master/fsm_pdo_entry.c
author Florian Pose <fp@igh-essen.com>
Fri, 05 Mar 2010 13:44:57 +0100
changeset 1836 52036efdf1e3
parent 1823 2bf892fe8080
child 1921 d9cf40facbc4
permissions -rw-r--r--
TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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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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/** Print the current and desired PDO mapping.
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 */
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void ec_fsm_pdo_entry_print(
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        ec_fsm_pdo_entry_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    printk("Currently mapped PDO entries: ");
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    ec_pdo_print_entries(fsm->cur_pdo);
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    printk(". Entries to map: ");
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    ec_pdo_print_entries(fsm->source_pdo);
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    printk("\n");
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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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        const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
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        )
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{
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    fsm->slave = slave;
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    fsm->source_pdo = pdo;
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    fsm->cur_pdo = cur_pdo;
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    if (fsm->slave->master->debug_level) {
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        EC_DBG("Changing mapping of PDO 0x%04X.\n", pdo->index);
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        EC_DBG(""); ec_fsm_pdo_entry_print(fsm);
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    }
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    fsm->state = ec_fsm_pdo_entry_conf_state_start;
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}
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/*****************************************************************************/
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/** Get running state.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_entry_running(
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        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    return fsm->state != ec_fsm_pdo_entry_state_end
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        && fsm->state != ec_fsm_pdo_entry_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_entry_exec(
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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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    fsm->state(fsm);
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    return ec_fsm_pdo_entry_running(fsm);
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}
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/*****************************************************************************/
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/** Get execution result.
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 *
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 * \return true, if the state machine terminated gracefully
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 */
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int ec_fsm_pdo_entry_success(
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        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    return fsm->state == ec_fsm_pdo_entry_state_end;
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}
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/******************************************************************************
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 * Reading state functions.
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 *****************************************************************************/
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/** Request reading the number of mapped PDO entries.
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 */
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void ec_fsm_pdo_entry_read_state_start(
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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_address(&fsm->request, fsm->target_pdo->index, 0);
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    ecrt_sdo_request_read(&fsm->request);
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    fsm->state = ec_fsm_pdo_entry_read_state_count;
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    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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}
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/*****************************************************************************/
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/** Read number of mapped PDO entries.
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 */
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void ec_fsm_pdo_entry_read_state_count(
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        ec_fsm_pdo_entry_t *fsm /**< finite state machine */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe))
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        return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read number of mapped PDO entries.\n");
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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   215
    }
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   216
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    if (fsm->request.data_size != sizeof(uint8_t)) {
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        EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n",
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                fsm->request.data_size, fsm->request.index,
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   220
                fsm->request.subindex);
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        fsm->state = ec_fsm_pdo_entry_state_error;
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   222
        return;
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   223
    }
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   224
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    fsm->entry_count = EC_READ_U8(fsm->request.data);
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   226
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    if (fsm->slave->master->debug_level)
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        EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
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   229
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    // read first PDO entry
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    fsm->entry_pos = 1;
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   232
    ec_fsm_pdo_entry_read_action_next(fsm);
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   233
}
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   234
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/*****************************************************************************/
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   236
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/** Read next PDO entry.
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 */
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   239
void ec_fsm_pdo_entry_read_action_next(
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   240
        ec_fsm_pdo_entry_t *fsm /**< finite state machine */
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   241
        )
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{
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   243
    if (fsm->entry_pos <= fsm->entry_count) {
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   244
        ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos);
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   245
        ecrt_sdo_request_read(&fsm->request);
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   246
        fsm->state = ec_fsm_pdo_entry_read_state_entry;
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   247
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   249
        return;
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   250
    }
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   251
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    // finished reading entries.
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    fsm->state = ec_fsm_pdo_entry_state_end;
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   254
}
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   255
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/*****************************************************************************/
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   257
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/** Read PDO entry information.
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 */
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void ec_fsm_pdo_entry_read_state_entry(
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        ec_fsm_pdo_entry_t *fsm /**< finite state machine */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read mapped PDO entry.\n");
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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    }
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    if (fsm->request.data_size != sizeof(uint32_t)) {
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        EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n",
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                fsm->request.data_size, fsm->request.index,
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                fsm->request.subindex);
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        fsm->state = ec_fsm_pdo_entry_state_error;
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    } else {
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        uint32_t pdo_entry_info;
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        ec_pdo_entry_t *pdo_entry;
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        pdo_entry_info = EC_READ_U32(fsm->request.data);
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        if (!(pdo_entry = (ec_pdo_entry_t *)
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                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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            EC_ERR("Failed to allocate PDO entry.\n");
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            fsm->state = ec_fsm_pdo_entry_state_error;
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            return;
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        }
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        ec_pdo_entry_init(pdo_entry);
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        pdo_entry->index = pdo_entry_info >> 16;
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        pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
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        pdo_entry->bit_length = pdo_entry_info & 0xFF;
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        if (!pdo_entry->index && !pdo_entry->subindex) {
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            if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
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                ec_pdo_entry_clear(pdo_entry);
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                kfree(pdo_entry);
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                fsm->state = ec_fsm_pdo_entry_state_error;
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                return;
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            }
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        }
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        if (fsm->slave->master->debug_level) {
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            EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
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                    pdo_entry->index, pdo_entry->subindex,
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                    pdo_entry->bit_length,
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                    pdo_entry->name ? pdo_entry->name : "???");
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   309
        }
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        list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
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        // next PDO entry
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        fsm->entry_pos++;
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   315
        ec_fsm_pdo_entry_read_action_next(fsm);
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    }
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}
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/******************************************************************************
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 * Configuration state functions.
