etherlabmaster: master/fsm_pdo_mapping.c@6630f4dbcfd2 (annotated)

799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/** \file
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	35	* EtherCAT Pdo mapping state machine.
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	*/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	37
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "globals.h"
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "master.h"
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "mailbox.h"
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "slave_config.h"
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	45	#include "fsm_pdo_mapping.h"
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	46
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	47	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	48
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	49	void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	50	void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	51	void ec_fsm_pdo_mapping_state_add_entry(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	52	void ec_fsm_pdo_mapping_state_entry_count(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	53	void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	54	void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	55
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	56	void ec_fsm_pdo_mapping_next_pdo(ec_fsm_pdo_mapping_t *);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	57
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	/** Constructor.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	62	void ec_fsm_pdo_mapping_init(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	63	ec_fsm_pdo_mapping_t fsm, /< Pdo mapping state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	64	ec_fsm_coe_t fsm_coe /< CoE state machine to use. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->fsm_coe = fsm_coe;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	68	ec_sdo_request_init(&fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	/** Destructor.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	75	void ec_fsm_pdo_mapping_clear(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	76	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	{
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	79	ec_sdo_request_clear(&fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	84	/** Start Pdo mapping state machine.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	85	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	86	void ec_fsm_pdo_mapping_start(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	87	ec_fsm_pdo_mapping_t fsm, /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	ec_slave_t slave /< slave to configure /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	fsm->slave = slave;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	92	fsm->state = ec_fsm_pdo_mapping_state_start;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	/** Get running state.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	* \return false, if state machine has terminated
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	100	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	101	int ec_fsm_pdo_mapping_running(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	102	const ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	103	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	104	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	105	return fsm->state != ec_fsm_pdo_mapping_state_end
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	106	&& fsm->state != ec_fsm_pdo_mapping_state_error;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	108
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	110
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	/** Executes the current state.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	* \return false, if state machine has terminated
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	114	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	115	int ec_fsm_pdo_mapping_exec(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	116	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	fsm->state(fsm);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	120	return ec_fsm_pdo_mapping_running(fsm);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	122
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	124
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	/** Get execution result.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	*
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	* \return true, if the state machine terminated gracefully
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	129	int ec_fsm_pdo_mapping_success(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	130	const ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	131	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	132	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	133	return fsm->state == ec_fsm_pdo_mapping_state_end;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	135
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	/******************************************************************************
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	* State functions.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	139
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	140	/** Start Pdo mapping.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	141	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	142	void ec_fsm_pdo_mapping_state_start(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	143	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	if (!fsm->slave->config) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	147	fsm->state = ec_fsm_pdo_mapping_state_end;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	fsm->pdo = NULL;
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	152	fsm->num_configured_pdos = 0;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	153	ec_fsm_pdo_mapping_next_pdo(fsm);
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	154	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	155
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	156	/*****************************************************************************/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	157
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	158	/** Process mapping of next Pdo.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	159	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	160	void ec_fsm_pdo_mapping_next_pdo(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	161	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	162	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	ec_direction_t dir;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	165	const ec_pdo_list_t *pdos;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	166	const ec_pdo_t pdo, assigned_pdo;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	169	pdos = &fsm->slave->config->pdos[dir];
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	170
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	171	list_for_each_entry(pdo, &pdos->list, list) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	172	if (fsm->pdo) { // there was a Pdo mapping changed in the last run
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	173	if (pdo == fsm->pdo) // this is the previously configured Pdo
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 800 diff changeset	174	fsm->pdo = NULL; // take the next one
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	} else {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	176	if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	177	if (ec_pdo_equal_entries(pdo, assigned_pdo))
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	178	continue; // Pdo entries mapped correctly
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	fsm->pdo = pdo;
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	181	fsm->num_configured_pdos++;
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 800 diff changeset	182	break;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
801 6b1e2b0ed8bc Cleaned up Pdo mapping and configuration state machines. Florian Pose <fp@igh-essen.com> parents: 800 diff changeset	187	if (!fsm->pdo) {
890 1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	188	if (fsm->slave->master->debug_level && !fsm->num_configured_pdos)
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	189	EC_DBG("Pdo mappings of slave %u are already configured"
1115793a76ed Debug messaged on configuring assignment and mapping. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	190	" correctly.\n", fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	191	fsm->state = ec_fsm_pdo_mapping_state_end;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	192	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	193	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	194
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	195	// Pdo mapping has to be changed. Does the slave support this?
