master/fsm_pdo.c
author Florian Pose <fp@igh-essen.com>
Sun, 06 Jun 2010 22:40:22 +0200
changeset 1944 73896ef6d077
parent 1921 d9cf40facbc4
child 1964 9327c261056f
permissions -rw-r--r--
Added state parameter to ecrt_slave_config_idn().
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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 configuration 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.h"
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/*****************************************************************************/
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void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_state_end(ec_fsm_pdo_t *);
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void ec_fsm_pdo_state_error(ec_fsm_pdo_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_pdo_init(
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        ec_fsm_pdo_t *fsm, /**< PDO configuration 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_fsm_pdo_entry_init(&fsm->fsm_pdo_entry, fsm_coe);
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    ec_pdo_list_init(&fsm->pdos);
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    ec_sdo_request_init(&fsm->request);
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    ec_pdo_init(&fsm->slave_pdo);
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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_clear(
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        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
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    ec_pdo_list_clear(&fsm->pdos);
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    ec_sdo_request_clear(&fsm->request);
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    ec_pdo_clear(&fsm->slave_pdo);
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}
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/*****************************************************************************/
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/** Print the current and desired PDO assignment.
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 */
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void ec_fsm_pdo_print(
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        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    printk("Currently assigned PDOs: ");
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    ec_pdo_list_print(&fsm->sync->pdos);
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    printk(". PDOs to assign: ");
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    ec_pdo_list_print(&fsm->pdos);
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    printk("\n");
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}
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/*****************************************************************************/
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/** Start reading the PDO configuration.
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 */
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void ec_fsm_pdo_start_reading(
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        ec_fsm_pdo_t *fsm, /**< PDO configuration 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_read_state_start;
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}
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/*****************************************************************************/
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/** Start writing the PDO configuration.
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 */
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void ec_fsm_pdo_start_configuration(
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        ec_fsm_pdo_t *fsm, /**< PDO configuration 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_conf_state_start;
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}
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/*****************************************************************************/
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/** Get running state.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_running(
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        const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    return fsm->state != ec_fsm_pdo_state_end
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        && fsm->state != ec_fsm_pdo_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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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_exec(
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        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    fsm->state(fsm);
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    return ec_fsm_pdo_running(fsm);
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}
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/*****************************************************************************/
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/** Get execution result.
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 *
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 * \return true, if the state machine terminated gracefully
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 */
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int ec_fsm_pdo_success(
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        const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
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        )
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{
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    return fsm->state == ec_fsm_pdo_state_end;
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}
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/******************************************************************************
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 * Reading state funtions.
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 *****************************************************************************/
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/** Start reading PDO assignment.
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 */
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void ec_fsm_pdo_read_state_start(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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        )
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{
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    // read PDO assignment for first sync manager not reserved for mailbox
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    fsm->sync_index = 1; // next is 2
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    ec_fsm_pdo_read_action_next_sync(fsm);
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}
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/*****************************************************************************/
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/** Read PDO assignment of next sync manager.
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 */
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void ec_fsm_pdo_read_action_next_sync(
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        ec_fsm_pdo_t *fsm /**< Finite state machine */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    fsm->sync_index++;
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    for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
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        if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
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            continue;
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        EC_SLAVE_DBG(slave, 1, "Reading PDO assignment of SM%u.\n",
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                fsm->sync_index);
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        ec_pdo_list_clear_pdos(&fsm->pdos);
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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_pdo_read_state_pdo_count;
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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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        return;
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    }
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    EC_SLAVE_DBG(slave, 1, "Reading of PDO configuration finished.\n");
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    ec_pdo_list_clear_pdos(&fsm->pdos);
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    fsm->state = ec_fsm_pdo_state_end;
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}
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   234
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/*****************************************************************************/
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   236
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/** Count assigned PDOs.
