etherlabmaster: master/fsm_pdo_assign.c@2ec9651a6c89 (annotated)

635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	34	/** \file
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	35	* EtherCAT Pdo assignment state machine.
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	36	*/
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "globals.h"
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "master.h"
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "mailbox.h"
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	43	#include "slave_config.h"
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	44
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	45	#include "fsm_pdo_assign.h"
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	46
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	47	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	48
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	49	void ec_fsm_pdo_assign_state_start(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	50	void ec_fsm_pdo_assign_state_zero_count(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	51	void ec_fsm_pdo_assign_state_add_pdo(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	52	void ec_fsm_pdo_assign_state_pdo_count(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	53	void ec_fsm_pdo_assign_state_end(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	54	void ec_fsm_pdo_assign_state_error(ec_fsm_pdo_assign_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	55
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	56	void ec_fsm_pdo_assign_next_sync(ec_fsm_pdo_assign_t *);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	57
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	60	/** Constructor.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	61	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	62	void ec_fsm_pdo_assign_init(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	63	ec_fsm_pdo_assign_t fsm, /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	ec_fsm_coe_t fsm_coe /< CoE state machine to use /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->fsm_coe = fsm_coe;
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);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	73	/** Destructor.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	74	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	75	void ec_fsm_pdo_assign_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	76	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	77	)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	78	{
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);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	80	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	81
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	82	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	83
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	84	/** Start Pdo assignment state machine.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	85	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	86	void ec_fsm_pdo_assign_start(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	87	ec_fsm_pdo_assign_t fsm, /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	ec_slave_t slave /< slave to configure /
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	fsm->slave = slave;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	92	fsm->state = ec_fsm_pdo_assign_state_start;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	97	/** Get running state.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	98	*
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	* \return false, if state machine has terminated
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	101	int ec_fsm_pdo_assign_running(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	102	const ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	103	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	104	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	105	return fsm->state != ec_fsm_pdo_assign_state_end
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	106	&& fsm->state != ec_fsm_pdo_assign_state_error;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	108
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	110
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	111	/** Executes the current state of the state machine.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	112	*
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	* If the state machine's datagram is not sent or received yet, the execution
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	* of the state machine is delayed to the next cycle.
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	115	*
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	* \return false, if state machine has terminated
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	118	int ec_fsm_pdo_assign_exec(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	119	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	122	fsm->state(fsm);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	123	return ec_fsm_pdo_assign_running(fsm);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	125
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	127
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	128	/** Get execution result.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	129	*
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	* \return true, if the state machine terminated gracefully
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	132	int ec_fsm_pdo_assign_success(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	133	const ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	134	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	135	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	136	return fsm->state == ec_fsm_pdo_assign_state_end;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	138
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	/******************************************************************************
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	140	* State functions.
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	142
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	143	/** Start Pdo assignment.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	144	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	145	void ec_fsm_pdo_assign_state_start(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	146	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	{
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	149	if (!fsm->slave->config) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	150	fsm->state = ec_fsm_pdo_assign_state_end;
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	151	return;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	152	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	153
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	154	fsm->sync_index = 0xff; // next is zero
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	155	fsm->num_configured_syncs = 0;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	156	ec_fsm_pdo_assign_next_sync(fsm);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	157	}
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	158
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	159	/*****************************************************************************/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	160
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	161	/** Process Pdo assignment of next sync manager.
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	162	*/
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	163	void ec_fsm_pdo_assign_next_sync(
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	164	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	165	)
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	166	{
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	167	fsm->sync_index++;
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	168
1082 ff06c58e269c Renamed ecrt_slave_config_sync_managers() to ecrt_slave_config_pdos(); Florian Pose <fp@igh-essen.com> parents: 1056 diff changeset	169	for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	170	fsm->pdos = &fsm->slave->config->sync_configs[fsm->sync_index].pdos;
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	172	if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	173	if (!list_empty(&fsm->pdos->list)) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	174	EC_WARN("Slave %u does not provide a configuration "
2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	175	"for SM%u!\n", fsm->slave->ring_position,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	176	fsm->sync_index);
1056 7b656881e771 Configuration error, if sync manager configuration configuration with Florian Pose <fp@igh-essen.com> parents: 1055 diff changeset	177	fsm->state = ec_fsm_pdo_assign_state_error;
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	178	return;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	179	}
660 582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync Florian Pose <fp@igh-essen.com> parents: 635 diff changeset	180	continue;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	}
660 582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync Florian Pose <fp@igh-essen.com> parents: 635 diff changeset	182
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	183	// check if assignment has to be altered
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	184	if (ec_pdo_list_equal(&fsm->sync->pdos, fsm->pdos))
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	185	continue;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	186
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	187	if (fsm->slave->master->debug_level) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	188	EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	189	EC_DBG("Currently assigned Pdos: ");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	190	ec_pdo_list_print(&fsm->sync->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	191	printk("\n");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	192	EC_DBG("Pdos to assign: ");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	193	ec_pdo_list_print(fsm->pdos);
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	194	printk("\n");
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	195	}
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	196
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	197	// Pdo assignment has to be changed. Does the slave support this?
