author | Florian Pose <fp@igh-essen.com> |
Wed, 05 Nov 2008 10:36:18 +0000 | |
branch | stable-1.4 |
changeset 1657 | 3dbdb7392d7b |
parent 1175 | 4684e0206eb9 |
child 1326 | ef907b0b5125 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** \file |
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* EtherCAT Pdo mapping state machine. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "master.h" |
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#include "mailbox.h" |
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#include "slave_config.h" |
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#include "fsm_pdo_entry.h" |
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/*****************************************************************************/ |
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void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *); |
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void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_pdo_entry_init( |
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ec_fsm_pdo_entry_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_entry_clear( |
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ec_fsm_pdo_entry_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 reading a Pdo's entries. |
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*/ |
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void ec_fsm_pdo_entry_start_reading( |
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ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */ |
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ec_slave_t *slave, /**< slave to configure */ |
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ec_pdo_t *pdo /**< Pdo to read entries for. */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->target_pdo = pdo; |
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ec_pdo_clear_entries(fsm->target_pdo); |
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fsm->state = ec_fsm_pdo_entry_read_state_start; |
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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_entry_start_configuration( |
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ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */ |
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ec_slave_t *slave, /**< slave to configure */ |
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const ec_pdo_t *pdo /**< Pdo with the desired entries. */ |
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) |
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{ |
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fsm->slave = slave; |
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118 |
fsm->source_pdo = pdo; |
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|
119 |
|
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|
120 |
fsm->state = ec_fsm_pdo_entry_conf_state_start; |
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|
121 |
} |
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parents:
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|
122 |
|
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parents:
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|
123 |
/*****************************************************************************/ |
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|
124 |
|
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|
125 |
/** Get running state. |
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|
126 |
* |
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|
127 |
* \return false, if state machine has terminated |
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|
128 |
*/ |
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|
129 |
int ec_fsm_pdo_entry_running( |
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|
130 |
const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
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|
131 |
) |
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|
132 |
{ |
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|
133 |
return fsm->state != ec_fsm_pdo_entry_state_end |
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|
134 |
&& fsm->state != ec_fsm_pdo_entry_state_error; |
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|
135 |
} |
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parents:
diff
changeset
|
136 |
|
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|
137 |
/*****************************************************************************/ |
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parents:
diff
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|
138 |
|
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|
139 |
/** Executes the current state. |
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|
140 |
* |
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|
141 |
* \return false, if state machine has terminated |
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|
142 |
*/ |
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|
143 |
int ec_fsm_pdo_entry_exec( |
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|
144 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
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changeset
|
145 |
) |
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parents:
diff
changeset
|
146 |
{ |
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|
147 |
fsm->state(fsm); |
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|
148 |
return ec_fsm_pdo_entry_running(fsm); |
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|
149 |
} |
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diff
changeset
|
150 |
|
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|
151 |
/*****************************************************************************/ |
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diff
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|
152 |
|
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parents:
diff
changeset
|
153 |
/** Get execution result. |
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|
154 |
* |
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|
155 |
* \return true, if the state machine terminated gracefully |
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|
156 |
*/ |
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|
157 |
int ec_fsm_pdo_entry_success( |
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|
158 |
const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
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diff
changeset
|
159 |
) |
235f34ca50e2
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parents:
diff
changeset
|
160 |
{ |
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parents:
diff
changeset
|
161 |
return fsm->state == ec_fsm_pdo_entry_state_end; |
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diff
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|
162 |
} |
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parents:
diff
changeset
|
163 |
|
235f34ca50e2
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|
164 |
/****************************************************************************** |
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diff
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|
165 |
* Reading state functions. |
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|
166 |
*****************************************************************************/ |
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parents:
diff
changeset
|
167 |
|
235f34ca50e2
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parents:
diff
changeset
|
168 |
/** Request reading the number of mapped Pdo entries. |
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diff
changeset
|
169 |
*/ |
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parents:
diff
changeset
|
170 |
void ec_fsm_pdo_entry_read_state_start( |
235f34ca50e2
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diff
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|
171 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
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parents:
diff
changeset
|
172 |
) |
235f34ca50e2
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parents:
diff
changeset
|
173 |
{ |
235f34ca50e2
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parents:
diff
changeset
|
174 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
175 |
ecrt_sdo_request_read(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
176 |
|
235f34ca50e2
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parents:
diff
changeset
|
177 |
fsm->state = ec_fsm_pdo_entry_read_state_count; |
235f34ca50e2
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parents:
diff
changeset
|
178 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
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parents:
diff
changeset
|
179 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
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parents:
diff
changeset
|
180 |
} |
235f34ca50e2
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parents:
diff
changeset
|
181 |
|
235f34ca50e2
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parents:
diff
changeset
|
182 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
183 |
|
235f34ca50e2
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parents:
diff
changeset
|
184 |
/** Read number of mapped Pdo entries. |
235f34ca50e2
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parents:
diff
changeset
|
185 |
*/ |
235f34ca50e2
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parents:
diff
changeset
|
186 |
void ec_fsm_pdo_entry_read_state_count( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
187 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
188 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
189 |
{ |
235f34ca50e2
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parents:
diff
changeset
|
190 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
191 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
192 |