877 d2915690047f Fixed minor bug. Florian Pose <fp@igh-essen.com> parents: 875 diff changeset	196	if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	197	\|\| (fsm->slave->sii.has_general
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	198	&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	199	EC_ERR("Slave %u does not support changing the Pdo mapping!\n",
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	200	fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	201	fsm->state = ec_fsm_pdo_mapping_state_error;
835 23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	202	return;
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	203	}
23fd8b510803 Evaluate CoE details from general category; moved current consumption Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	204
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	if (fsm->slave->master->debug_level) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	206	EC_DBG("Changing mapping of Pdo 0x%04X of slave %u.\n",
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	fsm->pdo->index, fsm->slave->ring_position);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	209
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	210	if (ec_sdo_request_alloc(&fsm->request, 4)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	211	fsm->state = ec_fsm_pdo_mapping_state_error;
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	212	return;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	213	}
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	214
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 801 diff changeset	215	// set mapped Pdo count to zero
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	216	EC_WRITE_U8(fsm->request.data, 0);
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	217	fsm->request.data_size = 1;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	218	ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	219	ecrt_sdo_request_write(&fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	if (fsm->slave->master->debug_level)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	fsm->pdo->index);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	223
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	224	fsm->state = ec_fsm_pdo_mapping_state_zero_count;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	225	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	228
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	/** Process next Pdo entry.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	233	ec_pdo_entry_t *ec_fsm_pdo_mapping_next_entry(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	234	const ec_fsm_pdo_mapping_t fsm, /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	const struct list_head list /< current entry list item /
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	list = list->next;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	if (list == &fsm->pdo->entries)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	return NULL; // no next entry
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	return list_entry(list, ec_pdo_entry_t, list);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	243
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	245
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	/** Starts to add a Pdo entry.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	248	void ec_fsm_pdo_mapping_add_entry(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	249	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	uint32_t value;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	value = fsm->entry->index << 16
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	255	\| fsm->entry->subindex << 8 \| fsm->entry->bit_length;
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	256	EC_WRITE_U32(fsm->request.data, value);
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	257	fsm->request.data_size = 4;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	258	ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	259	ecrt_sdo_request_write(&fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	if (fsm->slave->master->debug_level)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	EC_DBG("Configuring Pdo entry %08X at position %u.\n",
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	value, fsm->entry_count);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	263
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	264	fsm->state = ec_fsm_pdo_mapping_state_add_entry;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	265	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	268
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	270
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	271	/** Set the number of mapped entries to zero.
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	272	*/
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	273	void ec_fsm_pdo_mapping_state_zero_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	274	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	278
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	280	EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	282	fsm->state = ec_fsm_pdo_mapping_state_error;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	285
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	// find first entry
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	if (!(fsm->entry =
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	288	ec_fsm_pdo_mapping_next_entry(fsm, &fsm->pdo->entries))) {
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	if (fsm->slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	290	EC_DBG("No entries to map for Pdo 0x%04X of slave %u.\n",
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	fsm->pdo->index, fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	292	ec_fsm_pdo_mapping_next_pdo(fsm);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	295
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	// add first entry
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	fsm->entry_count = 1;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	298	ec_fsm_pdo_mapping_add_entry(fsm);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	300
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	302
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	/** Add a Pdo entry.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	305	void ec_fsm_pdo_mapping_state_add_entry(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	306	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	310
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	fsm->entry->index, fsm->entry->subindex,
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	315	fsm->state = ec_fsm_pdo_mapping_state_error;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	318
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	// find next entry
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	320	if (!(fsm->entry = ec_fsm_pdo_mapping_next_entry(fsm, &fsm->entry->list))) {
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	// No more entries to add. Write entry count.
875 c5df898a3618 Fixed access to data pointers in Pdo config and Pdo mapping FSM's. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	322	EC_WRITE_U8(fsm->request.data, fsm->entry_count);
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	323	fsm->request.data_size = 1;
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 835 diff changeset	324	ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	325	ecrt_sdo_request_write(&fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	if (fsm->slave->master->debug_level)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	EC_DBG("Setting number of Pdo entries to %u.\n",
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	fsm->entry_count);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	329
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	330	fsm->state = ec_fsm_pdo_mapping_state_entry_count;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	331	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	335
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	// add next entry
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	fsm->entry_count++;
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	338	ec_fsm_pdo_mapping_add_entry(fsm);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	340
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	342
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	/** Set the number of entries.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	345	void ec_fsm_pdo_mapping_state_entry_count(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	346	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	350
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	EC_ERR("Failed to set number of entries for slave %u.\n",
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	fsm->slave->ring_position);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	354	fsm->state = ec_fsm_pdo_mapping_state_error;
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	return;
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	357
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	if (fsm->slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	359	EC_DBG("Successfully configured mapping for Pdo 0x%04X on slave %u.\n",
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	fsm->pdo->index, fsm->slave->ring_position);
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	361
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	362	ec_fsm_pdo_mapping_next_pdo(fsm);
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	364
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	/******************************************************************************
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	* Common state functions
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	367	*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	368
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	/** State: ERROR.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	371	void ec_fsm_pdo_mapping_state_error(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	372	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
799 068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	)
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	374	{
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	}
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	376
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	/*****************************************************************************/
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	378
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	379	/** State: END.
068a58b96965 Pdo configuration. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	*/
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	381	void ec_fsm_pdo_mapping_state_end(
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	382	ec_fsm_pdo_mapping_t fsm /< Pdo mapping state machine. /
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	383	)
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	384	{
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	385	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	386
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 877 diff changeset	387	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 13 May 2008 16:07:06 +0000
changeset 912	6630f4dbcfd2
parent 890	1115793a76ed
child 926	6bb33c6ec770
permissions	-rw-r--r--