author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:11:20 +0100 | |
changeset 2249 | 6dbd7594dd1d |
parent 1964 | 9327c261056f |
child 2421 | bc2d4bf9cbe5 |
child 2589 | 2b9c78543663 |
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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/** Print the current and desired PDO mapping. |
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*/ |
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void ec_fsm_pdo_entry_print( |
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ec_fsm_pdo_entry_t *fsm /**< PDO configuration state machine. */ |
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) |
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{ |
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printk("Currently mapped PDO entries: "); |
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ec_pdo_print_entries(fsm->cur_pdo); |
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printk(". Entries to map: "); |
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ec_pdo_print_entries(fsm->source_pdo); |
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printk("\n"); |
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} |
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/*****************************************************************************/ |
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/** Start reading a PDO's entries. |
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*/ |
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void ec_fsm_pdo_entry_start_reading( |
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ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */ |
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ec_slave_t *slave, /**< slave to configure */ |
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ec_pdo_t *pdo /**< PDO to read entries for. */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->target_pdo = pdo; |
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|
113 |
ec_pdo_clear_entries(fsm->target_pdo); |
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|
114 |
|
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|
115 |
fsm->state = ec_fsm_pdo_entry_read_state_start; |
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|
116 |
} |
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|
117 |
|
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|
118 |
/*****************************************************************************/ |
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|
119 |
|
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120 |
/** Start PDO mapping state machine. |
1174
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121 |
*/ |
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|
122 |
void ec_fsm_pdo_entry_start_configuration( |
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123 |
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */ |
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124 |
ec_slave_t *slave, /**< slave to configure */ |
1823
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|
125 |
const ec_pdo_t *pdo, /**< PDO with the desired entries. */ |
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|
126 |
const ec_pdo_t *cur_pdo /**< Current PDO mapping. */ |
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|
127 |
) |
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|
128 |
{ |
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|
129 |
fsm->slave = slave; |
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|
130 |
fsm->source_pdo = pdo; |
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131 |
fsm->cur_pdo = cur_pdo; |
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|
132 |
|
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|
133 |
if (fsm->slave->master->debug_level) { |
1921 | 134 |
EC_SLAVE_DBG(slave, 1, "Changing mapping of PDO 0x%04X.\n", |
135 |
pdo->index); |
|
136 |
EC_SLAVE_DBG(slave, 1, ""); ec_fsm_pdo_entry_print(fsm); |
|
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|
137 |
} |
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|
138 |
|
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|
139 |
fsm->state = ec_fsm_pdo_entry_conf_state_start; |
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|
140 |
} |
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|
141 |
|
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|
142 |
/*****************************************************************************/ |
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|
143 |
|
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|
144 |
/** Get running state. |
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|
145 |
* |
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|
146 |
* \return false, if state machine has terminated |
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|
147 |
*/ |
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|
148 |
int ec_fsm_pdo_entry_running( |
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149 |
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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|
150 |
) |
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|
151 |
{ |
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|
152 |
return fsm->state != ec_fsm_pdo_entry_state_end |
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|
153 |
&& fsm->state != ec_fsm_pdo_entry_state_error; |
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|
154 |
} |
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|
155 |
|
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|
156 |
/*****************************************************************************/ |
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|
157 |
|
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|
158 |
/** Executes the current state. |
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|
159 |
* |
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|
160 |
* \return false, if state machine has terminated |
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|
161 |
*/ |
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|
162 |
int ec_fsm_pdo_entry_exec( |
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|
163 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
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|
164 |
) |
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|
165 |
{ |
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parents:
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|
166 |
fsm->state(fsm); |
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|
167 |
return ec_fsm_pdo_entry_running(fsm); |
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|
168 |
} |
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parents:
diff
changeset
|
169 |
|
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parents:
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|
170 |
/*****************************************************************************/ |
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diff
changeset
|
171 |
|
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parents:
diff
changeset
|
172 |
/** Get execution result. |
235f34ca50e2
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|
173 |
* |
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parents:
diff
changeset
|
174 |
* \return true, if the state machine terminated gracefully |
235f34ca50e2
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parents:
diff
changeset
|
175 |
*/ |
235f34ca50e2
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parents:
diff
changeset
|
176 |
int ec_fsm_pdo_entry_success( |
1327
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|
177 |
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
235f34ca50e2
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parents:
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changeset
|
178 |
) |
235f34ca50e2
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parents:
diff
changeset
|
179 |
{ |
235f34ca50e2
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parents:
diff
changeset
|
180 |
return fsm->state == ec_fsm_pdo_entry_state_end; |
235f34ca50e2
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parents:
diff
changeset
|
181 |
} |
235f34ca50e2
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parents:
diff
changeset
|
182 |
|
235f34ca50e2
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parents:
diff
changeset
|
183 |
/****************************************************************************** |
235f34ca50e2
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parents:
diff
changeset
|
184 |
* Reading state functions. |
235f34ca50e2
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parents:
diff
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|
185 |
*****************************************************************************/ |
235f34ca50e2
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parents:
diff
changeset
|
186 |
|
1327
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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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|
187 |
/** Request reading the number of mapped PDO entries. |
1174
235f34ca50e2
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parents:
diff
changeset
|
188 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
189 |
void ec_fsm_pdo_entry_read_state_start( |
1327
4d179b06dd3c
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parents:
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changeset
|
190 |
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */ |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
191 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
192 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
193 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
194 |
ecrt_sdo_request_read(&fsm->request); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
195 |
|
235f34ca50e2
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parents:
diff
changeset
|
196 |
fsm->state = 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
|
197 |
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
|
198 |
