etherlabmaster: master/fsm_coe_map.c@b98259cc7d40 (annotated)

741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
768 b709149d5bba Added missing svn properties. Florian Pose <fp@igh-essen.com> parents: 767 diff changeset	3	* $Id$
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	33
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	36	EtherCAT Pdo information state machines.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	38
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	40
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "mailbox.h"
847 92266462d411 Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 831 diff changeset	44	#include "sdo_request.h"
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "fsm_coe_map.h"
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	46
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	48
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	54
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	56	void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	57
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	58	void ec_fsm_coe_map_action_next_dir(ec_fsm_coe_map_t *);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	59	void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	60	void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	61
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	62	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	63
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	64	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	65	Constructor.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	66	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	67
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	68	void ec_fsm_coe_map_init(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	69	ec_fsm_coe_map_t fsm, /< finite state machine /
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 751 diff changeset	70	ec_fsm_coe_t fsm_coe /< CoE state machine to use /
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	71	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	72	{
852 ab439cbc7a81 Separated ec_sdo_request_init() and ec_sdo_request_read(). Florian Pose <fp@igh-essen.com> parents: 849 diff changeset	73	fsm->fsm_coe = fsm_coe;
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	74	fsm->state = NULL;
852 ab439cbc7a81 Separated ec_sdo_request_init() and ec_sdo_request_read(). Florian Pose <fp@igh-essen.com> parents: 849 diff changeset	75	ec_sdo_request_init(&fsm->request);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	76	ec_pdo_list_init(&fsm->pdos);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	77	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	78
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	79	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	80
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	81	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	82	Destructor.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	83	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	84
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	85	void ec_fsm_coe_map_clear(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	86	{
852 ab439cbc7a81 Separated ec_sdo_request_init() and ec_sdo_request_read(). Florian Pose <fp@igh-essen.com> parents: 849 diff changeset	87	ec_sdo_request_clear(&fsm->request);
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	88	ec_pdo_list_clear(&fsm->pdos);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	89	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	90
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	91	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	92
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	93	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	94	Starts to upload an Sdo from a slave.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	95	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	96
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	97	void ec_fsm_coe_map_start(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	98	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	99	ec_slave_t slave /< EtherCAT slave /
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	100	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	102	fsm->slave = slave;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	103	fsm->state = ec_fsm_coe_map_state_start;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	104	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	105
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	106	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	107
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	108	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	109	Executes the current state of the state machine.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	110	\return false, if state machine has terminated
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	111	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	112
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	113	int ec_fsm_coe_map_exec(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	114	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	115	fsm->state(fsm);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	116
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	117	return fsm->state != 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	118	&& fsm->state != ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	119	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	120
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	121	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	122
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	123	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	124	Returns, if the state machine terminated with success.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	125	\return non-zero if successful.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	126	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	127
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	128	int ec_fsm_coe_map_success(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	129	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	130	return fsm->state == 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	131	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	132
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	133	/******************************************************************************
751 41a5c537b76d Minor changes. Florian Pose <fp@igh-essen.com> parents: 749 diff changeset	134	* state functions
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	135	*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	136
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	137	/**
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	138	* Start reading Pdo assignment.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	139	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	140
751 41a5c537b76d Minor changes. Florian Pose <fp@igh-essen.com> parents: 749 diff changeset	141	void ec_fsm_coe_map_state_start(
41a5c537b76d Minor changes. Florian Pose <fp@igh-essen.com> parents: 749 diff changeset	142	ec_fsm_coe_map_t fsm /< finite state machine /
41a5c537b76d Minor changes. Florian Pose <fp@igh-essen.com> parents: 749 diff changeset	143	)
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	144	{
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	145	// read Pdo assignment for first direction
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	146	fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	147	ec_fsm_coe_map_action_next_dir(fsm);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	148	}
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	149
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	150	/*****************************************************************************/
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	151
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	152	/**
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	153	* Read Pdo assignment of next direction manager.