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 */
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   239
void ec_fsm_pdo_read_state_pdo_count(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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   241
        )
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{
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   243
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   244
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   245
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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   246
        EC_SLAVE_ERR(fsm->slave, "Failed to read number of assigned PDOs"
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   247
                " for SM%u.\n", fsm->sync_index);
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        ec_fsm_pdo_read_action_next_sync(fsm);
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        return;
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   250
    }
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   251
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   252
    if (fsm->request.data_size != sizeof(uint8_t)) {
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   253
        EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
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   254
                " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
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   255
                fsm->request.index, fsm->request.subindex);
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   256
        ec_fsm_pdo_read_action_next_sync(fsm);
1174
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        return;
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    }
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    fsm->pdo_count = EC_READ_U8(fsm->request.data);
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    EC_SLAVE_DBG(fsm->slave, 1, "%u PDOs assigned.\n", fsm->pdo_count);
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    // read first PDO
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    fsm->pdo_pos = 1;
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   265
    ec_fsm_pdo_read_action_next_pdo(fsm);
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}
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/*****************************************************************************/
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/** Read next PDO.
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 */
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void ec_fsm_pdo_read_action_next_pdo(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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        )
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{
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    if (fsm->pdo_pos <= fsm->pdo_count) {
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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index,
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                fsm->pdo_pos);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_pdo_read_state_pdo;
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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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        return;
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   284
    }
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    // finished reading PDO configuration
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    ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
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    ec_pdo_list_clear_pdos(&fsm->pdos);
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   290
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    // next sync manager
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    ec_fsm_pdo_read_action_next_sync(fsm);
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   293
}
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/*****************************************************************************/
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/** Fetch PDO information.
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 */
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void ec_fsm_pdo_read_state_pdo(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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   301
        )
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{
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   303
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   304
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   305
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_SLAVE_ERR(fsm->slave, "Failed to read index of"
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   307
                " assigned PDO %u from SM%u.\n",
1174
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                fsm->pdo_pos, fsm->sync_index);
1472
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        ec_fsm_pdo_read_action_next_sync(fsm);
1174
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        return;
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   311
    }
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   312
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   313
    if (fsm->request.data_size != sizeof(uint16_t)) {
1921
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   314
        EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
d9cf40facbc4 Improved syslog macros.
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   315
                " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
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parents: 1823
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   316
                fsm->request.index, fsm->request.subindex);
1472
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   317
        ec_fsm_pdo_read_action_next_sync(fsm);
1174
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   318
        return;
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diff changeset
   319
    }
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diff changeset
   320
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diff changeset
   321
    if (!(fsm->pdo = (ec_pdo_t *)
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   322
                kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
1921
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parents: 1823
diff changeset
   323
        EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO.\n");
1472
6ca667095c67 Continue with next sync manager if reading the PDOs failed.
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diff changeset
   324
        ec_fsm_pdo_read_action_next_sync(fsm);
1174
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   325
        return;
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diff changeset
   326
    }
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parents:
diff changeset
   327
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diff changeset
   328
    ec_pdo_init(fsm->pdo);
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diff changeset
   329
    fsm->pdo->index = EC_READ_U16(fsm->request.data);
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parents:
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   330
    fsm->pdo->sync_index = fsm->sync_index;
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diff changeset
   331
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   332
    EC_SLAVE_DBG(fsm->slave, 1, "PDO 0x%04X.\n", fsm->pdo->index);
1174
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parents:
diff changeset
   333
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   334
    list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
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parents:
diff changeset
   335
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parents:
diff changeset
   336
    fsm->state = ec_fsm_pdo_read_state_pdo_entries;
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parents:
diff changeset
   337
    ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
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diff changeset
   338
    fsm->state(fsm); // execute immediately
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parents:
diff changeset
   339
}
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parents:
diff changeset
   340
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   341
/*****************************************************************************/
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parents:
diff changeset
   342
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   343
/** Fetch PDO information.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   344
 */
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parents:
diff changeset
   345
void ec_fsm_pdo_read_state_pdo_entries(
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parents:
diff changeset
   346
        ec_fsm_pdo_t *fsm /**< finite state machine */
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parents:
diff changeset
   347
        )
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parents:
diff changeset
   348
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   349
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   350
        return;
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parents:
diff changeset
   351
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   352
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   353
        EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entries"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   354