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 *****************************************************************************/
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/** Start PDO mapping.
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 */
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void ec_fsm_pdo_entry_conf_state_start(
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        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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   327
        )
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   328
{
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   329
    // PDO mapping has to be changed. Does the slave support this?
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   330
    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
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   331
            || (fsm->slave->sii.has_general
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   332
                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
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   333
        EC_WARN("Slave %u does not support changing the PDO mapping!\n",
1174
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   334
                fsm->slave->ring_position);
1823
2bf892fe8080 Improved output when PDO assignment/mapping fails.
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diff changeset
   335
        EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
1174
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   336
        fsm->state = ec_fsm_pdo_entry_state_error;
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   337
        return;
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diff changeset
   338
    }
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   339
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   340
    if (ec_sdo_request_alloc(&fsm->request, 4)) {
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   341
        fsm->state = ec_fsm_pdo_entry_state_error;
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   342
        return;
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   343
    }
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   344
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   345
    // set mapped PDO entry count to zero
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   346
    EC_WRITE_U8(fsm->request.data, 0);
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   347
    fsm->request.data_size = 1;
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diff changeset
   348
    ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
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   349
    ecrt_sdo_request_write(&fsm->request);
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diff changeset
   350
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   351
    if (fsm->slave->master->debug_level)
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   352
        EC_DBG("Setting entry count to zero.\n");
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   353
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   354
    fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   355
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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diff changeset
   356
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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diff changeset
   357
}
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   358
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   359
/*****************************************************************************/
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diff changeset
   360
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   361
/** Process next PDO entry.
1174
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   362
 */
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   363
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
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   364
        const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   365
        const struct list_head *list /**< current entry list item */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   366
        )
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   367
{
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parents:
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   368
    list = list->next; 
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   369
    if (list == &fsm->source_pdo->entries)
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   370
        return NULL; // no next entry
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parents:
diff changeset
   371
    return list_entry(list, ec_pdo_entry_t, list);
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parents:
diff changeset
   372
}
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   373
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   374
/*****************************************************************************/
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parents:
diff changeset
   375
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   376
/** Set the number of mapped entries to zero.
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parents:
diff changeset
   377
 */
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parents:
diff changeset
   378
void ec_fsm_pdo_entry_conf_state_zero_entry_count(
1327
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   379
        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   380
        )
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parents:
diff changeset
   381
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   382
    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
   383
        return;
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parents:
diff changeset
   384
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   385
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   386
        EC_WARN("Failed to clear PDO mapping.\n");
1823
2bf892fe8080 Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents: 1543
diff changeset
   387
        EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
        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
   389
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    }
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
    // find first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    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
   394
                    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
   395
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
        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
   397
            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
   398
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
        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
   400
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    }
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
    // add first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    fsm->entry_pos = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
    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
   406
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   410
/** Starts to add a PDO entry.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
void ec_fsm_pdo_entry_conf_action_map(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   413
        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
1174
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
    uint32_t value;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    if (fsm->slave->master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   419
        EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
                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
   421
                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
   422
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
    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
   424
        | 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
   425
    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
   426
    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
   427
    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
   428
    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
   429
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    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
   431
    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
   432
    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
   433
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   437
/** Add a PDO entry.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
void ec_fsm_pdo_entry_conf_state_map_entry(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   440
        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        )
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 (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
   444
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   446
        EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
                "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
   448
                fsm->entry->bit_length, fsm->entry_pos);
1823
2bf892fe8080 Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents: 1543
diff changeset
   449
        EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
        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
   451
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    // find next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    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
   456
                    fsm, &fsm->entry->list))) {
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
        // 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
   459
        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
   460
        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
   461
        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
   462
        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
   463
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        if (fsm->slave->master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   465
            EC_DBG("Setting number of PDO entries to %u.\n", fsm->entry_pos);
1174
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
        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
   468
        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
   469
        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
   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 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    // add next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    fsm->entry_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
    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
   476
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
/** 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
   481
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
void ec_fsm_pdo_entry_conf_state_set_entry_count(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   483
        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
    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
   487
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1823
2bf892fe8080 Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents: 1543
diff changeset
   489
        EC_WARN("Failed to set number of entries.\n");
2bf892fe8080 Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents: 1543
diff changeset
   490
        EC_WARN(""); ec_fsm_pdo_entry_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
        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
   492
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    if (fsm->slave->master->debug_level)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   496
        EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
                fsm->source_pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
    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
   500
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
 * Common state functions
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
/** State: ERROR.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
void ec_fsm_pdo_entry_state_error(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   509
        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
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/*****************************************************************************/
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/** State: END.
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 */
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void ec_fsm_pdo_entry_state_end(
1327
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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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}
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/*****************************************************************************/