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	154	*/
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	155
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	156	void ec_fsm_coe_map_action_next_dir(
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	157	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	158	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	159	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	160	ec_slave_t *slave = fsm->slave;
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	161
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	162	fsm->dir++;
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	163
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	164	if (slave->master->debug_level)
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	165	EC_DBG("Processing dir %u of slave %u.\n",
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	166	fsm->dir, slave->ring_position);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	167
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	168	for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	169
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	170	if (!(fsm->sync = ec_slave_get_pdo_sync(slave, fsm->dir))) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	171	if (slave->master->debug_level)
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	172	EC_DBG("No sync manager for direction %u!\n", fsm->dir);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	173	continue;
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	174	}
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	175
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	176	fsm->sync_sdo_index = 0x1C10 + fsm->sync->index;
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	177
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	178	if (slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	179	EC_DBG("Reading Pdo assignment of sync manager %u of slave %u.\n",
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	180	fsm->sync->index, slave->ring_position);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	181
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	182	ec_pdo_list_clear_pdos(&fsm->pdos);
749 c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	183
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 852 diff changeset	184	ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	185	ecrt_sdo_request_read(&fsm->request);
1033 b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	186	fsm->retries = 5;
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	187	fsm->state = ec_fsm_coe_map_state_pdo_count;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	188	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	189	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	190	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	191	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	192
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	193	if (slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	194	EC_DBG("Reading of Pdo assignment finished for slave %u.\n",
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	195	slave->ring_position);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	196
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	197	fsm->state = 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	198	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	199
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	200	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	201
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	202	/**
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	203	* Count assigned Pdos.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	204	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	205
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	206	void ec_fsm_coe_map_state_pdo_count(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	207	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	208	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	209	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	210	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	211
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	212	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1033 b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	213	if (fsm->retries--) {
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	214	if (fsm->slave->master->debug_level)
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	215	EC_DBG("Failed to read number of assigned Pdos from "
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	216	"slave %u. Retrying...\n", fsm->slave->ring_position);
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	217	ecrt_sdo_request_read(&fsm->request);
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	218	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	219	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	220	return;
b98259cc7d40 Retry reading Pdo assignment. Florian Pose <fp@igh-essen.com> parents: 926 diff changeset	221	}
903 d13004440b6d Improved a few debugging outputs. Florian Pose <fp@igh-essen.com> parents: 879 diff changeset	222	EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	223	fsm->slave->ring_position);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	224	fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	225	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	226	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	227
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	228	fsm->sync_subindices = EC_READ_U8(fsm->request.data);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	229
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	230	if (fsm->slave->master->debug_level)
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	231	EC_DBG(" %u Pdos assigned.\n", fsm->sync_subindices);
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	232
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	233	// read first Pdo
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	234	fsm->sync_subindex = 1;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	235	ec_fsm_coe_map_action_next_pdo(fsm);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	236	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	237
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	238	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	239
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	240	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	241	* Read next Pdo.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	242	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	243
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	244	void ec_fsm_coe_map_action_next_pdo(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	245	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	246	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	247	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	248	if (fsm->sync_subindex <= fsm->sync_subindices) {
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 852 diff changeset	249	ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
849 4b712ec8929d Removed slave pointer from ec_sdo_request_t class. Florian Pose <fp@igh-essen.com> parents: 847 diff changeset	250	fsm->sync_subindex);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	251	ecrt_sdo_request_read(&fsm->request);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	252	fsm->state = ec_fsm_coe_map_state_pdo;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	253	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	254	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	255	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	256	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	257
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	258	// finished reading Pdo assignment/mapping
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	259
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	260	if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	261	fsm->state = ec_fsm_coe_map_state_error;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	262	return;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	263	}
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	264
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	265	fsm->sync->assign_source = EC_ASSIGN_COE;
9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	266	ec_pdo_list_clear_pdos(&fsm->pdos);
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	267
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	268	// next direction
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	269	ec_fsm_coe_map_action_next_dir(fsm);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	270	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	271
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	272	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	273
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	274	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	275	* Fetch Pdo information.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	276	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	277
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	278	void ec_fsm_coe_map_state_pdo(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	279	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	280	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	281	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	282	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	283
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	284	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	285	EC_ERR("Failed to read assigned Pdo index from slave %u.\n",
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	286	fsm->slave->ring_position);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	287	fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	288	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	289	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	290
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	291	if (!(fsm->pdo = (ec_pdo_t *)
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	292	kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	293	EC_ERR("Failed to allocate Pdo.\n");
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	294	fsm->state = ec_fsm_coe_map_state_error;
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	295	return;
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	296	}
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	297