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
|
199 |
} |
235f34ca50e2
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parents:
diff
changeset
|
200 |
|
235f34ca50e2
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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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
changeset
|
203 |
/** Read number of mapped PDO entries. |
1174
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 |
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
|
206 |
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
|
207 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
208 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
209 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
210 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
211 |
|
235f34ca50e2
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parents:
diff
changeset
|
212 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1921 | 213 |
EC_SLAVE_ERR(fsm->slave, |
214 |
"Failed to read number of mapped PDO entries.\n"); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
215 |
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
|
216 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
217 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
218 |
|
235f34ca50e2
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
219 |
if (fsm->request.data_size != sizeof(uint8_t)) { |
1921 | 220 |
EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at uploading" |
221 |
" SDO 0x%04X:%02X.\n", |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
222 |
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
|
223 |
fsm->request.subindex); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
224 |
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
|
225 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
226 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
227 |
|
235f34ca50e2
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parents:
diff
changeset
|
228 |
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
|
229 |
|
1921 | 230 |
EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count); |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
1326
diff
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|
231 |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents:
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diff
changeset
|
232 |
// read first PDO entry |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
233 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
234 |
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
|
235 |
} |
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parents:
diff
changeset
|
236 |
|
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parents:
diff
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|
237 |
/*****************************************************************************/ |
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diff
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|
238 |
|
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|
239 |
/** Read next PDO entry. |
1174
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|
240 |
*/ |
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parents:
diff
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|
241 |
void ec_fsm_pdo_entry_read_action_next( |
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|
242 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
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parents:
diff
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|
243 |
) |
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parents:
diff
changeset
|
244 |
{ |
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parents:
diff
changeset
|
245 |
if (fsm->entry_pos <= fsm->entry_count) { |
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parents:
diff
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|
246 |
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos); |
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parents:
diff
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|
247 |
ecrt_sdo_request_read(&fsm->request); |
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diff
changeset
|
248 |
fsm->state = ec_fsm_pdo_entry_read_state_entry; |
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diff
changeset
|
249 |
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request); |
235f34ca50e2
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parents:
diff
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|
250 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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parents:
diff
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|
251 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
252 |
} |
235f34ca50e2
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parents:
diff
changeset
|
253 |
|
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parents:
diff
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|
254 |
// finished reading entries. |
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diff
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|
255 |
fsm->state = ec_fsm_pdo_entry_state_end; |
235f34ca50e2
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parents:
diff
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|
256 |
} |
235f34ca50e2
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parents:
diff
changeset
|
257 |
|
235f34ca50e2
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parents:
diff
changeset
|
258 |
/*****************************************************************************/ |
235f34ca50e2
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parents:
diff
changeset
|
259 |
|
1327
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|
260 |
/** Read PDO entry information. |
1174
235f34ca50e2
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|
261 |
*/ |
235f34ca50e2
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parents:
diff
changeset
|
262 |
void ec_fsm_pdo_entry_read_state_entry( |
235f34ca50e2
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|
263 |
ec_fsm_pdo_entry_t *fsm /**< finite state machine */ |
235f34ca50e2
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parents:
diff
changeset
|
264 |
) |
235f34ca50e2
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parents:
diff
changeset
|
265 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
266 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
235f34ca50e2
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parents:
diff
changeset
|
267 |
|
235f34ca50e2
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parents:
diff
changeset
|
268 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1921 | 269 |
EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entry.\n"); |
1174
235f34ca50e2
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diff
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|
270 |
fsm->state = ec_fsm_pdo_entry_state_error; |
235f34ca50e2
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|
271 |
return; |
235f34ca50e2
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parents:
diff
changeset
|
272 |
} |
235f34ca50e2
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parents:
diff
changeset
|
273 |
|
235f34ca50e2
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parents:
diff
changeset
|
274 |
if (fsm->request.data_size != sizeof(uint32_t)) { |
1921 | 275 |
EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at" |
276 |
" uploading SDO 0x%04X:%02X.\n", |
|
1174
235f34ca50e2
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parents:
diff
changeset
|
277 |
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
|
278 |
fsm->request.subindex); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
279 |
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
|
280 |
} else { |
235f34ca50e2
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parents:
diff
changeset
|
281 |
uint32_t pdo_entry_info; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
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|
282 |
ec_pdo_entry_t *pdo_entry; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
283 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
284 |
pdo_entry_info = EC_READ_U32(fsm->request.data); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
285 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
286 |
if (!(pdo_entry = (ec_pdo_entry_t *) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
1921 | 288 |
EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO entry.\n"); |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
289 |
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
|
290 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
291 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
292 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
293 |
ec_pdo_entry_init(pdo_entry); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
294 |
pdo_entry->index = pdo_entry_info >> 16; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
pdo_entry->bit_length = pdo_entry_info & 0xFF; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
298 |
if (!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
|
299 |
if (ec_pdo_entry_set_name(pdo_entry, "Gap")) { |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
ec_pdo_entry_clear(pdo_entry); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
kfree(pdo_entry); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
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
|
303 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
|
1921 | 307 |
EC_SLAVE_DBG(fsm->slave, 1, |
308 |
"PDO entry 0x%04X:%02X, %u bit, \"%s\".\n", |
|
309 |
pdo_entry->index, pdo_entry->subindex, |
|
310 |
pdo_entry->bit_length, |
|
311 |
pdo_entry->name ? pdo_entry->name : "???"); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries); |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
315 |
// next PDO entry |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
316 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
317 |
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
|
318 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
319 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
