author | Florian Pose <fp@igh-essen.com> |
Fri, 01 Feb 2008 20:26:13 +0000 | |
changeset 778 | 7fc85507f49a |
parent 768 | b709149d5bba |
child 792 | 3778920f61e4 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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* This file is part of the IgH EtherCAT Master. |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* The IgH EtherCAT Master is free software; you can redistribute it |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* and/or modify it under the terms of the GNU General Public License |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* as published by the Free Software Foundation; either version 2 of the |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* License, or (at your option) any later version. |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* GNU General Public License for more details. |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* You should have received a copy of the GNU General Public License |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* The right to use EtherCAT Technology is granted and comes free of |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* charge under condition of compatibility of product made by |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* Licensee. People intending to distribute/sell products based on the |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* code, have to sign an agreement to guarantee that products using |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* software based on IgH EtherCAT master stay compatible with the actual |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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*****************************************************************************/ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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Read PDO mapping from SDO dictionary (working, not finished yet).
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/** |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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\file |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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EtherCAT CoE mapping state machines. |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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*/ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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Read PDO mapping from SDO dictionary (working, not finished yet).
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/*****************************************************************************/ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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Read PDO mapping from SDO dictionary (working, not finished yet).
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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 "canopen.h" |
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#include "fsm_coe_map.h" |
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/*****************************************************************************/ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *); |
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void ec_fsm_coe_map_clear_pdos(ec_fsm_coe_map_t *); |
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/*****************************************************************************/ |
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Read PDO mapping from SDO dictionary (working, not finished yet).
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/** |
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Constructor. |
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*/ |
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void ec_fsm_coe_map_init( |
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ec_fsm_coe_map_t *fsm, /**< finite 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->state = NULL; |
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fsm->fsm_coe = fsm_coe; |
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INIT_LIST_HEAD(&fsm->pdos); |
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} |
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|
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/*****************************************************************************/ |
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/** |
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Destructor. |
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*/ |
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void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */) |
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{ |
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ec_fsm_coe_map_clear_pdos(fsm); |
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} |
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/*****************************************************************************/ |
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/** |
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* Clear FSM PDOs. |
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*/ |
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void ec_fsm_coe_map_clear_pdos( |
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ec_fsm_coe_map_t *fsm /**< finite state machine */ |
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) |
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{ |
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ec_pdo_t *pdo, *next; |
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// free all PDOs |
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list_for_each_entry_safe(pdo, next, &fsm->pdos, list) { |
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list_del(&pdo->list); |
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ec_pdo_clear(pdo); |
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kfree(pdo); |
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} |
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} |
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/*****************************************************************************/ |
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/** |
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Starts to upload an SDO from a slave. |
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*/ |
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|
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void ec_fsm_coe_map_start( |
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ec_fsm_coe_map_t *fsm, /**< finite state machine */ |
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ec_slave_t *slave /**< EtherCAT slave */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_coe_map_state_start; |
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} |
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|
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/*****************************************************************************/ |
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|
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/** |
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Executes the current state of the state machine. |
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\return false, if state machine has terminated |
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*/ |
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|
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int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */) |
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{ |
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fsm->state(fsm); |
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|
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return fsm->state != ec_fsm_coe_map_state_end |
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&& fsm->state != ec_fsm_coe_map_state_error; |
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} |
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|
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141 |
/*****************************************************************************/ |
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|
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143 |
/** |
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Returns, if the state machine terminated with success. |
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\return non-zero if successful. |
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*/ |
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|
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int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */) |
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{ |
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return fsm->state == ec_fsm_coe_map_state_end; |
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} |
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|
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/****************************************************************************** |
751 | 154 |
* state functions |
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*****************************************************************************/ |
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|
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/** |
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* Start reading mapping. |
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*/ |
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|
751 | 161 |
void ec_fsm_coe_map_state_start( |
162 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
|
163 |
) |
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{ |
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// read mapping of first sync manager |
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fsm->sync_index = 0; |
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ec_fsm_coe_map_action_next_sync(fsm); |
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168 |
} |
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|
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170 |
/*****************************************************************************/ |
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|
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172 |
/** |