                " for PDO 0x%04X.\n", fsm->pdo->index);
1472
6ca667095c67 Continue with next sync manager if reading the PDOs failed.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   355
        ec_fsm_pdo_read_action_next_sync(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   356
        return;
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parents:
diff changeset
   357
    }
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parents:
diff changeset
   358
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4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents: 1326
diff changeset
   359
    // next PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   360
    fsm->pdo_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   361
    ec_fsm_pdo_read_action_next_pdo(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   362
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   363
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   364
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   365
 * Writing state functions.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   366
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   367
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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parents: 1326
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   368
/** Start PDO configuration.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   369
 */
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parents:
diff changeset
   370
void ec_fsm_pdo_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
   371
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   372
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   373
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   374
    if (!fsm->slave->config) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   375
        fsm->state = ec_fsm_pdo_state_end;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   376
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   377
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   378
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   379
    fsm->sync_index = 0xff; // next is zero
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   380
    ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   381
}
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parents:
diff changeset
   382
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   383
/*****************************************************************************/
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parents:
diff changeset
   384
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   385
/** Assign next PDO.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   386
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   388
        const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   389
        const struct list_head *list /**< current PDO list item */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    list = list->next; 
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    if (list == &fsm->pdos.list)
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   394
        return NULL; // no next PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    return list_entry(list, ec_pdo_t, list);
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
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
/** Get the next sync manager for a pdo configuration.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
void ec_fsm_pdo_conf_action_next_sync(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   403
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
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
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    fsm->sync_index++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   409
        if (!fsm->slave->config) { 
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   410
            // slave configuration removed in the meantime
1318
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1193
diff changeset
   411
            fsm->state = ec_fsm_pdo_state_error;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1193
diff changeset
   412
            return;
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1193
diff changeset
   413
        }
76b4014391bd merge -r1583:1593 branches/stable-1.4: Fixed detaching oops.
Florian Pose <fp@igh-essen.com>
parents: 1193
diff changeset
   414
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
        if (ec_pdo_list_copy(&fsm->pdos,
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   416
                    &fsm->slave->config->sync_configs[fsm->sync_index].pdos))
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   417
        {
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
            fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
            return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
            if (!list_empty(&fsm->pdos.list))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   424
                EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   425
                        " but slave does not provide the"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   426
                        " sync manager information!\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   427
                        fsm->sync_index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
            continue;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   431
        // get first configured PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
        if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
            // no pdos configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
            ec_fsm_pdo_conf_action_check_assignment(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
            return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
        ec_fsm_pdo_conf_action_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
    fsm->state = ec_fsm_pdo_state_end;
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
1193
e6d4134796c4 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   447
/** Check if the mapping has to be read, otherwise start to configure it.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
void ec_fsm_pdo_conf_action_pdo_mapping(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   450
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    const ec_pdo_t *assigned_pdo;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    fsm->slave_pdo.index = fsm->pdo->index;
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
    if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
        ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   459
    } else { // configured PDO is not assigned and thus unknown
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
        ec_pdo_clear_entries(&fsm->slave_pdo);
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
    if (list_empty(&fsm->slave_pdo.entries)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   464
        EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   465
                fsm->pdo->index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
            
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
        // pdo mapping is unknown; start loading it
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
                &fsm->slave_pdo);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        fsm->state = ec_fsm_pdo_conf_state_read_mapping;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
        fsm->state(fsm); // execute immediately
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    }
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
    // pdo mapping is known, check if it most be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    ec_fsm_pdo_conf_action_check_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   481
/** Execute the PDO entry state machine to read the current PDO's mapping.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
void ec_fsm_pdo_conf_state_read_mapping(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   484
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
        return;
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
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   491
        EC_SLAVE_WARN(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   492
                "Failed to read PDO entries for PDO 0x%04X.\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
                fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    // check if the mapping must be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
    ec_fsm_pdo_conf_action_check_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
1193
e6d4134796c4 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   501
/** Check if the mapping has to be re-configured.
e6d4134796c4 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   502
 *
e6d4134796c4 Added some documentation.
Florian Pose <fp@igh-essen.com>
parents: 1183
diff changeset
   503
 * \todo Display mapping differences.
1174
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
void ec_fsm_pdo_conf_action_check_mapping(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   506
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
    if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   510
        EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   511
                " is already configured correctly.\n", fsm->pdo->index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
        ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
    ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
1823
2bf892fe8080 Improved output when PDO assignment/mapping fails.