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	198	if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	199	\|\| (fsm->slave->sii.has_general
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	200	&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	201	EC_WARN("Slave %u does not support assigning Pdos!\n",
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	202	fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	203	fsm->state = ec_fsm_pdo_assign_state_error;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	204	return;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	205	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	206
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	207	fsm->num_configured_syncs++;
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	208
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	209	if (ec_sdo_request_alloc(&fsm->request, 2)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	210	fsm->state = ec_fsm_pdo_assign_state_error;
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	211	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	212	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	213
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	214	// set mapped Pdo count to zero
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	215	EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
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	216	fsm->request.data_size = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	217	ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	218	ecrt_sdo_request_write(&fsm->request);
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	219
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	220	if (fsm->slave->master->debug_level)
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	221	EC_DBG("Setting Pdo count to zero.\n");
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	222
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	223	fsm->state = ec_fsm_pdo_assign_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	224	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	225	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	226	return;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	227	}
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	228
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	229	if (fsm->slave->master->debug_level && !fsm->num_configured_syncs)
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	230	EC_DBG("Pdo assignments are already configured correctly.\n");
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	231	fsm->state = ec_fsm_pdo_assign_state_end;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	232	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	233
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	234	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	235
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	236	/** Assign next Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	237	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	238	ec_pdo_t *ec_fsm_pdo_assign_next_pdo(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	239	const ec_fsm_pdo_assign_t fsm, /< Pdo assignment state machine. /
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	240	const struct list_head list /< current Pdo list item /
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	241	)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	242	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	243	list = list->next;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	244	if (list == &fsm->pdos->list)
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	245	return NULL; // no next Pdo
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	246	return list_entry(list, ec_pdo_t, list);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	247	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	248
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	249	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	250
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	251	/** Assign a Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	252	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	253	void ec_fsm_pdo_assign_add_pdo(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	254	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	255	)
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	256	{
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	257	EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
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	258	fsm->request.data_size = 2;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	259	ec_sdo_request_address(&fsm->request,
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	260	0x1C10 + fsm->sync_index, fsm->pdo_count);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	261	ecrt_sdo_request_write(&fsm->request);
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	262
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	263	if (fsm->slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	264	EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
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	265	fsm->pdo->index, fsm->pdo_count);
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	266
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	267	fsm->state = ec_fsm_pdo_assign_state_add_pdo;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	268	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	269	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	270	}
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	271
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	272	/*****************************************************************************/
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	273
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	274	/** Set the number of assigned Pdos to zero.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	275	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	276	void ec_fsm_pdo_assign_state_zero_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	277	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	281
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	283	EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	284	fsm->state = ec_fsm_pdo_assign_state_error;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	285	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	286	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	287
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	288	// assign all Pdos belonging to the current sync manager
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	289
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	290	// find first Pdo
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	291	if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdos->list))) {
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	if (fsm->slave->master->debug_level)
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	293	EC_DBG("No Pdos to assign.\n");
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	294	ec_fsm_pdo_assign_next_sync(fsm);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	295	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	296	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	297
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	298	// assign first Pdo
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	fsm->pdo_count = 1;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	300	ec_fsm_pdo_assign_add_pdo(fsm);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	301	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	302
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	303	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	304
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	305	/** Add a Pdo to the sync managers Pdo assignment.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	306	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	307	void ec_fsm_pdo_assign_state_add_pdo(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	308	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	314	EC_WARN("Failed to assign Pdo 0x%04X to position %u in SM%u.\n",
2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	315	fsm->pdo->index, fsm->pdo_count, fsm->sync_index);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	316	fsm->state = ec_fsm_pdo_assign_state_error;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	319
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	320	// find next Pdo
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	321	if (!(fsm->pdo = ec_fsm_pdo_assign_next_pdo(fsm, &fsm->pdo->list))) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	322	// no more Pdos to map. write Pdo count
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	323	EC_WRITE_U8(fsm->request.data, fsm->pdo_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	324	fsm->request.data_size = 1;
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	325	ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	326	ecrt_sdo_request_write(&fsm->request);
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	327
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	if (fsm->slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	329	EC_DBG("Setting number of assigned Pdos to %u.\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	fsm->pdo_count);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	331
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	332	fsm->state = ec_fsm_pdo_assign_state_pdo_count;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	333	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	337
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	338	// add next Pdo to assignment
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	fsm->pdo_count++;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	340	ec_fsm_pdo_assign_add_pdo(fsm);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	341	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	342
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	343	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	344
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	345	/** Set the number of assigned Pdos.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	346	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	347	void ec_fsm_pdo_assign_state_pdo_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	348	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	352
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	354	EC_WARN("Failed to set number of assigned Pdos for SM%u.\n",
2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	355	fsm->sync_index);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	356	fsm->state = ec_fsm_pdo_assign_state_error;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	359
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	if (fsm->slave->master->debug_level)
1173 2ec9651a6c89 Only warn (and do not abort) if Pdo assignment/mapping configuration Florian Pose <fp@igh-essen.com> parents: 1082 diff changeset	361	EC_DBG("Pdo assignment successful for SM%u.\n", fsm->sync_index);
1055 2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	362
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	363	// assignment for this sync manager finished
2be8918682fa Store sync manager configurations in ec_slave_config_t instead of Pdo Florian Pose <fp@igh-essen.com> parents: 1050 diff changeset	364	ec_fsm_pdo_assign_next_sync(fsm);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	366
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	/******************************************************************************
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	* Common state functions
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	370
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	371	/** State: ERROR.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	372	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	373	void ec_fsm_pdo_assign_state_error(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	374	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	378
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	380
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	381	/** State: END.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	382	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	383	void ec_fsm_pdo_assign_state_end(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	384	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	385	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	386	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	387	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	388
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	389	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Thu, 31 Jul 2008 09:30:38 +0000
changeset 1173	2ec9651a6c89
parent 1082	ff06c58e269c
permissions	-rw-r--r--