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173 |
* Read mapping of next sync manager. |
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174 |
*/ |
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|
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176 |
void ec_fsm_coe_map_action_next_sync( |
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ec_fsm_coe_map_t *fsm /**< finite state machine */ |
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178 |
) |
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179 |
{ |
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ec_slave_t *slave = fsm->slave; |
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181 |
ec_sdo_entry_t *entry; |
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182 |
|
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183 |
for (; fsm->sync_index < slave->sii_sync_count; fsm->sync_index++) { |
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184 |
if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index))) |
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185 |
continue; |
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186 |
|
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187 |
if (slave->master->debug_level) |
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188 |
EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n", |
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189 |
fsm->sync_index, slave->ring_position); |
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190 |
|
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191 |
ec_fsm_coe_map_clear_pdos(fsm); |
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192 |
|
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193 |
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) { |
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194 |
EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n", |
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195 |
fsm->sync_sdo->index, |
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196 |
fsm->slave->ring_position); |
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197 |
fsm->state = ec_fsm_coe_map_state_error; |
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198 |
return; |
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199 |
} |
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200 |
|
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201 |
ec_sdo_request_init_read(&fsm->request, entry); |
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202 |
fsm->state = ec_fsm_coe_map_state_pdo_count; |
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203 |
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request); |
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204 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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205 |
return; |
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206 |
} |
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207 |
|
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208 |
fsm->state = ec_fsm_coe_map_state_end; |
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209 |
} |
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210 |
|
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211 |
/*****************************************************************************/ |
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212 |
|
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213 |
/** |
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|
214 |
* Count mapped PDOs. |
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215 |
*/ |
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216 |
|
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217 |
void ec_fsm_coe_map_state_pdo_count( |
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218 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
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219 |
) |
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220 |
{ |
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221 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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222 |
|
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223 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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224 |
EC_ERR("Failed to read number of mapped PDOs from slave %u.\n", |
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225 |
fsm->slave->ring_position); |
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226 |
fsm->state = ec_fsm_coe_map_state_error; |
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227 |
return; |
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|
228 |
} |
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229 |
|
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230 |
fsm->sync_subindices = EC_READ_U8(fsm->request.data); |
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231 |
|
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232 |
if (fsm->slave->master->debug_level) |
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|
233 |
EC_DBG(" %u PDOs mapped.\n", fsm->sync_subindices); |
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234 |
|
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235 |
// read first PDO |
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236 |
fsm->sync_subindex = 1; |
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|
237 |
ec_fsm_coe_map_action_next_pdo(fsm); |
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238 |
} |
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|
239 |
|
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|
240 |
/*****************************************************************************/ |
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|
241 |
|
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|
242 |
/** |
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|
243 |
* Read next PDO. |
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244 |
*/ |
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245 |
|
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|
246 |
void ec_fsm_coe_map_action_next_pdo( |
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|
247 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
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|
248 |
) |
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|
249 |
{ |
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|
250 |
ec_sdo_entry_t *entry; |
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|
251 |
|
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|
252 |
if (fsm->sync_subindex <= fsm->sync_subindices) { |
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|
253 |
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, |
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|
254 |
fsm->sync_subindex))) { |
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|
255 |
EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n", |
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|
256 |
fsm->sync_sdo->index, |
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|
257 |
fsm->sync_subindex, |
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|
258 |
fsm->slave->ring_position); |
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|
259 |
fsm->state = ec_fsm_coe_map_state_error; |
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|
260 |
return; |
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parents:
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|
261 |
} |
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parents:
diff
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|
262 |
|
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|
263 |
ec_sdo_request_init_read(&fsm->request, entry); |
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|
264 |
fsm->state = ec_fsm_coe_map_state_pdo; |
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|
265 |
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request); |
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|
266 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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|
267 |
return; |
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parents:
diff
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|
268 |
} |
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parents:
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|
269 |
|
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|
270 |
{ |
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|
271 |
ec_sync_t *sync = fsm->slave->sii_syncs + fsm->sync_index; |
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|
272 |
ec_pdo_t *pdo; |
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|
273 |
|
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|
274 |
// exchange sync manager PDO mapping |
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|
275 |
ec_sync_clear_pdos(sync); |
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|
276 |
list_for_each_entry(pdo, &fsm->pdos, list) { |
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|
277 |
ec_sync_add_pdo(sync, pdo); |
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|
278 |
} |
762
15214036c72a
Store PDO mapping source in sync manager.
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diff
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|
279 |
sync->mapping_source = EC_SYNC_MAPPING_COE; |
749
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|
280 |
ec_fsm_coe_map_clear_pdos(fsm); |
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|
281 |
|
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|
282 |
// next sync manager |
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|
283 |
fsm->sync_index++; |
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Florian Pose <fp@igh-essen.com>
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|
284 |
ec_fsm_coe_map_action_next_sync(fsm); |
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|
285 |
} |
741
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Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff
changeset
|
286 |
} |
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Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
287 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
288 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff
changeset
|
289 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff
changeset
|
290 |
/** |
758
8fa6f825eb7d
Updated Doxygen documentation.