|
235f34ca50e2
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parents:
diff
changeset
|
193 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
194 |
EC_ERR("Failed to read number of mapped Pdo entries.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
195 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
196 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
197 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
198 |
|
235f34ca50e2
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parents:
diff
changeset
|
199 |
if (fsm->request.data_size != sizeof(uint8_t)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
200 |
EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n", |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
201 |
fsm->request.data_size, fsm->request.index, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
202 |
fsm->request.subindex); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
203 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
204 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
205 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
206 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
207 |
fsm->entry_count = EC_READ_U8(fsm->request.data); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
208 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
209 |
if (fsm->slave->master->debug_level) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
210 |
EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
211 |
|
235f34ca50e2
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parents:
diff
changeset
|
212 |
// read first Pdo entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
213 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
214 |
ec_fsm_pdo_entry_read_action_next(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
215 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
216 |
|
235f34ca50e2
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parents:
diff
changeset
|
217 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
218 |
|
235f34ca50e2
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parents:
diff
changeset
|
219 |
/** Read next Pdo entry. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
220 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
221 |
void ec_fsm_pdo_entry_read_action_next( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
222 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
223 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
224 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
225 |
if (fsm->entry_pos <= fsm->entry_count) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
226 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
227 |
ecrt_sdo_request_read(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
228 |
fsm->state = ec_fsm_pdo_entry_read_state_entry; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
229 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
230 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
233 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
234 |
// finished reading entries. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
235 |
fsm->state = ec_fsm_pdo_entry_state_end; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
236 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
237 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
238 |
/*****************************************************************************/ |
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|
239 |
|
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|
240 |
/** Read Pdo entry information. |
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|
241 |
*/ |
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|
242 |
void ec_fsm_pdo_entry_read_state_entry( |
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|
243 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
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|
244 |
) |
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|
245 |
{ |
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diff
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|
246 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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|
247 |
|
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|
248 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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|
249 |
EC_ERR("Failed to read mapped Pdo entry.\n"); |
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|
250 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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|
251 |
return; |
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parents:
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|
252 |
} |
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parents:
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changeset
|
253 |
|
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parents:
diff
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|
254 |
if (fsm->request.data_size != sizeof(uint32_t)) { |
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diff
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|
255 |
EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n", |
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parents:
diff
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|
256 |
fsm->request.data_size, fsm->request.index, |
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parents:
diff
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|
257 |
fsm->request.subindex); |
235f34ca50e2
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|
258 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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|
259 |
} else { |
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|
260 |
uint32_t pdo_entry_info; |
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|
261 |
ec_pdo_entry_t *pdo_entry; |
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|
262 |
|
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|
263 |
pdo_entry_info = EC_READ_U32(fsm->request.data); |
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|
264 |
|
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|
265 |
if (!(pdo_entry = (ec_pdo_entry_t *) |
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|
266 |
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
235f34ca50e2
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|
267 |
EC_ERR("Failed to allocate Pdo entry.\n"); |
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|
268 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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|
269 |
return; |
235f34ca50e2
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parents:
diff
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|
270 |
} |
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|
271 |
|
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|
272 |
ec_pdo_entry_init(pdo_entry); |
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|
273 |
pdo_entry->index = pdo_entry_info >> 16; |
235f34ca50e2
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|
274 |
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF; |
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|
275 |
pdo_entry->bit_length = pdo_entry_info & 0xFF; |
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parents:
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|
276 |
|
235f34ca50e2
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parents:
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|
277 |
if (!pdo_entry->index && !pdo_entry->subindex) { |
235f34ca50e2
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|
278 |
if (ec_pdo_entry_set_name(pdo_entry, "Gap")) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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diff
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|
279 |
ec_pdo_entry_clear(pdo_entry); |
235f34ca50e2
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|
280 |
kfree(pdo_entry); |
235f34ca50e2
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|
281 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
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|
282 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
283 |
} |
235f34ca50e2
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parents:
diff
changeset
|
284 |
} |
235f34ca50e2
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parents:
diff
changeset
|
285 |
|
235f34ca50e2
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parents:
diff
changeset
|
286 |
if (fsm->slave->master->debug_level) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
287 |
EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n", |
235f34ca50e2
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parents:
diff
changeset
|
288 |
pdo_entry->index, pdo_entry->subindex, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
289 |
pdo_entry->bit_length, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
290 |
pdo_entry->name ? pdo_entry->name : "???"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
291 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
292 |
|
235f34ca50e2
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parents:
diff
changeset
|
293 |
list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
294 |
|
235f34ca50e2
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diff
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|
295 |
// next Pdo entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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diff
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|
296 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
297 |
ec_fsm_pdo_entry_read_action_next(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
298 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
299 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
300 |
|
235f34ca50e2
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parents:
diff
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|
301 |
