author | Florian Pose <fp@igh-essen.com> |
Tue, 19 Jan 2010 15:15:57 +0100 | |
changeset 1773 | 5371f3e5f6a1 |
parent 1543 | 373cd456dc26 |
child 1823 | 2bf892fe8080 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2008 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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/** Start reading a PDO's entries. |
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*/ |
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void ec_fsm_pdo_entry_start_reading( |
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ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */ |
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ec_slave_t *slave, /**< slave to configure */ |
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ec_pdo_t *pdo /**< PDO to read entries for. */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->target_pdo = pdo; |
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ec_pdo_clear_entries(fsm->target_pdo); |
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fsm->state = ec_fsm_pdo_entry_read_state_start; |
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} |
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/*****************************************************************************/ |
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/** Start PDO mapping state machine. |
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*/ |
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void ec_fsm_pdo_entry_start_configuration( |
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ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */ |
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ec_slave_t *slave, /**< slave to configure */ |
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const ec_pdo_t *pdo /**< PDO with the desired entries. */ |
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) |
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112 |
{ |
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|
113 |
fsm->slave = slave; |
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|
114 |
fsm->source_pdo = pdo; |
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parents:
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changeset
|
115 |
|
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|
116 |
fsm->state = ec_fsm_pdo_entry_conf_state_start; |
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|
117 |
} |
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diff
changeset
|
118 |
|
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|
119 |
/*****************************************************************************/ |
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|
120 |
|
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|
121 |
/** Get running state. |
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|
122 |
* |
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|
123 |
* \return false, if state machine has terminated |
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|
124 |
*/ |
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|
125 |
int ec_fsm_pdo_entry_running( |
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|
126 |
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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|
127 |
) |
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|
128 |
{ |
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|
129 |
return fsm->state != ec_fsm_pdo_entry_state_end |
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|
130 |
&& fsm->state != ec_fsm_pdo_entry_state_error; |
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|
131 |
} |
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parents:
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changeset
|
132 |
|
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|
133 |
/*****************************************************************************/ |
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|
134 |
|
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|
135 |
/** Executes the current state. |
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|
136 |
* |
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|
137 |
* \return false, if state machine has terminated |
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|
138 |
*/ |
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|
139 |
int ec_fsm_pdo_entry_exec( |
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|
140 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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|
141 |
) |
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|
142 |
{ |
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|
143 |
fsm->state(fsm); |
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|
144 |
return ec_fsm_pdo_entry_running(fsm); |
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|
145 |
} |
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diff
changeset
|
146 |
|
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|
147 |
/*****************************************************************************/ |
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|
148 |
|
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changeset
|
149 |
/** Get execution result. |
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|
150 |
* |
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|
151 |
* \return true, if the state machine terminated gracefully |
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|
152 |
*/ |
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|
153 |
int ec_fsm_pdo_entry_success( |
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|
154 |
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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|
155 |
) |
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|
156 |
{ |
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|
157 |
return fsm->state == ec_fsm_pdo_entry_state_end; |
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|
158 |
} |
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parents:
diff
changeset
|
159 |
|
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|
160 |
/****************************************************************************** |
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|
161 |
* Reading state functions. |
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|
162 |
*****************************************************************************/ |
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parents:
diff
changeset
|
163 |
|
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|
164 |
/** Request reading the number of mapped PDO entries. |
1174
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|
165 |
*/ |
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|
166 |
void ec_fsm_pdo_entry_read_state_start( |
1327
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|
167 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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changeset
|
168 |
) |
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parents:
diff
changeset
|
169 |
{ |
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parents:
diff
changeset
|
170 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0); |
235f34ca50e2
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parents:
diff
changeset
|
171 |
ecrt_sdo_request_read(&fsm->request); |
235f34ca50e2
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parents:
diff
changeset
|
172 |
|
235f34ca50e2
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parents:
diff
changeset
|
173 |
fsm->state = ec_fsm_pdo_entry_read_state_count; |
235f34ca50e2
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parents:
diff
changeset
|
174 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
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parents:
diff
changeset
|
175 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
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parents:
diff
changeset
|
176 |
} |
235f34ca50e2
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parents:
diff
changeset
|
177 |
|
235f34ca50e2
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parents:
diff
changeset
|
178 |
/*****************************************************************************/ |
235f34ca50e2
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parents:
diff
changeset
|
179 |
|
1327
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|
180 |
/** Read number of mapped PDO entries. |
1174
235f34ca50e2
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diff
changeset
|
181 |
*/ |
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parents:
diff
changeset
|
182 |
void ec_fsm_pdo_entry_read_state_count( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
183 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
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parents:
diff
changeset
|
184 |
) |
235f34ca50e2
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parents:
diff
changeset
|
185 |
{ |
235f34ca50e2
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parents:
diff
changeset
|
186 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) |
235f34ca50e2
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parents:
diff
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|
187 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
188 |
|
235f34ca50e2
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parents:
diff
changeset
|
189 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1327
4d179b06dd3c
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|
190 |
EC_ERR("Failed to read number of mapped PDO entries.\n"); |
1174
235f34ca50e2
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diff
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|
191 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
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parents:
diff
changeset
|
192 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
193 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
194 |
|
235f34ca50e2
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parents:
diff
changeset
|
195 |
if (fsm->request.data_size != sizeof(uint8_t)) { |
1543
373cd456dc26
Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
Florian Pose <fp@igh-essen.com>
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1363
diff
changeset
|
196 |
EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n", |
1174
235f34ca50e2
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parents:
diff
changeset
|
197 |
fsm->request.data_size, fsm->request.index, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