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parents:
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diff
changeset
|
291 |
* Fetch PDO information. |
741
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parents:
diff
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|
292 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff
changeset
|
293 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
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|
294 |
void ec_fsm_coe_map_state_pdo( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
295 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
296 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
297 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
298 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
299 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
300 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
301 |
EC_ERR("Failed to read mapped PDO index from slave %u.\n", |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
302 |
fsm->slave->ring_position); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
303 |
fsm->state = ec_fsm_coe_map_state_error; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
304 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
305 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
306 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
307 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
308 |
ec_sdo_entry_t *entry; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
309 |
|
749
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Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
310 |
if (!(fsm->pdo = (ec_pdo_t *) |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
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diff
changeset
|
311 |
kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
312 |
EC_ERR("Failed to allocate PDO.\n"); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
313 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
314 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
315 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
316 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
317 |
ec_pdo_init(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
318 |
fsm->pdo->index = EC_READ_U16(fsm->request.data); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
319 |
fsm->pdo->type = |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
320 |
ec_sync_get_pdo_type(fsm->slave->sii_syncs + fsm->sync_index); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
321 |
|
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
322 |
if (fsm->slave->master->debug_level) |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
323 |
EC_DBG(" PDO 0x%04X.\n", fsm->pdo->index); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
324 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
325 |
if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, fsm->pdo->index))) { |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
326 |
EC_ERR("Slave %u has no SDO 0x%04X.\n", |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
327 |
fsm->slave->ring_position, fsm->pdo->index); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
328 |
ec_pdo_clear(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
329 |
kfree(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
330 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
331 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
332 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
333 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
334 |
if (fsm->pdo_sdo->name && strlen(fsm->pdo_sdo->name)) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
335 |
if (!(fsm->pdo->name = (char *) |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
336 |
kmalloc(strlen(fsm->pdo_sdo->name) + 1, GFP_KERNEL))) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
337 |
EC_ERR("Failed to allocate PDO name.\n"); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
338 |
ec_pdo_clear(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
339 |
kfree(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
340 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
341 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
342 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
343 |
memcpy(fsm->pdo->name, fsm->pdo_sdo->name, |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
344 |
strlen(fsm->pdo_sdo->name) + 1); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
345 |
} else { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
346 |
fsm->pdo->name = NULL; |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n", |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
fsm->pdo_sdo->index, |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
fsm->slave->ring_position); |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
353 |
ec_pdo_clear(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
354 |
kfree(fsm->pdo); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
355 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
356 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
357 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
358 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
359 |
list_add_tail(&fsm->pdo->list, &fsm->pdos); |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
ec_sdo_request_init_read(&fsm->request, entry); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
fsm->state = ec_fsm_coe_map_state_pdo_entry_count; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
/** |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
751
diff
changeset
|
372 |
* Read number of PDO entries. |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
374 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
375 |
void ec_fsm_coe_map_state_pdo_entry_count( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
376 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
377 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
381 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
382 |
EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n", |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
383 |
fsm->slave->ring_position); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
384 |
fsm->state = ec_fsm_coe_map_state_error; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
385 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
386 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
387 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
388 |
fsm->pdo_subindices = EC_READ_U8(fsm->request.data); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
389 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
390 |
if (fsm->slave->master->debug_level) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
391 |
EC_DBG(" %u PDO entries mapped.\n", fsm->pdo_subindices); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
392 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
393 |
// read first PDO entry |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
394 |
fsm->pdo_subindex = 1; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
395 |
ec_fsm_coe_map_action_next_pdo_entry(fsm); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
396 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
397 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
398 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
399 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
400 |
/** |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
751
diff
changeset
|
401 |
* Read next PDO entry. |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
403 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
404 |
void ec_fsm_coe_map_action_next_pdo_entry( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
405 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
408 |
ec_sdo_entry_t *entry; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
409 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
410 |
if (fsm->pdo_subindex <= fsm->pdo_subindices) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
411 |
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
412 |
fsm->pdo_subindex))) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
413 |
EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n", |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
414 |
fsm->pdo_sdo->index, fsm->pdo_subindex, |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
415 |
fsm->slave->ring_position); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
416 |
fsm->state = ec_fsm_coe_map_state_error; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
417 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
418 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
419 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
420 |
ec_sdo_request_init_read(&fsm->request, entry); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
421 |
fsm->state = ec_fsm_coe_map_state_pdo_entry; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
422 |
ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
423 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
