author | Florian Pose <fp@igh-essen.com> |
Fri, 22 Feb 2008 18:40:41 +0000 | |
changeset 826 | 70aeae0de217 |
parent 824 | e2501463f7d1 |
child 827 | 205eccb70bce |
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 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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_mapping.h" |
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/*****************************************************************************/ |
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void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *); |
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void ec_fsm_pdo_mapping_next_dir(ec_fsm_pdo_mapping_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_pdo_mapping_init( |
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ec_fsm_pdo_mapping_t *fsm, /**< 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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fsm->sdodata.data = (uint8_t *) &fsm->sdo_value; |
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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_mapping_clear( |
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ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
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) |
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{ |
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} |
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/*****************************************************************************/ |
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/** Start Pdo mapping configuration state machine. |
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*/ |
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void ec_fsm_pdo_mapping_start( |
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ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */ |
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ec_slave_t *slave /**< slave to configure */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_pdo_mapping_state_start; |
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} |
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/*****************************************************************************/ |
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/** Get running state. |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_pdo_mapping_running( |
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const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
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) |
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{ |
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return fsm->state != ec_fsm_pdo_mapping_state_end |
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&& fsm->state != ec_fsm_pdo_mapping_state_error; |
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} |
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/*****************************************************************************/ |
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/** Executes the current state of the state machine. |
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* |
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* If the state machine's datagram is not sent or received yet, the execution |
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* of the state machine is delayed to the next cycle. |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_pdo_mapping_exec( |
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Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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diff
changeset
|
118 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
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parents:
diff
changeset
|
119 |
) |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
120 |
{ |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
121 |
fsm->state(fsm); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
122 |
return ec_fsm_pdo_mapping_running(fsm); |
635
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
123 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
124 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
125 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
126 |
|
792
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Implemented most realtime interface changes for version 1.4, improved
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parents:
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diff
changeset
|
127 |
/** Get execution result. |
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Implemented most realtime interface changes for version 1.4, improved
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|
128 |
* |
635
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parents:
diff
changeset
|
129 |
* \return true, if the state machine terminated gracefully |
d304ef4af542
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parents:
diff
changeset
|
130 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
131 |
int ec_fsm_pdo_mapping_success( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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diff
changeset
|
132 |
const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
133 |
) |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
134 |
{ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
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diff
changeset
|
135 |
return fsm->state == ec_fsm_pdo_mapping_state_end; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
136 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
137 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
138 |
/****************************************************************************** |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
758
diff
changeset
|
139 |
* State functions. |
635
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
140 |
*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
141 |
|
792
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Implemented most realtime interface changes for version 1.4, improved
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parents:
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diff
changeset
|
142 |
/** Start mapping configuration. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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diff
changeset
|
143 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
144 |
void ec_fsm_pdo_mapping_state_start( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
145 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
146 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
147 |
{ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
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parents:
758
diff
changeset
|
148 |
if (!fsm->slave->config) { |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
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parents:
801
diff
changeset
|
149 |
fsm->state = ec_fsm_pdo_mapping_state_end; |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
150 |
return; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
151 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
152 |
|
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
153 |
fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
154 |
ec_fsm_pdo_mapping_next_dir(fsm); |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
155 |
} |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
156 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
157 |
/*****************************************************************************/ |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
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parents:
814
diff
changeset
|
158 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
159 |
/** Process mapping of next direction. |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
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parents:
814
diff
changeset
|
160 |
*/ |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
161 |
void ec_fsm_pdo_mapping_next_dir( |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
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parents:
814
diff
changeset
|
162 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
163 |
) |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
164 |
{ |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
165 |
for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) { |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
166 |
fsm->mapping = &fsm->slave->config->mapping[fsm->dir]; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
167 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
168 |
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) { |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
169 |
if (!list_empty(&fsm->mapping->pdos)) { |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
170 |
EC_ERR("No sync manager for direction %u!\n", fsm->dir); |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
171 |
fsm->state = ec_fsm_pdo_mapping_state_end; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
172 |
return; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
173 |
} |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
174 |
continue; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
} |
660
582a90a34303
Configure alternative PDO mapping only on slaves that have PDO sync
Florian Pose <fp@igh-essen.com>
parents:
635
diff
changeset
|
176 |
|
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
177 |
// check if mapping has to be altered |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
178 |
if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping)) |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
179 |
continue; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
180 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
181 |
if (fsm->slave->master->debug_level) { |
824 | 182 |
EC_DBG("Changing Pdo mapping for SM%u of slave %u.\n", |
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
183 |
fsm->sync->index, fsm->slave->ring_position); |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
184 |
} |
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
185 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
186 |
// set mapped Pdo count to zero |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
187 |
fsm->sdodata.index = 0x1C10 + fsm->sync->index; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
188 |
fsm->sdodata.subindex = 0; // mapped Pdo count |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
189 |
EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
190 |
fsm->sdodata.size = 1; |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
191 |
if (fsm->slave->master->debug_level) |
