master/fsm_pdo_entry.c
author Florian Pose <fp@igh-essen.com>
Tue, 05 Feb 2013 17:08:33 +0100
branchstable-1.5
changeset 2506 ab9a6e109951
parent 2498 9cdd7669dc0b
child 2522 ec403cf308eb
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) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT PDO mapping 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_entry.h"
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/*****************************************************************************/
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void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *,
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        ec_datagram_t *);
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void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *,
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        ec_datagram_t *);
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void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *,
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        ec_datagram_t *);
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void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *, ec_datagram_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_pdo_entry_init(
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        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
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        )
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{
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    fsm->fsm_coe = fsm_coe;
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    ec_sdo_request_init(&fsm->request);
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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_entry_clear(
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        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    ec_sdo_request_clear(&fsm->request);
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}
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/*****************************************************************************/
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/** Print the current and desired PDO mapping.
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 */
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void ec_fsm_pdo_entry_print(
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        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    printk("Currently mapped PDO entries: ");
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    ec_pdo_print_entries(fsm->cur_pdo);
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    printk(". Entries to map: ");
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    ec_pdo_print_entries(fsm->source_pdo);
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    printk("\n");
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}
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/*****************************************************************************/
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/** Start reading a PDO's entries.
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 */
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void ec_fsm_pdo_entry_start_reading(
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        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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        ec_slave_t *slave, /**< Slave to configure. */
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        ec_pdo_t *pdo /**< PDO to read entries for. */
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        )
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{
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    fsm->slave = slave;
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    fsm->target_pdo = pdo;
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    ec_pdo_clear_entries(fsm->target_pdo);
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    fsm->state = ec_fsm_pdo_entry_read_state_start;
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}
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/*****************************************************************************/
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/** Start PDO mapping state machine.
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 */
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void ec_fsm_pdo_entry_start_configuration(
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        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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        ec_slave_t *slave, /**< Slave to configure. */
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        const ec_pdo_t *pdo, /**< PDO with the desired entries. */
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        const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
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        )
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{
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    fsm->slave = slave;
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    fsm->source_pdo = pdo;
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    fsm->cur_pdo = cur_pdo;
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    if (fsm->slave->master->debug_level) {
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        EC_SLAVE_DBG(slave, 1, "Changing mapping of PDO 0x%04X.\n",
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                pdo->index);
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        EC_SLAVE_DBG(slave, 1, ""); ec_fsm_pdo_entry_print(fsm);
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    }
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    fsm->state = ec_fsm_pdo_entry_conf_state_start;
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}
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/*****************************************************************************/
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/** Get running state.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_entry_running(
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        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    return fsm->state != ec_fsm_pdo_entry_state_end
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        && fsm->state != ec_fsm_pdo_entry_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_entry_exec(
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        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    fsm->state(fsm, datagram);
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    return ec_fsm_pdo_entry_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_entry_success(
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        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
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        )
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{
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    return fsm->state == ec_fsm_pdo_entry_state_end;
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}
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/******************************************************************************
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 * Reading state functions.
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 *****************************************************************************/
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/** Request reading the number of mapped PDO entries.
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 */
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void ec_fsm_pdo_entry_read_state_start(
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        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index, 0);
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    ecrt_sdo_request_read(&fsm->request);
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    fsm->state = ec_fsm_pdo_entry_read_state_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, datagram); // execute immediately
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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_pdo_entry_read_state_count(
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        ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
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        return;
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    }
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_SLAVE_ERR(fsm->slave,
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                "Failed to read number of mapped PDO entries.\n");
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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    }
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   226
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    if (fsm->request.data_size != sizeof(uint8_t)) {
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        EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at uploading"
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                " SDO 0x%04X:%02X.\n",
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                fsm->request.data_size, fsm->request.index,
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   231
                fsm->request.subindex);
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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   234
    }
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   235
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   236
    fsm->entry_count = EC_READ_U8(fsm->request.data);
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    EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count);
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    // read first PDO entry
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    fsm->entry_pos = 1;
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    ec_fsm_pdo_entry_read_action_next(fsm, datagram);
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}
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/*****************************************************************************/
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   246
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/** Read next PDO entry.