424 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
425 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
426 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
427 |
// next PDO |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
428 |
fsm->sync_subindex++; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
429 |
ec_fsm_coe_map_action_next_pdo(fsm); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
430 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
/** |
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
751
diff
changeset
|
435 |
* Read PDO entry information. |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
436 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
void ec_fsm_coe_map_state_pdo_entry( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
440 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
441 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
442 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
443 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
444 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
445 |
EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n", |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
446 |
fsm->slave->ring_position); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
447 |
fsm->state = ec_fsm_coe_map_state_error; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
448 |
return; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
449 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
450 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
451 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
452 |
uint32_t pdo_entry_info; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
453 |
ec_sdo_t *sdo; |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
454 |
ec_sdo_entry_t *entry; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
455 |
ec_pdo_entry_t *pdo_entry; |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
pdo_entry_info = EC_READ_U32(fsm->request.data); |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
458 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
459 |
if (!(pdo_entry = (ec_pdo_entry_t *) |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
460 |
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
461 |
EC_ERR("Failed to allocate PDO entry.\n"); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
462 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
463 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
464 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
465 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
466 |
pdo_entry->index = pdo_entry_info >> 16; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
467 |
pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
468 |
pdo_entry->bit_length = pdo_entry_info & 0xFF; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
469 |
|
767 | 470 |
if (!pdo_entry->index && !pdo_entry->subindex) { |
471 |
char gapname[] = "Gap"; |
|
472 |
||
473 |
// we have a gap in the PDO, next PDO entry |
|
474 |
if (fsm->slave->master->debug_level) { |
|
475 |
EC_DBG(" PDO entry gap: %u bit.\n", |
|
476 |
pdo_entry->bit_length); |
|
477 |
} |
|
478 |
||
479 |
if (!(pdo_entry->name = (char *) |
|
480 |
kmalloc(strlen(gapname) + 1, GFP_KERNEL))) { |
|
481 |
EC_ERR("Failed to allocate GAP entry name.\n"); |
|
482 |
kfree(pdo_entry); |
|
483 |
fsm->state = ec_fsm_coe_map_state_error; |
|
484 |
return; |
|
485 |
} |
|
486 |
||
487 |
memcpy(pdo_entry->name, gapname, strlen(gapname) + 1); |
|
488 |
list_add_tail(&pdo_entry->list, &fsm->pdo->entries); |
|
489 |
fsm->pdo_subindex++; |
|
490 |
ec_fsm_coe_map_action_next_pdo_entry(fsm); |
|
491 |
return; |
|
492 |
} |
|
493 |
||
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
494 |
if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry->index))) { |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
495 |
EC_ERR("Slave %u has no SDO 0x%04X.\n", |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
496 |
fsm->slave->ring_position, pdo_entry->index); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
497 |
kfree(pdo_entry); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
498 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
499 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
500 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
501 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
502 |
if (!(entry = ec_sdo_get_entry(sdo, pdo_entry->subindex))) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
503 |
EC_ERR("Slave %u has no SDO entry 0x%04X:%u.\n", |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
504 |
fsm->slave->ring_position, pdo_entry->index, |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
505 |
pdo_entry->subindex); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
506 |
kfree(pdo_entry); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
507 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
508 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
509 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
510 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
511 |
if (entry->description && strlen(entry->description)) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
512 |
if (!(pdo_entry->name = (char *) |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
513 |
kmalloc(strlen(entry->description) + 1, GFP_KERNEL))) { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
514 |
EC_ERR("Failed to allocate PDO entry name.\n"); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
515 |
kfree(pdo_entry); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
516 |
fsm->state = ec_fsm_coe_map_state_error; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
517 |
return; |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
518 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
519 |
memcpy(pdo_entry->name, entry->description, strlen(entry->description) + 1); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
520 |
} else { |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
521 |
pdo_entry->name = NULL; |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
522 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
523 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
524 |
if (fsm->slave->master->debug_level) { |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
525 |
EC_DBG(" PDO entry 0x%04X \"%s\" (%u bit).\n", |
749
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
526 |
pdo_entry->index, pdo_entry->name ? pdo_entry->name : "???", |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
527 |
pdo_entry->bit_length); |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
528 |
} |
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
529 |
|
c8f1395f818a
Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents:
741
diff
changeset
|
530 |
list_add_tail(&pdo_entry->list, &fsm->pdo->entries); |
741
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
531 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
532 |
// next PDO entry |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
533 |
fsm->pdo_subindex++; |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
534 |
ec_fsm_coe_map_action_next_pdo_entry(fsm); |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
535 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
536 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
537 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
538 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
539 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
540 |
/** |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
541 |
State: ERROR. |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
542 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
543 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
544 |
void ec_fsm_coe_map_state_error( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
545 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
546 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
547 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
548 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
549 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
550 |
/*****************************************************************************/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
551 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
552 |
/** |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
553 |
State: END. |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
554 |
*/ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
555 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
556 |
void ec_fsm_coe_map_state_end( |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
557 |
ec_fsm_coe_map_t *fsm /**< finite state machine */ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
558 |
) |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
559 |
{ |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
560 |
} |
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
561 |
|
aece53f82df3
Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
562 |
/*****************************************************************************/ |