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
192 |
EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index); |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
193 |
|
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
194 |
fsm->state = ec_fsm_pdo_mapping_state_zero_count; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
195 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
196 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
197 |
return; |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
198 |
} |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
199 |
|
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
200 |
if (fsm->slave->master->debug_level) |
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
201 |
EC_DBG("Pdo mapping finished for slave %u.\n", |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
202 |
fsm->slave->ring_position); |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
203 |
fsm->state = ec_fsm_pdo_mapping_state_end; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
206 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
207 |
|
814 | 208 |
/** Process mapping of next Pdo. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
209 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
210 |
ec_pdo_t *ec_fsm_pdo_mapping_next_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
211 |
const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */ |
814 | 212 |
const struct list_head *list /**< current Pdo list item */ |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
213 |
) |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
214 |
{ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
215 |
list = list->next; |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
216 |
if (list == &fsm->mapping->pdos) |
814 | 217 |
return NULL; // no next Pdo |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
218 |
return list_entry(list, ec_pdo_t, list); |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
219 |
} |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
220 |
|
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
221 |
/*****************************************************************************/ |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
222 |
|
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
223 |
/** Add a Pdo to the mapping. |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
224 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
225 |
void ec_fsm_pdo_mapping_add_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
226 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
227 |
) |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
228 |
{ |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
229 |
fsm->sdodata.subindex = fsm->pdo_count; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
230 |
EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
231 |
fsm->sdodata.size = 2; |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
232 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
233 |
if (fsm->slave->master->debug_level) |
814 | 234 |
EC_DBG("Mapping Pdo 0x%04X at position %u.\n", |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
235 |
fsm->pdo->index, fsm->sdodata.subindex); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
236 |
|
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
237 |
fsm->state = ec_fsm_pdo_mapping_state_add_pdo; |
801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
238 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
239 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
240 |
} |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
241 |
|
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
242 |
/*****************************************************************************/ |
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
792
diff
changeset
|
243 |
|
814 | 244 |
/** Set the number of mapped Pdos to zero. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
245 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
246 |
void ec_fsm_pdo_mapping_state_zero_count( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
247 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
248 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
249 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
250 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
251 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
252 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
814 | 253 |
EC_ERR("Failed to clear Pdo mapping for slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
254 |
fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
255 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
256 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
257 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
258 |
|
814 | 259 |
// map all Pdos belonging to the current sync manager |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
260 |
|
814 | 261 |
// find first Pdo |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
262 |
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) { |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
if (fsm->slave->master->debug_level) |
814 | 264 |
EC_DBG("No Pdos to map for SM%u of slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
fsm->sync->index, fsm->slave->ring_position); |
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
266 |
ec_fsm_pdo_mapping_next_dir(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
|
814 | 270 |
// add first Pdo to mapping |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
fsm->pdo_count = 1; |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
272 |
ec_fsm_pdo_mapping_add_pdo(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
274 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
275 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
276 |
|
814 | 277 |
/** Add a Pdo to the sync managers mapping. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
278 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
279 |
void ec_fsm_pdo_mapping_state_add_pdo( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
280 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
281 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
282 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
283 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
284 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
285 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
814 | 286 |
EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
288 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
289 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
290 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
291 |
|
814 | 292 |
// find next Pdo |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
293 |
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) { |
814 | 294 |
// no more Pdos to map. write Pdo count |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
fsm->sdodata.subindex = 0; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
fsm->sdodata.size = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
if (fsm->slave->master->debug_level) |
814 | 300 |
EC_DBG("Setting number of mapped Pdos to %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
fsm->pdo_count); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
|
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
303 |
fsm->state = ec_fsm_pdo_mapping_state_pdo_count; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
|
814 | 309 |
// add next Pdo to mapping |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
fsm->pdo_count++; |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
311 |
ec_fsm_pdo_mapping_add_pdo(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
312 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
313 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
314 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
315 |
|
814 | 316 |
/** Set the number of mapped Pdos. |
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
317 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
318 |
void ec_fsm_pdo_mapping_state_pdo_count( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
319 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
320 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
321 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
323 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
324 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
814 | 325 |
EC_ERR("Failed to set number of mapped Pdos for slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
fsm->slave->ring_position); |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
327 |
fsm->state = ec_fsm_pdo_mapping_state_error; |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
328 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
329 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
330 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
if (fsm->slave->master->debug_level) |
814 | 332 |
EC_DBG("Successfully set Pdo mapping for SM%u of slave %u.\n", |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
fsm->sync->index, fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
|
821
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
335 |
// mapping configuration for this direction finished |
c6536d28db56
Fixed warning about missing sync managers during Pdo mapping.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
changeset
|
336 |
ec_fsm_pdo_mapping_next_dir(fsm); |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
/****************************************************************************** |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
* Common state functions |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
343 |
/** State: ERROR. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
344 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
345 |
void ec_fsm_pdo_mapping_state_error( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
346 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
635
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
|
792
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
353 |
/** State: END. |
3778920f61e4
Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
354 |
*/ |
802
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
355 |
void ec_fsm_pdo_mapping_state_end( |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
356 |
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
357 |
) |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
358 |
{ |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
359 |
} |
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
diff
changeset
|
360 |
|
b947d0b09f9a
Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.
Florian Pose <fp@igh-essen.com>
parents:
801
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