master/fsm_coe_map.c
author Florian Pose <fp@igh-essen.com>
Fri, 01 Feb 2008 20:26:13 +0000
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child 792 3778920f61e4
permissions -rw-r--r--
TODO.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE mapping state machines.
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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 "canopen.h"
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#include "fsm_coe_map.h"
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/*****************************************************************************/
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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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/**
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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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   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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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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   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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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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    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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/**
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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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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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 *  state functions
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 *****************************************************************************/
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/**
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 * Start reading mapping.
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 */
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void ec_fsm_coe_map_state_start(
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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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    // 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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}
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/*****************************************************************************/
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/**
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 * Read mapping of next sync manager.
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 */
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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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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    ec_sdo_entry_t *entry;
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    for (; fsm->sync_index < slave->sii_sync_count; fsm->sync_index++) {
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        if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
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            continue;
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        if (slave->master->debug_level)
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            EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
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                    fsm->sync_index, slave->ring_position);
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        ec_fsm_coe_map_clear_pdos(fsm);
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        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
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            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
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                    fsm->sync_sdo->index,
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                    fsm->slave->ring_position);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        ec_sdo_request_init_read(&fsm->request, entry);
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        fsm->state = ec_fsm_coe_map_state_pdo_count;
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        ec_fsm_coe_upload(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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    fsm->state = ec_fsm_coe_map_state_end;
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}
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/*****************************************************************************/
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/**
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 * Count mapped PDOs.
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 */
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void ec_fsm_coe_map_state_pdo_count(
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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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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
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                fsm->slave->ring_position);
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        fsm->state = ec_fsm_coe_map_state_error;
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        return;
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    }
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    fsm->sync_subindices = EC_READ_U8(fsm->request.data);
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    if (fsm->slave->master->debug_level)
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        EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);
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    // read first PDO
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    fsm->sync_subindex = 1;
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    ec_fsm_coe_map_action_next_pdo(fsm);
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}
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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_coe_map_action_next_pdo(
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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_sdo_entry_t *entry;
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    if (fsm->sync_subindex <= fsm->sync_subindices) {
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        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
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                        fsm->sync_subindex))) {
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            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
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                    fsm->sync_sdo->index,
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                    fsm->sync_subindex,
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                    fsm->slave->ring_position);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        ec_sdo_request_init_read(&fsm->request, entry);
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        fsm->state = ec_fsm_coe_map_state_pdo;
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        ec_fsm_coe_upload(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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    {
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        ec_sync_t *sync = fsm->slave->sii_syncs + fsm->sync_index;
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        ec_pdo_t *pdo;
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        // exchange sync manager PDO mapping
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        ec_sync_clear_pdos(sync);
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        list_for_each_entry(pdo, &fsm->pdos, list) {
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            ec_sync_add_pdo(sync, pdo);
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   278
        }
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        sync->mapping_source = EC_SYNC_MAPPING_COE;
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        ec_fsm_coe_map_clear_pdos(fsm);
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        // next sync manager
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        fsm->sync_index++;
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        ec_fsm_coe_map_action_next_sync(fsm);
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   285
    }
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}
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/*****************************************************************************/
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/**
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 * Fetch PDO information.
