slave->master->debug_level)
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   221
        EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
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   222
                fsm->pdo->index);
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   223
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   224
    fsm->state = ec_fsm_pdo_mapping_state_zero_count;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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diff changeset
   225
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799
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   226
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   227
}
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   229
/*****************************************************************************/
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068a58b96965 Pdo configuration.
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/** Process next Pdo entry.
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   232
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   233
ec_pdo_entry_t *ec_fsm_pdo_mapping_next_entry(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   234
        const ec_fsm_pdo_mapping_t *fsm, /**< Pdo mapping state machine. */
799
068a58b96965 Pdo configuration.
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   235
        const struct list_head *list /**< current entry list item */
068a58b96965 Pdo configuration.
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   236
        )
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   237
{
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   238
    list = list->next; 
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parents:
diff changeset
   239
    if (list == &fsm->pdo->entries)
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   240
        return NULL; // no next entry
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parents:
diff changeset
   241
    return list_entry(list, ec_pdo_entry_t, list);
068a58b96965 Pdo configuration.
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parents:
diff changeset
   242
}
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   243
068a58b96965 Pdo configuration.
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   244
/*****************************************************************************/
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   245
068a58b96965 Pdo configuration.
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   246
/** Starts to add a Pdo entry.
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diff changeset
   247
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   248
void ec_fsm_pdo_mapping_add_entry(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   249
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
799
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   250
        )
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diff changeset
   251
{
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   252
    uint32_t value;
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parents:
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   253
068a58b96965 Pdo configuration.
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   254
    value = fsm->entry->index << 16
068a58b96965 Pdo configuration.
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parents:
diff changeset
   255
        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
875
c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's.
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parents: 859
diff changeset
   256
    EC_WRITE_U32(fsm->request.data, value);
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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diff changeset
   257
    fsm->request.data_size = 4;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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diff changeset
   258
    ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
858
69122084d066 Basic reading realtime Sdo access working.
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diff changeset
   259
    ecrt_sdo_request_write(&fsm->request);
799
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   260
    if (fsm->slave->master->debug_level)
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parents:
diff changeset
   261
        EC_DBG("Configuring Pdo entry %08X at position %u.\n",
068a58b96965 Pdo configuration.
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parents:
diff changeset
   262
                value, fsm->entry_count);
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diff changeset
   263
    
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   264
    fsm->state = ec_fsm_pdo_mapping_state_add_entry;
859
233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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parents: 858
diff changeset
   265
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799
068a58b96965 Pdo configuration.
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parents:
diff changeset
   266
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
068a58b96965 Pdo configuration.
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parents:
diff changeset
   267
}
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   268
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   269
/*****************************************************************************/
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   270
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   271
/** Set the number of mapped entries to zero.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   272
 */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   273
void ec_fsm_pdo_mapping_state_zero_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   274
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
799
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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)) {
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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        EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
799
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                fsm->slave->ring_position);
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9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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        fsm->state = ec_fsm_pdo_mapping_state_error;
799
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        return;
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    }
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    // find first entry
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    if (!(fsm->entry =
879
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                ec_fsm_pdo_mapping_next_entry(fsm, &fsm->pdo->entries))) {
799
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        if (fsm->slave->master->debug_level)
879
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            EC_DBG("No entries to map for Pdo 0x%04X of slave %u.\n",
799
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                    fsm->pdo->index, fsm->slave->ring_position);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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        ec_fsm_pdo_mapping_next_pdo(fsm);
799
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        return;
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   294
    }
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    // add first entry
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    fsm->entry_count = 1;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   298
    ec_fsm_pdo_mapping_add_entry(fsm);
799
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}
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/*****************************************************************************/
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/** Add a Pdo entry.
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 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   305
void ec_fsm_pdo_mapping_state_add_entry(
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        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
799
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        )
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{
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   309
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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parents:
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   310
068a58b96965 Pdo configuration.
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   311
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
926
6bb33c6ec770 Output subindices with %02X.
