etherlabmaster: master/fsm_pdo_assign.c@40a4f31ec3b8 (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
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	56	void ec_fsm_pdo_assign_next_dir(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
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	154	fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	155	fsm->num_configured_dirs = 0;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	156	ec_fsm_pdo_assign_next_dir(fsm);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	157	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	158
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	159	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	160
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	161	/** Process Pdo assignment of next direction.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	162	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	163	void ec_fsm_pdo_assign_next_dir(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	164	ec_fsm_pdo_assign_t fsm /< Pdo assignment state machine. /
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165	)
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	166	{
827 205eccb70bce Fixed bug in Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 824 diff changeset	167	fsm->dir++;
205eccb70bce Fixed bug in Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 824 diff changeset	168
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	169	for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	170	fsm->pdos = &fsm->slave->config->pdos[fsm->dir];
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	172	if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
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)) {
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	EC_ERR("No sync manager for direction %u!\n", fsm->dir);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	175	fsm->state = ec_fsm_pdo_assign_state_end;
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176	return;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	177	}
660 582a90a34303 Configure alternative PDO mapping only on slaves that have PDO sync Florian Pose <fp@igh-essen.com> parents: 635 diff changeset	178	continue;
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: 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
1050 c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	181	if (fsm->slave->master->debug_level) {
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	182	EC_DBG("Sync Pdos: ");
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	183	ec_pdo_list_print(&fsm->sync->pdos);
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	184	printk("\n");
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	185	EC_DBG("Config Pdos: ");
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	186	ec_pdo_list_print(fsm->pdos);
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	187	printk("\n");
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	188	}
c6afe1cbfaf7 Added some debugging. Florian Pose <fp@igh-essen.com> parents: 890 diff changeset	189
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	190	// 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	191	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	192	continue;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	194	// 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	195	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	196	\|\| (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	197	&& !fsm->slave->sii.coe_details.enable_pdo_assign)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	198	EC_ERR("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	199	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	200	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	201	return;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	202	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 827 diff changeset	203
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	204	fsm->num_configured_dirs++;
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	205
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	206	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	207	EC_DBG("Changing Pdo assignment for SM%u of slave %u.\n",
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	208	fsm->sync->index, fsm->slave->ring_position);
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	209	}
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	210
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	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	212	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	213	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	214	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	215
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	216	// 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	217	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	218	fsm->request.data_size = 1;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	219	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	220	ecrt_sdo_request_write(&fsm->request);
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	221	if (fsm->slave->master->debug_level)
821 c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	222	EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	223
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	224	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	225	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	226	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	227	return;
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	228	}
c6536d28db56 Fixed warning about missing sync managers during Pdo mapping. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	229
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	230	if (fsm->slave->master->debug_level && !fsm->num_configured_dirs)
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	231	EC_DBG("Pdo assignments of slave %u are already configured"
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	232	" correctly.\n", 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	233	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	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	/*****************************************************************************/
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	/** Assign next Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	239	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	240	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	241	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	242	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	243	)
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	244	{
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	245	list = list->next;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	246	if (list == &fsm->pdos->list)
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	247	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	248	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	249	}
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	250
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	251	/*****************************************************************************/
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	252
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	253	/** Assign a Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	254	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	255	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	256	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	257	)
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	258	{
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	259	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	260	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	261	ec_sdo_request_address(&fsm->request,
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	262	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	263	ecrt_sdo_request_write(&fsm->request);
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	264	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	265	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	266	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	267
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	268	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	269	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	270	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	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	/*****************************************************************************/
6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	274
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	275	/** 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	276	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	277	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	278	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	279	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	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	282
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	284	EC_ERR("Failed to clear Pdo assignment of slave %u.\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	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	286	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	287	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	288	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	289
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	290	// 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	291
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	292	// find first Pdo
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	293	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	294	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	295	EC_DBG("No Pdos to assign for SM%u of slave %u.\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	fsm->sync->index, 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	297	ec_fsm_pdo_assign_next_dir(fsm);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	298	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	299	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	300
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	301	// assign first Pdo
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	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	303	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	304	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	305
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
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	308	/** 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	309	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	310	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	311	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	312	)
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	{
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	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	315
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	317	EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	fsm->pdo->index, fsm->sync->index, 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	319	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	320	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	322
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 808 diff changeset	323	// find next Pdo
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	324	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	325	// 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	326	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	327	fsm->request.data_size = 1;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	328	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	329	ecrt_sdo_request_write(&fsm->request);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	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	331	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	332	fsm->pdo_count);
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	333
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	334	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	335	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	336	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	337	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	339
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	340	// add next Pdo to assignment
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	fsm->pdo_count++;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	342	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	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	/*****************************************************************************/
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	/** 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	348	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	349	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	350	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	351	)
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_exec(fsm->fsm_coe)) return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	354
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	356	EC_ERR("Failed to set number of assigned Pdos for slave %u.\n",
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	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	358	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	359	return;
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	361
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	if (fsm->slave->master->debug_level)
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	363	EC_DBG("Successfully configured Pdo assignment for SM%u of"
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	364	" slave %u.\n", fsm->sync->index, fsm->slave->ring_position);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	365
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	366	// assignment for this direction finished
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	367	ec_fsm_pdo_assign_next_dir(fsm);
635 d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	}
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	/******************************************************************************
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	* Common state functions
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	373
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	374	/** State: ERROR.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	375	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	376	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	377	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	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	}
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	381
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	/*****************************************************************************/
d304ef4af542 Implemented alternative PDO mapping configuration interface. Florian Pose <fp@igh-essen.com> parents: diff changeset	383
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	384	/** State: END.
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	385	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	386	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	387	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	388	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	389	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	390	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	391
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	392	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 23 Jun 2008 10:27:40 +0000
changeset 1051	40a4f31ec3b8
parent 1050	c6afe1cbfaf7
child 1055	2be8918682fa
permissions	-rw-r--r--