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	298	ec_pdo_init(fsm->pdo);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	299	fsm->pdo->index = EC_READ_U16(fsm->request.data);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	300	fsm->pdo->dir = ec_sync_direction(fsm->sync);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	301
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	302	if (fsm->slave->master->debug_level)
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	303	EC_DBG(" Pdo 0x%04X.\n", fsm->pdo->index);
ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	304
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	305	list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	306
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 852 diff changeset	307	ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	308	ecrt_sdo_request_read(&fsm->request);
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	309	fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	310	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	311	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	312	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	313
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	314	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	315
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	316	/**
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	317	* Read number of mapped Pdo entries.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	318	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	319
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	320	void ec_fsm_coe_map_state_pdo_entry_count(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	321	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	322	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	323	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	324	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	325
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	326	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	327	EC_ERR("Failed to read number of mapped Pdo entries from slave %u.\n",
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	328	fsm->slave->ring_position);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	329	fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	330	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	331	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	332
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	333	fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	334
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	335	if (fsm->slave->master->debug_level)
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	336	EC_DBG(" %u Pdo entries mapped.\n", fsm->pdo_subindices);
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	337
a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	338	// read first Pdo entry
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	339	fsm->pdo_subindex = 1;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	340	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	341	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	342
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	343	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	344
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	345	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	346	* Read next Pdo entry.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	347	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	348
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	349	void ec_fsm_coe_map_action_next_pdo_entry(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	350	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	351	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	353	if (fsm->pdo_subindex <= fsm->pdo_subindices) {
854 f4f53be425ac Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 852 diff changeset	354	ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
858 69122084d066 Basic reading realtime Sdo access working. Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	355	ecrt_sdo_request_read(&fsm->request);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	356	fsm->state = ec_fsm_coe_map_state_pdo_entry;
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 858 diff changeset	357	ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	358	ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	359	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	360	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	361
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	362	// next Pdo
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	363	fsm->sync_subindex++;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	364	ec_fsm_coe_map_action_next_pdo(fsm);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	365	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	366
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	367	/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	368
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	369	/**
814 a51f857b1b2d Renamed [PS]DO to [PS]do. Florian Pose <fp@igh-essen.com> parents: 792 diff changeset	370	* Read Pdo entry information.
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	371	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	372
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	373	void ec_fsm_coe_map_state_pdo_entry(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	374	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	375	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	376	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	377	if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	378
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	379	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
879 9b395c5646ab Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration" Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	380	EC_ERR("Failed to read mapped Pdo entry from slave %u.\n",
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	381	fsm->slave->ring_position);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	382	fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	383	return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	384	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	385
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	386	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	387	uint32_t pdo_entry_info;
749 c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	388	ec_pdo_entry_t *pdo_entry;
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	389
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	390	pdo_entry_info = EC_READ_U32(fsm->request.data);
749 c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	391
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	392	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	393	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	394	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	395	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	396	return;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	397	}
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	398
792 3778920f61e4 Implemented most realtime interface changes for version 1.4, improved Florian Pose <fp@igh-essen.com> parents: 768 diff changeset	399	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	400	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	401	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	402	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	403
767 3218dd94b364 Allow gaps in PDO mapping. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	404	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	405	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	406	ec_pdo_entry_clear(pdo_entry);
767 3218dd94b364 Allow gaps in PDO mapping. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	407	kfree(pdo_entry);
3218dd94b364 Allow gaps in PDO mapping. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	408	fsm->state = ec_fsm_coe_map_state_error;
3218dd94b364 Allow gaps in PDO mapping. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	409	return;
3218dd94b364 Allow gaps in PDO mapping. Florian Pose <fp@igh-essen.com> parents: 762 diff changeset	410	}
741 aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	411	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	412
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	413	if (fsm->slave->master->debug_level) {
926 6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 903 diff changeset	414	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	415	pdo_entry->index, pdo_entry->subindex,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 903 diff changeset	416	pdo_entry->bit_length,
6bb33c6ec770 Output subindices with %02X. Florian Pose <fp@igh-essen.com> parents: 903 diff changeset	417	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	418	}
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in. Florian Pose <fp@igh-essen.com> parents: 741 diff changeset	419
831 ded9519c8d6e Reading of Pdo mapping via CoE during scan. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	420	// 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	421	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	422	fsm->pdo_subindex++;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	423	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	424	}
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	State: ERROR.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	431	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	432
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	433	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	434	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	435	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	436	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	437	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	438
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	/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	442	State: END.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	443	*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	444
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	445	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	446	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	447	)
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	448	{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	449	}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	450
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet). Florian Pose <fp@igh-essen.com> parents: diff changeset	451	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 18 Jun 2008 14:37:20 +0000
changeset 1033	b98259cc7d40
parent 926	6bb33c6ec770
child 1034	36cd81362f10
permissions	-rw-r--r--