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 */
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void ec_fsm_pdo_entry_read_action_next(
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        ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    if (fsm->entry_pos <= fsm->entry_count) {
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        ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index,
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                fsm->entry_pos);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_pdo_entry_read_state_entry;
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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, datagram); // execute immediately
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        return;
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    }
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    // finished reading entries.
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    fsm->state = ec_fsm_pdo_entry_state_end;
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}
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/*****************************************************************************/
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/** Read PDO entry information.
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 */
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void ec_fsm_pdo_entry_read_state_entry(
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        ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
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        ec_datagram_t *datagram /**< Datagram to use. */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
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        return;
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   279
    }
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entry.\n");
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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   285
    }
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    if (fsm->request.data_size != sizeof(uint32_t)) {
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        EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at"
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                " uploading SDO 0x%04X:%02X.\n",
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                fsm->request.data_size, fsm->request.index,
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                fsm->request.subindex);
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        fsm->state = ec_fsm_pdo_entry_state_error;
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   293
    } else {
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        uint32_t pdo_entry_info;
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        ec_pdo_entry_t *pdo_entry;
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   296
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        pdo_entry_info = EC_READ_U32(fsm->request.data);
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   298
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   299
        if (!(pdo_entry = (ec_pdo_entry_t *)
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                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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            EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO entry.\n");
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            fsm->state = ec_fsm_pdo_entry_state_error;
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            return;
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   304
        }
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        ec_pdo_entry_init(pdo_entry);
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        pdo_entry->index = pdo_entry_info >> 16;
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        pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
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        pdo_entry->bit_length = pdo_entry_info & 0xFF;
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        if (!pdo_entry->index && !pdo_entry->subindex) {
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            if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
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                ec_pdo_entry_clear(pdo_entry);
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   314
                kfree(pdo_entry);
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                fsm->state = ec_fsm_pdo_entry_state_error;
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   316
                return;
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   317
            }
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   318
        }
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   319
1921
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        EC_SLAVE_DBG(fsm->slave, 1,
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   321
                "PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
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   322
                pdo_entry->index, pdo_entry->subindex,
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   323
                pdo_entry->bit_length,
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   324
                pdo_entry->name ? pdo_entry->name : "???");
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   325
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   326
        list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
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   327
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   328
        // next PDO entry
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   329
        fsm->entry_pos++;
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   330
        ec_fsm_pdo_entry_read_action_next(fsm, datagram);
1174
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   331
    }
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   332
}
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   333
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   334
/******************************************************************************
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   335
 * Configuration state functions.
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   336
 *****************************************************************************/
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   337
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   338
/** Start PDO mapping.
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   339
 */
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   340
void ec_fsm_pdo_entry_conf_state_start(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
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   341
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
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   342
        ec_datagram_t *datagram /**< Datagram to use. */
1327
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   343
        )
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   344
{
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   345
    if (ec_sdo_request_alloc(&fsm->request, 4)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   346
        fsm->state = ec_fsm_pdo_entry_state_error;
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diff changeset
   347
        return;
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diff changeset
   348
    }
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   349
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   350
    // set mapped PDO entry count to zero
1174
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   351
    EC_WRITE_U8(fsm->request.data, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   352
    fsm->request.data_size = 1;
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   353
    ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
1174
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diff changeset
   354
    ecrt_sdo_request_write(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   355
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   356
    EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n");
1174
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diff changeset
   357
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diff changeset
   358
    fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   359
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
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   360
    ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
1174
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diff changeset
   361
}
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diff changeset
   362
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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   363
/*****************************************************************************/
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diff changeset
   364
1327
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   365
/** Process next PDO entry.
1174
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parents:
diff changeset
   366
 */
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diff changeset
   367
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
1327
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   368
        const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   369
        const struct list_head *list /**< current entry list item */
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parents:
diff changeset
   370
        )
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   371
{
2421
bc2d4bf9cbe5 Removed trailing spaces.
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parents: 1964
diff changeset
   372
    list = list->next;
1174
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parents:
diff changeset
   373
    if (list == &fsm->source_pdo->entries)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   374
        return NULL; // no next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   375
    return list_entry(list, ec_pdo_entry_t, list);
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parents:
diff changeset
   376
}
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   377
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   378
/*****************************************************************************/
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diff changeset
   379
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diff changeset
   380
/** Set the number of mapped entries to zero.