198 |
fsm->request.subindex); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
199 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
200 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
201 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
202 |
|
235f34ca50e2
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parents:
diff
changeset
|
203 |
fsm->entry_count = EC_READ_U8(fsm->request.data); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
204 |
|
235f34ca50e2
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parents:
diff
changeset
|
205 |
if (fsm->slave->master->debug_level) |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
206 |
EC_DBG("%u PDO entries mapped.\n", fsm->entry_count); |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
207 |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
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|
208 |
// read first PDO entry |
1174
235f34ca50e2
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parents:
diff
changeset
|
209 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
210 |
ec_fsm_pdo_entry_read_action_next(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
211 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
212 |
|
235f34ca50e2
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parents:
diff
changeset
|
213 |
/*****************************************************************************/ |
235f34ca50e2
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parents:
diff
changeset
|
214 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
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diff
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|
215 |
/** Read next PDO entry. |
1174
235f34ca50e2
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parents:
diff
changeset
|
216 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
217 |
void ec_fsm_pdo_entry_read_action_next( |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
218 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
219 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
220 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
221 |
if (fsm->entry_pos <= fsm->entry_count) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
222 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
223 |
ecrt_sdo_request_read(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
fsm->state = ec_fsm_pdo_entry_read_state_entry; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
225 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
226 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
227 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
228 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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|
229 |
|
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|
230 |
// finished reading entries. |
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|
231 |
fsm->state = ec_fsm_pdo_entry_state_end; |
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|
232 |
} |
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|
233 |
|
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|
234 |
/*****************************************************************************/ |
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diff
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|
235 |
|
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|
236 |
/** Read PDO entry information. |
1174
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|
237 |
*/ |
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|
238 |
void ec_fsm_pdo_entry_read_state_entry( |
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|
239 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
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|
240 |
) |
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diff
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|
241 |
{ |
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parents:
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|
242 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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diff
changeset
|
243 |
|
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|
244 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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|
245 |
EC_ERR("Failed to read mapped PDO entry.\n"); |
1174
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|
246 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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|
247 |
return; |
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diff
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|
248 |
} |
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|
249 |
|
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parents:
diff
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|
250 |
if (fsm->request.data_size != sizeof(uint32_t)) { |
1543
373cd456dc26
Avoid warnings on x86_64 platform. Thanks to Thomas Elste.
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|
251 |
EC_ERR("Invalid data size %zu at uploading SDO 0x%04X:%02X.\n", |
1174
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|
252 |
fsm->request.data_size, fsm->request.index, |
235f34ca50e2
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|
253 |
fsm->request.subindex); |
235f34ca50e2
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|
254 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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diff
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|
255 |
} else { |
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diff
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|
256 |
uint32_t pdo_entry_info; |
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|
257 |
ec_pdo_entry_t *pdo_entry; |
235f34ca50e2
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|
258 |
|
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|
259 |
pdo_entry_info = EC_READ_U32(fsm->request.data); |
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|
260 |
|
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|
261 |
if (!(pdo_entry = (ec_pdo_entry_t *) |
235f34ca50e2
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|
262 |
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
1327
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|
263 |
EC_ERR("Failed to allocate PDO entry.\n"); |
1174
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|
264 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
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diff
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|
265 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
266 |
} |
235f34ca50e2
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parents:
diff
changeset
|
267 |
|
235f34ca50e2
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parents:
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|
268 |
ec_pdo_entry_init(pdo_entry); |
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diff
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|
269 |
pdo_entry->index = pdo_entry_info >> 16; |
235f34ca50e2
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diff
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|
270 |
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF; |
235f34ca50e2
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diff
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|
271 |
pdo_entry->bit_length = pdo_entry_info & 0xFF; |
235f34ca50e2
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parents:
diff
changeset
|
272 |
|
235f34ca50e2
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parents:
diff
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|
273 |
if (!pdo_entry->index && !pdo_entry->subindex) { |
235f34ca50e2
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diff
changeset
|
274 |
if (ec_pdo_entry_set_name(pdo_entry, "Gap")) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
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|
275 |
ec_pdo_entry_clear(pdo_entry); |
235f34ca50e2
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parents:
diff
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|
276 |
kfree(pdo_entry); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
277 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
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parents:
diff
changeset
|
278 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
279 |
} |
235f34ca50e2
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parents:
diff
changeset
|
280 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
281 |
|
235f34ca50e2
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parents:
diff
changeset
|
282 |
if (fsm->slave->master->debug_level) { |
1327
4d179b06dd3c
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|
283 |
EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n", |
1174
235f34ca50e2
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
pdo_entry->index, pdo_entry->subindex, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
pdo_entry->bit_length, |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
286 |
pdo_entry->name ? pdo_entry->name : "???"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
287 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
288 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
289 |
list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
290 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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diff
changeset
|
291 |
// next PDO entry |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
292 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
293 |
ec_fsm_pdo_entry_read_action_next(fsm); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
295 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
296 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
297 |
/****************************************************************************** |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
298 |
* Configuration state functions. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
299 |
*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
300 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
301 |
/** Start PDO mapping. |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
302 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
303 |
void ec_fsm_pdo_entry_conf_state_start( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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changeset
|
304 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
305 |
