master/fsm_coe_map.c
author Florian Pose <fp@igh-essen.com>
Thu, 12 Jun 2008 13:00:32 +0000
changeset 1004 990b89d8ad03
parent 926 6bb33c6ec770
child 1033 b98259cc7d40
permissions -rw-r--r--
Fixed duplicate kfree() bug.
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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 Pdo information 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 "sdo_request.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_dir(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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/*****************************************************************************/
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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->fsm_coe = fsm_coe;
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    fsm->state = NULL;
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    ec_sdo_request_init(&fsm->request);
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    ec_pdo_list_init(&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_sdo_request_clear(&fsm->request);
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    ec_pdo_list_clear(&fsm->pdos);
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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 Pdo assignment.
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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 Pdo assignment for first direction
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    fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
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    ec_fsm_coe_map_action_next_dir(fsm);
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}
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/*****************************************************************************/
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/**
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 * Read Pdo assignment of next direction manager.
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 */
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void ec_fsm_coe_map_action_next_dir(
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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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    fsm->dir++;
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    if (slave->master->debug_level)
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        EC_DBG("Processing dir %u of slave %u.\n",
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                fsm->dir, slave->ring_position);
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    for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
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        if (!(fsm->sync = ec_slave_get_pdo_sync(slave, fsm->dir))) {
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            if (slave->master->debug_level)
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                EC_DBG("No sync manager for direction %u!\n", fsm->dir);
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            continue;
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        }
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        fsm->sync_sdo_index = 0x1C10 + fsm->sync->index;
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        if (slave->master->debug_level)
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            EC_DBG("Reading Pdo assignment of sync manager %u of slave %u.\n",
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                    fsm->sync->index, slave->ring_position);
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        ec_pdo_list_clear_pdos(&fsm->pdos);
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        ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_coe_map_state_pdo_count;
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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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        return;
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    }
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    if (slave->master->debug_level)
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        EC_DBG("Reading of Pdo assignment finished for slave %u.\n",
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                slave->ring_position);
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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 assigned 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 assigned 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 assigned.\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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    if (fsm->sync_subindex <= fsm->sync_subindices) {
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f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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        ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
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                fsm->sync_subindex);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_coe_map_state_pdo;
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   243
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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        return;
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    }
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    // finished reading Pdo assignment/mapping
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   249
    
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    if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
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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->assign_source = EC_ASSIGN_COE;
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    ec_pdo_list_clear_pdos(&fsm->pdos);
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    // next direction
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    ec_fsm_coe_map_action_next_dir(fsm);
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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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    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 assigned 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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    }
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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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        return;
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    }
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    ec_pdo_init(fsm->pdo);
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    fsm->pdo->index = EC_READ_U16(fsm->request.data);
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    fsm->pdo->dir = ec_sync_direction(fsm->sync);
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    if (fsm->slave->master->debug_level)
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        EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);
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    list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
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    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
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    ecrt_sdo_request_read(&fsm->request);
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    fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
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    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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}
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/*****************************************************************************/
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/**
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 * Read number of mapped Pdo entries.
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 */
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void ec_fsm_coe_map_state_pdo_entry_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 Pdo entries 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->pdo_subindices = EC_READ_U8(fsm->request.data);
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    if (fsm->slave->master->debug_level)
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   326
        EC_DBG("    %u Pdo entries mapped.\n", fsm->pdo_subindices);
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    // read first Pdo entry
741
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    fsm->pdo_subindex = 1;
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    ec_fsm_coe_map_action_next_pdo_entry(fsm);
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}
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/*****************************************************************************/
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/**
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 * Read next Pdo entry.
741
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 */
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void ec_fsm_coe_map_action_next_pdo_entry(
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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 (fsm->pdo_subindex <= fsm->pdo_subindices) {
854
f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
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   344
        ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
858
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        ecrt_sdo_request_read(&fsm->request);
741
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        fsm->state = ec_fsm_coe_map_state_pdo_entry;
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233e32f428e1 Replaced ec_fsm_coe_\(upload\|download\)() with ec_fsm_coe_transfer();
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   347
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
741
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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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   352
    // next Pdo
741
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   353
    fsm->sync_subindex++;
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   354
    ec_fsm_coe_map_action_next_pdo(fsm);
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}
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/*****************************************************************************/
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/**
814
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   360
 * Read Pdo entry information.
741
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 */
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void ec_fsm_coe_map_state_pdo_entry(
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   364
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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   365
        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   369
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879
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        EC_ERR("Failed to read mapped Pdo entry from slave %u.\n",
741
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                fsm->slave->ring_position);
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   372
        fsm->state = ec_fsm_coe_map_state_error;
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        return;
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    }
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    {
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        uint32_t pdo_entry_info;
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
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   378
        ec_pdo_entry_t *pdo_entry;
741
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   380
        pdo_entry_info = EC_READ_U32(fsm->request.data);
749
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   381
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   382
        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
   383
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
814
a51f857b1b2d Renamed [PS]DO to [PS]do.
Florian Pose <fp@igh-essen.com>
parents: 792
diff changeset
   384
            EC_ERR("Failed to allocate Pdo entry.\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
   385
            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
   386
            return;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   387
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   388
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   389
        ec_pdo_entry_init(pdo_entry);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   390
        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
   391
        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
   392
        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
   393
767
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   394
        if (!pdo_entry->index && !pdo_entry->subindex) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   395
            if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   396
                ec_pdo_entry_clear(pdo_entry);
767
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   397
                kfree(pdo_entry);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   398
                fsm->state = ec_fsm_coe_map_state_error;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   399
                return;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   400
            }
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
        }
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
        if (fsm->slave->master->debug_level) {
926
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   404
            EC_DBG("    Pdo entry 0x%04X:%02X, %u bit,  \"%s\".\n",
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   405
                    pdo_entry->index, pdo_entry->subindex,
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   406
                    pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X.
Florian Pose <fp@igh-essen.com>
parents: 903
diff changeset
   407
                    pdo_entry->name ? pdo_entry->name : "???");
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   408
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   409
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 814
diff changeset
   410
        // next Pdo entry
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   411
        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
   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_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
   414
    }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
/*****************************************************************************/
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
   State: ERROR.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
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
   424
        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
   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
}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
/*****************************************************************************/
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
   State: END.
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
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
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
   436
        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
   437
        )
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
}
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
/*****************************************************************************/