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        EC_ERR("Failed to add entry 0x%04X:%02X for slave %u.\n",
799
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                fsm->entry->index, fsm->entry->subindex,
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   314
                fsm->slave->ring_position);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   315
        fsm->state = ec_fsm_pdo_mapping_state_error;
799
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   316
        return;
068a58b96965 Pdo configuration.
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   317
    }
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   319
    // find next entry
879
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   320
    if (!(fsm->entry = ec_fsm_pdo_mapping_next_entry(fsm, &fsm->entry->list))) {
799
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        // No more entries to add. Write entry count.
875
c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's.
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parents: 859
diff changeset
   322
        EC_WRITE_U8(fsm->request.data, fsm->entry_count);
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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parents: 835
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   323
        fsm->request.data_size = 1;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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        ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
858
69122084d066 Basic reading realtime Sdo access working.
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   325
        ecrt_sdo_request_write(&fsm->request);
799
068a58b96965 Pdo configuration.
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   326
        if (fsm->slave->master->debug_level)
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   327
            EC_DBG("Setting number of Pdo entries to %u.\n",
068a58b96965 Pdo configuration.
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   328
                    fsm->entry_count);
068a58b96965 Pdo configuration.
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   329
        
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   330
        fsm->state = ec_fsm_pdo_mapping_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
   331
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799
068a58b96965 Pdo configuration.
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parents:
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   332
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
068a58b96965 Pdo configuration.
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parents:
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   333
        return;
068a58b96965 Pdo configuration.
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parents:
diff changeset
   334
    }
068a58b96965 Pdo configuration.
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parents:
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   335
068a58b96965 Pdo configuration.
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   336
    // add next entry
068a58b96965 Pdo configuration.
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parents:
diff changeset
   337
    fsm->entry_count++;
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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diff changeset
   338
    ec_fsm_pdo_mapping_add_entry(fsm);
799
068a58b96965 Pdo configuration.
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parents:
diff changeset
   339
}
068a58b96965 Pdo configuration.
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parents:
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   340
068a58b96965 Pdo configuration.
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   341
/*****************************************************************************/
068a58b96965 Pdo configuration.
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   342
068a58b96965 Pdo configuration.
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   343
/** Set the number of entries.
068a58b96965 Pdo configuration.
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   344
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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   345
void ec_fsm_pdo_mapping_state_entry_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
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parents: 877
diff changeset
   346
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
799
068a58b96965 Pdo configuration.
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parents:
diff changeset
   347
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
{
068a58b96965 Pdo configuration.
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parents:
diff changeset
   349
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
068a58b96965 Pdo configuration.
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parents:
diff changeset
   350
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
        EC_ERR("Failed to set number of entries for slave %u.\n",
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
                fsm->slave->ring_position);
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   354
        fsm->state = ec_fsm_pdo_mapping_state_error;
799
068a58b96965 Pdo configuration.
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parents:
diff changeset
   355
        return;
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    }
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
068a58b96965 Pdo configuration.
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parents:
diff changeset
   358
    if (fsm->slave->master->debug_level)
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   359
        EC_DBG("Successfully configured mapping for Pdo 0x%04X on slave %u.\n",
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
                fsm->pdo->index, fsm->slave->ring_position);
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   362
    ec_fsm_pdo_mapping_next_pdo(fsm);
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
/******************************************************************************
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
 * Common state functions
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
 *****************************************************************************/
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
/** State: ERROR.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   371
void ec_fsm_pdo_mapping_state_error(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   372
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
799
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
        )
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
{
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
}
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
/*****************************************************************************/
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
/** State: END.
068a58b96965 Pdo configuration.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
 */
879
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   381
void ec_fsm_pdo_mapping_state_end(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   382
        ec_fsm_pdo_mapping_t *fsm /**< Pdo mapping state machine. */
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   383
        )
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   384
{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   385
}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   386
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents: 877
diff changeset
   387
/*****************************************************************************/