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 */
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void ec_fsm_coe_map_state_pdo(
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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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   298
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read mapped PDO index from slave %u.\n",
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                fsm->slave->ring_position);
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        fsm->state = ec_fsm_coe_map_state_error;
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        return;
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   305
    }
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    {
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        ec_sdo_entry_t *entry;
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        if (!(fsm->pdo = (ec_pdo_t *)
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                    kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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            EC_ERR("Failed to allocate PDO.\n");
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            fsm->state = ec_fsm_coe_map_state_error;
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   314
            return;
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   315
        }
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        ec_pdo_init(fsm->pdo);
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   318
        fsm->pdo->index = EC_READ_U16(fsm->request.data);
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   319
        fsm->pdo->type =
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   320
            ec_sync_get_pdo_type(fsm->slave->sii_syncs + fsm->sync_index);
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   321
741
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   322
        if (fsm->slave->master->debug_level)
749
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   323
            EC_DBG("  PDO 0x%04X.\n", fsm->pdo->index);
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   324
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   325
        if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, fsm->pdo->index))) {
741
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   326
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
749
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   327
                    fsm->slave->ring_position, fsm->pdo->index);
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   328
            ec_pdo_clear(fsm->pdo);
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   329
            kfree(fsm->pdo);
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   330
            fsm->state = ec_fsm_coe_map_state_error;
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   331
            return;
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   332
        }
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   333
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   334
        if (fsm->pdo_sdo->name && strlen(fsm->pdo_sdo->name)) {
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diff changeset
   335
            if (!(fsm->pdo->name = (char *)
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diff changeset
   336
                        kmalloc(strlen(fsm->pdo_sdo->name) + 1, GFP_KERNEL))) {
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diff changeset
   337
                EC_ERR("Failed to allocate PDO name.\n");
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diff changeset
   338
                ec_pdo_clear(fsm->pdo);
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diff changeset
   339
                kfree(fsm->pdo);
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diff changeset
   340
                fsm->state = ec_fsm_coe_map_state_error;
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diff changeset
   341
                return;
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diff changeset
   342
            }
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   343
            memcpy(fsm->pdo->name, fsm->pdo_sdo->name,
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   344
                    strlen(fsm->pdo_sdo->name) + 1);
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diff changeset
   345
        } else {
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diff changeset
   346
            fsm->pdo->name = NULL;
741
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   347
        }
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   348
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   349
        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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diff changeset
   350
            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
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   351
                    fsm->pdo_sdo->index,
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   352
                    fsm->slave->ring_position);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
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diff changeset
   353
            ec_pdo_clear(fsm->pdo);
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diff changeset
   354
            kfree(fsm->pdo);
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diff changeset
   355
            fsm->state = ec_fsm_coe_map_state_error;
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   356
            return;
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diff changeset
   357
        }
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   358
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
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diff changeset
   359
        list_add_tail(&fsm->pdo->list, &fsm->pdos);
741
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   360
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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diff changeset
   361
        ec_sdo_request_init_read(&fsm->request, entry);
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parents:
diff changeset
   362
        fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
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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).
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parents:
diff changeset
   364
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff changeset
   365
        return;
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diff changeset
   366
    }
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   367
}
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   369
/*****************************************************************************/
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diff changeset
   371
/**
758
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   372
 * Read number of PDO entries.
741
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   373
 */
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   375
void ec_fsm_coe_map_state_pdo_entry_count(
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parents:
diff changeset
   376
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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parents:
diff changeset
   377
        )
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diff changeset
   378
{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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diff changeset
   379
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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parents:
diff changeset
   380
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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parents:
diff changeset
   381
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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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).
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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
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   470
        if (!pdo_entry->index && !pdo_entry->subindex) {
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   471
            char gapname[] = "Gap";
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   472
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   473
            // we have a gap in the PDO, next PDO entry
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   474
            if (fsm->slave->master->debug_level) {
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   475
                EC_DBG("    PDO entry gap: %u bit.\n",
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   476
                        pdo_entry->bit_length);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   477
            }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   478
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   479
            if (!(pdo_entry->name = (char *)
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   480
                        kmalloc(strlen(gapname) + 1, GFP_KERNEL))) {
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   481
                EC_ERR("Failed to allocate GAP entry name.\n");
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   482
                kfree(pdo_entry);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   483
                fsm->state = ec_fsm_coe_map_state_error;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   484
                return;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   485
            }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   486
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   487
            memcpy(pdo_entry->name, gapname, strlen(gapname) + 1);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   488
            list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   489
            fsm->pdo_subindex++;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   490
            ec_fsm_coe_map_action_next_pdo_entry(fsm);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   491
            return;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   492
        }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   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
/*****************************************************************************/