| author | Florian Pose <fp@igh-essen.com> |
| Thu, 21 Feb 2008 09:24:56 +0000 | |
| changeset 806 | ab8daaabbe48 |
| parent 801 | 6b1e2b0ed8bc |
| child 814 | a51f857b1b2d |
| permissions | -rw-r--r-- |
| 799 | 1 |
/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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* |
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*****************************************************************************/ |
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/** \file |
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* EtherCAT Pdo configuration state machine. |
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*/ |
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/*****************************************************************************/ |
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#include "globals.h" |
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#include "master.h" |
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#include "mailbox.h" |
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#include "slave_config.h" |
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#include "fsm_pdo_config.h" |
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/*****************************************************************************/ |
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void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *); |
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void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *); |
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/*****************************************************************************/ |
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/** Constructor. |
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*/ |
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void ec_fsm_pdo_config_init( |
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ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */ |
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ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */ |
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) |
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{
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fsm->fsm_coe = fsm_coe; |
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fsm->sdodata.data = (uint8_t *) &fsm->sdo_value; |
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} |
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/*****************************************************************************/ |
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/** Destructor. |
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*/ |
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void ec_fsm_pdo_config_clear( |
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ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */ |
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) |
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{
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} |
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/*****************************************************************************/ |
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/** Start Pdo configuration state machine. |
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*/ |
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void ec_fsm_pdo_config_start( |
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ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */ |
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ec_slave_t *slave /**< slave to configure */ |
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) |
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{
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fsm->slave = slave; |
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fsm->state = ec_fsm_pdo_config_state_start; |
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} |
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/*****************************************************************************/ |
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/** Get running state. |
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* |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_pdo_config_running( |
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const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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return fsm->state != ec_fsm_pdo_config_state_end |
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&& fsm->state != ec_fsm_pdo_config_state_error; |
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} |
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/*****************************************************************************/ |
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/** Executes the current state. |
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* |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_pdo_config_exec( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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fsm->state(fsm); |
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return ec_fsm_pdo_config_running(fsm); |
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} |
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/*****************************************************************************/ |
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/** Get execution result. |
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* |
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* \return true, if the state machine terminated gracefully |
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*/ |
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int ec_fsm_pdo_config_success( |
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const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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return fsm->state == ec_fsm_pdo_config_state_end; |
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} |
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/****************************************************************************** |
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* State functions. |
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*****************************************************************************/ |
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/** Start Pdo configuration. |
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*/ |
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void ec_fsm_pdo_config_state_start( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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if (!fsm->slave->config) {
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fsm->state = ec_fsm_pdo_config_state_end; |
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return; |
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} |
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fsm->pdo = NULL; |
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ec_fsm_pdo_config_next_pdo(fsm); |
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} |
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/*****************************************************************************/ |
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/** Process configuration of next Pdo. |
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*/ |
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void ec_fsm_pdo_config_next_pdo( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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ec_direction_t dir; |
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const ec_pdo_mapping_t *map; |
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const ec_pdo_t *pdo, *mapped_pdo; |
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for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
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map = &fsm->slave->config->mapping[dir]; |
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list_for_each_entry(pdo, &map->pdos, list) {
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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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if (fsm->pdo) { // there was a Pdo configured in the last run
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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if (pdo == fsm->pdo) // this is the last Pdo |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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fsm->pdo = NULL; // take the next one |
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} else {
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if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index))) |
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if (ec_pdo_equal_entries(pdo, mapped_pdo)) |
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continue; // Pdo configured correctly |
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fsm->pdo = pdo; |
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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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break; |
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} |
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} |
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} |
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801
6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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if (!fsm->pdo) {
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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if (fsm->slave->master->debug_level) |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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EC_DBG("Pdo configuration finished for slave %u.\n",
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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fsm->slave->ring_position); |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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fsm->state = ec_fsm_pdo_config_state_end; |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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return; |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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} |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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if (fsm->slave->master->debug_level) {