/****************************************************************************** |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
* Configuration state functions. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
325 |
/** Start PDO mapping. |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
327 |
void ec_fsm_pdo_entry_conf_state_start( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
328 |
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
|
329 |
) |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
330 |
{ |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
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
|
332 |
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
|
333 |
return; |
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 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
336 |
// 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
|
337 |
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
|
338 |
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
|
339 |
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
|
340 |
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
|
341 |
|
1921 | 342 |
EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n"); |
1174
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 |
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
|
345 |
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
|
346 |
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
|
347 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
351 |
/** 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
|
352 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
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
|
354 |
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
|
355 |
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
|
356 |
) |
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 |
list = list->next; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
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
|
360 |
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
|
361 |
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
|
362 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
/** 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
|
367 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
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
|
369 |
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
|
370 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
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
|
373 |
return; |
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 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1921 | 376 |
EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO mapping.\n"); |
377 |
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
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
|
379 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
// find first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
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
|
384 |
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
|
385 |
|
1921 | 386 |
EC_SLAVE_DBG(fsm->slave, 1, "No entries to map.\n"); |
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 |
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
|
389 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
// add first entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
fsm->entry_pos = 1; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
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
|
395 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
399 |
/** 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
|
400 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
401 |
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
|
402 |
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
|
403 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
uint32_t value; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
|
1921 | 407 |
EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)" |
408 |
" at position %u.\n", |
|
409 |
fsm->entry->index, fsm->entry->subindex, |
|
410 |
fsm->entry->bit_length, fsm->entry_pos); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
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
|
413 |
| 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
|
414 |
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
|
415 |
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
|
416 |
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
|
417 |
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
|
418 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
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
|
420 |
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
|
421 |
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
|
422 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
|
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
426 |
/** 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
|
427 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
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
|
429 |
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
|
430 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
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
|
433 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1921 | 435 |
EC_SLAVE_WARN(fsm->slave, "Failed to map PDO entry" |
436 |
" 0x%04X:%02X (%u bit) to position %u.\n", |
|
437 |
fsm->entry->index, fsm->entry->subindex, |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
fsm->entry->bit_length, fsm->entry_pos); |
1921 | 439 |
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm); |
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
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
|
441 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
// find next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
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
|
446 |
fsm, &fsm->entry->list))) { |
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 |
// 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
|
449 |
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
|
450 |
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
|
451 |
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
|
452 |
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
|
453 |
|
1921 | 454 |
EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n", |
455 |
fsm->entry_pos); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
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
|
458 |
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
|
459 |
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
|
460 |
return; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
462 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
463 |
// add next entry |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
464 |
fsm->entry_pos++; |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
465 |
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
|
466 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
468 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
469 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
/** 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
|
471 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
472 |
void ec_fsm_pdo_entry_conf_state_set_entry_count( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
473 |
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
|
474 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
475 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
476 |
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
|
477 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
478 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
1921 | 479 |
EC_SLAVE_WARN(fsm->slave, "Failed to set number of entries.\n"); |
480 |
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm); |
|
481 |
fsm->state = ec_fsm_pdo_entry_state_error; |
|
482 |
return; |
|
483 |
} |
|
484 |
||
485 |
EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured" |
|
486 |
" mapping for PDO 0x%04X.\n", fsm->source_pdo->index); |
|
1174
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
487 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
488 |
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
|
489 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
490 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
491 |
/****************************************************************************** |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
492 |
* Common state functions |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
493 |
*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff
changeset
|
494 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
495 |
/** State: ERROR. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
496 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
497 |
void ec_fsm_pdo_entry_state_error( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
498 |
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
|
499 |
) |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
500 |
{ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
501 |
} |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
502 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
503 |
/*****************************************************************************/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
|
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
505 |
/** State: END. |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
506 |
*/ |
235f34ca50e2
Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
507 |
void ec_fsm_pdo_entry_state_end( |
1327
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
508 |
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
|
509 |
) |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
510 |
{ |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
511 |
} |
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
512 |
|
4d179b06dd3c
merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1326
diff
changeset
|
513 |
/*****************************************************************************/ |