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parents:
diff changeset
   381
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
void ec_fsm_pdo_entry_conf_state_zero_entry_count(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   383
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   384
        ec_datagram_t *datagram /**< Datagram to use. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   385
        )
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   386
{
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   387
    if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   388
        return;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   389
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   392
        EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO mapping.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   393
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
        fsm->state = ec_fsm_pdo_entry_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
    // find first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
    if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
                    fsm, &fsm->source_pdo->entries))) {
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1964
diff changeset
   401
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   402
        EC_SLAVE_DBG(fsm->slave, 1, "No entries to map.\n");
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
        fsm->state = ec_fsm_pdo_entry_state_end; // finished
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    // add first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
    fsm->entry_pos = 1;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   410
    ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   415
/** Starts to add a PDO entry.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
void ec_fsm_pdo_entry_conf_action_map(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   418
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   419
        ec_datagram_t *datagram /**< Datagram to use. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    uint32_t value;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   424
    EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   425
            " at position %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   426
            fsm->entry->index, fsm->entry->subindex,
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   427
            fsm->entry->bit_length, fsm->entry_pos);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    value = fsm->entry->index << 16
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    EC_WRITE_U32(fsm->request.data, value);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    fsm->request.data_size = 4;
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   433
    ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index,
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   434
            fsm->entry_pos);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
    ecrt_sdo_request_write(&fsm->request);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1964
diff changeset
   436
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
    fsm->state = ec_fsm_pdo_entry_conf_state_map_entry;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   439
    ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   444
/** Add a PDO entry.
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
void ec_fsm_pdo_entry_conf_state_map_entry(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   447
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   448
        ec_datagram_t *datagram /**< Datagram to use. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   449
        )
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   450
{
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   451
    if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   452
        return;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   453
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   456
        EC_SLAVE_WARN(fsm->slave, "Failed to map PDO entry"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   457
                " 0x%04X:%02X (%u bit) to position %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   458
                fsm->entry->index, fsm->entry->subindex,
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
                fsm->entry->bit_length, fsm->entry_pos);
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   460
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
        fsm->state = ec_fsm_pdo_entry_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
    // find next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
    if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
                    fsm, &fsm->entry->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        // No more entries to add. Write entry count.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        EC_WRITE_U8(fsm->request.data, fsm->entry_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
        fsm->request.data_size = 1;
2434
fa52128477f6 Added ecrt_sdo_request_index() method to change index and subindex.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
   472
        ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
        ecrt_sdo_request_write(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   475
        EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   476
                fsm->entry_pos);
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1964
diff changeset
   477
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
        fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   480
        ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
    // add next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
    fsm->entry_pos++;
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   486
    ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
/** Set the number of entries.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
void ec_fsm_pdo_entry_conf_state_set_entry_count(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   494
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   495
        ec_datagram_t *datagram /**< Datagram to use. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   496
        )
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   497
{
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   498
    if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   499
        return;
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   500
    }
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   503
        EC_SLAVE_WARN(fsm->slave, "Failed to set number of entries.\n");
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   504
        EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   505
        fsm->state = ec_fsm_pdo_entry_state_error;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   506
        return;
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   507
    }
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   508
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   509
    EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1823
diff changeset
   510
            " mapping for PDO 0x%04X.\n", fsm->source_pdo->index);
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
    fsm->state = ec_fsm_pdo_entry_state_end; // finished
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
 * Common state functions
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
/** State: ERROR.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
void ec_fsm_pdo_entry_state_error(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   522
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   523
        ec_datagram_t *datagram /**< Datagram to use. */
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
/** State: END.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
void ec_fsm_pdo_entry_state_end(
2498
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   533
        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   534
        ec_datagram_t *datagram /**< Datagram to use. */
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   535
        )
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   536
{
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   537
}
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   538
9cdd7669dc0b Avoided io_sem locking from userspace/rtdm library.
Florian Pose <fp@igh-essen.com>
parents: 2434
diff changeset
   539
/*****************************************************************************/