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EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
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fsm->pdo->index, fsm->slave->ring_position); |
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} |
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// set mapped PDO count to zero |
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fsm->sdodata.index = fsm->pdo->index; |
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fsm->sdodata.subindex = 0; // number of configured entries |
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EC_WRITE_U8(&fsm->sdo_value, 0); |
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fsm->sdodata.size = 1; |
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if (fsm->slave->master->debug_level) |
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EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
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fsm->pdo->index); |
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fsm->state = ec_fsm_pdo_config_state_zero_count; |
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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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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/** Process next Pdo entry. |
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*/ |
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ec_pdo_entry_t *ec_fsm_pdo_config_next_entry( |
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const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */ |
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const struct list_head *list /**< current entry list item */ |
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) |
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{
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list = list->next; |
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if (list == &fsm->pdo->entries) |
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return NULL; // no next entry |
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return list_entry(list, ec_pdo_entry_t, list); |
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} |
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/*****************************************************************************/ |
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/** Starts to add a Pdo entry. |
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*/ |
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void ec_fsm_pdo_config_add_entry( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */ |
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) |
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{
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uint32_t value; |
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fsm->sdodata.subindex = fsm->entry_count; |
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value = fsm->entry->index << 16 |
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| fsm->entry->subindex << 8 | fsm->entry->bit_length; |
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EC_WRITE_U32(&fsm->sdo_value, value); |
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fsm->sdodata.size = 4; |
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if (fsm->slave->master->debug_level) |
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EC_DBG("Configuring Pdo entry %08X at position %u.\n",
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value, fsm->entry_count); |
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fsm->state = ec_fsm_pdo_config_state_add_entry; |
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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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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/** Set the number of configured entries to zero. |
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*/ |
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void ec_fsm_pdo_config_state_zero_count( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 clear Pdo configuration for slave %u.\n",
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fsm->slave->ring_position); |
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fsm->state = ec_fsm_pdo_config_state_error; |
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return; |
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} |
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// find first entry |
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if (!(fsm->entry = |
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ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
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if (fsm->slave->master->debug_level) |
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EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
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fsm->pdo->index, fsm->slave->ring_position); |
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ec_fsm_pdo_config_next_pdo(fsm); |
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return; |
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} |
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// add first entry |
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fsm->entry_count = 1; |
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ec_fsm_pdo_config_add_entry(fsm); |
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} |
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/*****************************************************************************/ |
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/** Add a Pdo entry. |
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*/ |
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void ec_fsm_pdo_config_state_add_entry( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 add entry 0x%04X:%u for slave %u.\n",
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fsm->entry->index, fsm->entry->subindex, |
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fsm->slave->ring_position); |
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fsm->state = ec_fsm_pdo_config_state_error; |
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return; |
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} |
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// find next entry |
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if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
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// No more entries to add. Write entry count. |
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fsm->sdodata.subindex = 0; |
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EC_WRITE_U8(&fsm->sdo_value, fsm->entry_count); |
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fsm->sdodata.size = 1; |
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if (fsm->slave->master->debug_level) |
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EC_DBG("Setting number of Pdo entries to %u.\n",
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fsm->entry_count); |
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fsm->state = ec_fsm_pdo_config_state_entry_count; |
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ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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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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// add next entry |
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fsm->entry_count++; |
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ec_fsm_pdo_config_add_entry(fsm); |
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} |
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/*****************************************************************************/ |
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/** Set the number of entries. |
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*/ |
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void ec_fsm_pdo_config_state_entry_count( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration 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 set number of entries for slave %u.\n",
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fsm->slave->ring_position); |
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fsm->state = ec_fsm_pdo_config_state_error; |
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return; |
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} |
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if (fsm->slave->master->debug_level) |
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EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
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fsm->pdo->index, fsm->slave->ring_position); |
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ec_fsm_pdo_config_next_pdo(fsm); |
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} |
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/****************************************************************************** |
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* Common state functions |
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*****************************************************************************/ |
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/** State: ERROR. |
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*/ |
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void ec_fsm_pdo_config_state_error( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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} |
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/*****************************************************************************/ |
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/** State: END. |
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*/ |
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void ec_fsm_pdo_config_state_end( |
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ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */ |
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) |
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{
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} |
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/*****************************************************************************/ |