Florian Pose <fp@igh-essen.com>
parents: 1543
diff changeset
   517
            fsm->pdo, &fsm->slave_pdo);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
    fsm->state = ec_fsm_pdo_conf_state_mapping;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
    fsm->state(fsm); // execure immediately
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   524
/** Let the PDO entry state machine configure the current PDO's mapping.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
void ec_fsm_pdo_conf_state_mapping(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   527
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   534
        EC_SLAVE_WARN(fsm->slave,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   535
                "Failed to configure mapping of PDO 0x%04X.\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
                fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
    ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   543
/** Check mapping of next PDO, otherwise configure assignment.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
void ec_fsm_pdo_conf_action_next_pdo_mapping(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   546
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   547
        )
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   548
{
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   549
    // get next configured PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
        // no more configured pdos
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
        ec_fsm_pdo_conf_action_check_assignment(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
    ec_fsm_pdo_conf_action_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   561
/** Check if the PDO assignment of the current SM has to be re-configured.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
void ec_fsm_pdo_conf_action_check_assignment(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   564
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
    // check if assignment has to be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
    if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   569
        EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   570
                " is already configured correctly.\n", fsm->sync_index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   573
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
    if (fsm->slave->master->debug_level) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   576
        EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   577
                fsm->sync_index);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   578
        EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   581
    // PDO assignment has to be changed. Does the slave support this?
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
            || (fsm->slave->sii.has_general
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   584
                && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   585
        EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   586
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
    if (ec_sdo_request_alloc(&fsm->request, 2)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   595
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   596
    // set mapped PDO count to zero
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   597
    EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
    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
   599
    ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   600
    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
   601
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   602
    EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned PDOs to zero.\n");
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   604
    fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
    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
   606
    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
   607
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   608
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   609
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   611
/** Set the number of assigned PDOs to zero.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
void ec_fsm_pdo_conf_state_zero_pdo_count(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   614
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
    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
   618
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   620
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   621
        EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   622
                fsm->sync_index);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   623
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   624
        fsm->state = ec_fsm_pdo_state_error;
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   625
        return;
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   626
    }
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   627
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   628
    // the sync manager's assigned PDOs have been cleared
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    ec_pdo_list_clear_pdos(&fsm->sync->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   631
    // assign all PDOs belonging to the current sync manager
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
    
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   633
    // find first PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   635
        EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   637
        // check for mapping to be altered
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   642
    // assign first PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
    fsm->pdo_pos = 1;
1507
68e89abadd19 Removed unwanted tabulators.
Florian Pose <fp@igh-essen.com>
parents: 1472
diff changeset
   644
    ec_fsm_pdo_conf_action_assign_pdo(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   649
/** Assign a PDO.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
void ec_fsm_pdo_conf_action_assign_pdo(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   652
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
    EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
    fsm->request.data_size = 2;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    ec_sdo_request_address(&fsm->request,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
            0x1C10 + fsm->sync_index, fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
    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
   660
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   661
    EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   662
            fsm->pdo->index, fsm->pdo_pos);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   664
    fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
    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
   666
    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
   667
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   669
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   670
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   671
/** Add a PDO to the sync managers PDO assignment.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
void ec_fsm_pdo_conf_state_assign_pdo(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   674
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
    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
   678
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   680
        EC_SLAVE_WARN(fsm->slave, "Failed to assign PDO 0x%04X at position %u"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   681
                " of SM%u.\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
                fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   683
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   688
    // find next PDO
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   691
        // no more PDOs to assign, set PDO count
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
        EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
        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
   694
        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   695
        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
   696
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   697
        EC_SLAVE_DBG(fsm->slave, 1,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   698
                "Setting number of assigned PDOs to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   699
                fsm->pdo_pos);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
        fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
        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
   703
        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
   704
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   707
    // add next PDO to assignment
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
    fsm->pdo_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
    ec_fsm_pdo_conf_action_assign_pdo(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   714
/** Set the number of assigned PDOs.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
void ec_fsm_pdo_conf_state_set_pdo_count(
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   717
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
    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
   721
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   723
        EC_SLAVE_WARN(fsm->slave, "Failed to set number of"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   724
                " assigned PDOs of SM%u.\n", fsm->sync_index);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   725
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   730
    // PDOs have been configured
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
    ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   733
    EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   734
            " PDO assignment of SM%u.\n", fsm->sync_index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   736
    // check if PDO mapping has to be altered
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
    ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
 * Common state functions
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
/** State: ERROR.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
void ec_fsm_pdo_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
   747
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
/** State: END.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
void ec_fsm_pdo_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
   757
        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   758
        )
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   759
{
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   760
}
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   761
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   762
/*****************************************************************************/