) |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
306 |
{ |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
307 |
// PDO mapping has to be changed. Does the slave support this? |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|| (fsm->slave->sii.has_general |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) { |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
311 |
EC_WARN("Slave %u does not support changing the PDO mapping!\n", |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
fsm->slave->ring_position); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
314 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
if (ec_sdo_request_alloc(&fsm->request, 4)) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
318 |
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
|
319 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
322 |
// set mapped PDO entry count to zero |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
EC_WRITE_U8(fsm->request.data, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
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
|
325 |
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
|
326 |
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
|
327 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
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
|
329 |
EC_DBG("Setting entry count to zero.\n"); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
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
|
333 |
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
|
334 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
338 |
/** Process next PDO entry. |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
341 |
const 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
|
342 |
const struct list_head *list /**< current entry list item */ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
list = list->next; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
if (list == &fsm->source_pdo->entries) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
return NULL; // no next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
return list_entry(list, ec_pdo_entry_t, list); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
/** Set the number of mapped entries to zero. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
void ec_fsm_pdo_entry_conf_state_zero_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
|
356 |
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
|
357 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
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
|
363 |
EC_WARN("Failed to clear PDO mapping.\n"); |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
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
|
365 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
// find first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
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
|
370 |
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
|
371 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
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
|
373 |
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
|
374 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
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
|
376 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
// add first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
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
|
382 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
384 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
386 |
/** 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
|
387 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
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
|
389 |
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
|
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 |
uint32_t value; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
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
|
395 |
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
|
396 |
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
|
397 |
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
|
398 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
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
|
400 |
| 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
|
401 |
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
|
402 |
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
|
403 |
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
|
404 |
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
|
405 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
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
|
407 |
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
|
408 |
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
|
409 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
|
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
413 |
/** 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
|
414 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
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
|
416 |
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
|
417 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
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
|
420 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
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
|
422 |
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
|
423 |
"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
|
424 |
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
|
425 |
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
|
426 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
// find next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
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
|
431 |
fsm, &fsm->entry->list))) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
// 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
|
434 |
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
|
435 |
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
|
436 |
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
|
437 |
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
|
438 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
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
|
440 |
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
|
441 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
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
|
443 |
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
|
444 |
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
|
445 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
// add next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
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
|
451 |
} |
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 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
455 |
/** 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
|
456 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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457 |
void ec_fsm_pdo_entry_conf_state_set_entry_count( |
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ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
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|
459 |
) |
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|
460 |
{ |
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461 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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462 |
|
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|
463 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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464 |
EC_ERR("Failed to set number of entries.\n"); |
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465 |
fsm->state = ec_fsm_pdo_entry_state_error; |
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466 |
return; |
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|
467 |
} |
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|
468 |
|
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|
469 |
if (fsm->slave->master->debug_level) |
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EC_DBG("Successfully configured mapping for PDO 0x%04X.\n", |
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471 |
fsm->source_pdo->index); |
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|
472 |
|
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473 |
fsm->state = ec_fsm_pdo_entry_state_end; // finished |
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474 |
} |
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|
475 |
|
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476 |
/****************************************************************************** |
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477 |
* Common state functions |
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478 |
*****************************************************************************/ |
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|
479 |
|
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|
480 |
/** State: ERROR. |
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|
481 |
*/ |
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|
482 |
void ec_fsm_pdo_entry_state_error( |
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483 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
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|
484 |
) |
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|
485 |
{ |
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|
486 |
} |
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|
487 |
|
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488 |
/*****************************************************************************/ |
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|
489 |
|
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|
490 |
/** State: END. |
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|
491 |
*/ |
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492 |
void ec_fsm_pdo_entry_state_end( |
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ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
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|
494 |
) |
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|
495 |
{ |
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496 |
} |
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|
497 |
|
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498 |
/*****************************************************************************/ |