/****************************************************************************** |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
302 |
* Configuration state functions. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
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|
303 |
*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
304 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
305 |
/** Start Pdo mapping. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
306 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
307 |
void ec_fsm_pdo_entry_conf_state_start( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
309 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
310 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
311 |
// Pdo mapping has to be changed. Does the slave support this? |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
|| (fsm->slave->sii.has_general |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
314 |
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
EC_WARN("Slave %u does not support changing the Pdo mapping!\n", |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
fsm->slave->ring_position); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
if (ec_sdo_request_alloc(&fsm->request, 4)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
325 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
326 |
// set mapped Pdo entry count to zero |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
EC_WRITE_U8(fsm->request.data, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
fsm->request.data_size = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
ecrt_sdo_request_write(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
if (fsm->slave->master->debug_level) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
EC_DBG("Setting entry count to zero.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
/** Process next Pdo entry. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
const struct list_head *list /**< current entry list item */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
list = list->next; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
if (list == &fsm->source_pdo->entries) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
return NULL; // no next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
return list_entry(list, ec_pdo_entry_t, list); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
/** Set the number of mapped entries to zero. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
void ec_fsm_pdo_entry_conf_state_zero_entry_count( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
EC_WARN("Failed to clear Pdo mapping.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
// find first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
fsm, &fsm->source_pdo->entries))) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
if (fsm->slave->master->debug_level) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
EC_DBG("No entries to map.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
fsm->state = ec_fsm_pdo_entry_state_end; // finished |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
// add first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
384 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
ec_fsm_pdo_entry_conf_action_map(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
386 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
387 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
/** Starts to add a Pdo entry. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
void ec_fsm_pdo_entry_conf_action_map( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
uint32_t value; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
if (fsm->slave->master->debug_level) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n", |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
fsm->entry->index, fsm->entry->subindex, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
fsm->entry->bit_length, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
value = fsm->entry->index << 16 |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
| fsm->entry->subindex << 8 | fsm->entry->bit_length; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
EC_WRITE_U32(fsm->request.data, value); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
fsm->request.data_size = 4; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
ecrt_sdo_request_write(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
fsm->state = ec_fsm_pdo_entry_conf_state_map_entry; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
/** Add a Pdo entry. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
void ec_fsm_pdo_entry_conf_state_map_entry( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
426 |
EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to " |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
"position %u.\n", fsm->entry->index, fsm->entry->subindex, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
fsm->entry->bit_length, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
// find next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
435 |
fsm, &fsm->entry->list))) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
436 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
// No more entries to add. Write entry count. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
EC_WRITE_U8(fsm->request.data, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
fsm->request.data_size = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
ecrt_sdo_request_write(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
if (fsm->slave->master->debug_level) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
// add next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
454 |
ec_fsm_pdo_entry_conf_action_map(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
/** Set the number of entries. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
void ec_fsm_pdo_entry_conf_state_set_entry_count( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
462 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
466 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
EC_ERR("Failed to set number of entries.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
471 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
472 |
|
235f34ca50e2
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|
473 |
if (fsm->slave->master->debug_level) |
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|
474 |
EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n", |
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parents:
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|
475 |
fsm->source_pdo->index); |
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parents:
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changeset
|
476 |
|
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parents:
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changeset
|
477 |
fsm->state = ec_fsm_pdo_entry_state_end; // finished |
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parents:
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|
478 |
} |
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parents:
diff
changeset
|
479 |
|
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parents:
diff
changeset
|
480 |
/****************************************************************************** |
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parents:
diff
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|
481 |
* Common state functions |
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parents:
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changeset
|
482 |
*****************************************************************************/ |
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parents:
diff
changeset
|
483 |
|
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Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
484 |
/** State: ERROR. |
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parents:
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changeset
|
485 |
*/ |
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parents:
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changeset
|
486 |
void ec_fsm_pdo_entry_state_error( |
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parents:
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changeset
|
487 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
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parents:
diff
changeset
|
488 |
) |
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parents:
diff
changeset
|
489 |
{ |
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parents:
diff
changeset
|
490 |
} |
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parents:
diff
changeset
|
491 |
|
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parents:
diff
changeset
|
492 |
/*****************************************************************************/ |
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parents:
diff
changeset
|
493 |
|
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parents:
diff
changeset
|
494 |
/** State: END. |
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parents:
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changeset
|
495 |
*/ |
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parents:
diff
changeset
|
496 |
void ec_fsm_pdo_entry_state_end( |
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parents:
diff
changeset
|
497 |
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */ |
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Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
498 |
) |
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parents:
diff
changeset
|
499 |
{ |
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parents:
diff
changeset
|
500 |
} |
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parents:
diff
changeset
|
501 |
|
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parents:
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changeset
|
502 |
/*****************************************************************************/ |