master/fsm_pdo_entry.c
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 15:38:35 +0000
changeset 1249 d64ed42e0d11
parent 1175 4684e0206eb9
child 1326 ef907b0b5125
permissions -rw-r--r--
Userspace example with priority.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/** \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 *);
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void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_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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/** 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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        )
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{
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    fsm->slave = slave;
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    fsm->source_pdo = pdo;
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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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        )
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{
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    fsm->state(fsm);
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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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        )
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{
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    ec_sdo_request_address(&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); // 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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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe))
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        return;
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   192
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read number of mapped Pdo entries.\n");
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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   197
    }
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   198
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   199
    if (fsm->request.data_size != sizeof(uint8_t)) {
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        EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
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                fsm->request.data_size, fsm->request.index,
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   202
                fsm->request.subindex);
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        fsm->state = ec_fsm_pdo_entry_state_error;
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        return;
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   205
    }
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   206
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   207
    fsm->entry_count = EC_READ_U8(fsm->request.data);
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   208
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   209
    if (fsm->slave->master->debug_level)
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        EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count);
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   211
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    // read first Pdo entry
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    fsm->entry_pos = 1;
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   214
    ec_fsm_pdo_entry_read_action_next(fsm);
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   215
}
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   216
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/*****************************************************************************/
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   218
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/** Read next Pdo entry.
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   220
 */
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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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   223
        )
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   224
{
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   225
    if (fsm->entry_pos <= fsm->entry_count) {
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   226
        ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos);
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   227
        ecrt_sdo_request_read(&fsm->request);
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   228
        fsm->state = ec_fsm_pdo_entry_read_state_entry;
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   229
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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   230
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   231
        return;
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   232
    }
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parents:
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   233
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   234
    // finished reading entries.
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   235
    fsm->state = ec_fsm_pdo_entry_state_end;
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   236
}
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   237
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/*****************************************************************************/
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   239
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   240
/** Read Pdo entry information.
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   241
 */
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   242
void ec_fsm_pdo_entry_read_state_entry(
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   243
        ec_fsm_pdo_entry_t *fsm /**< finite state machine */
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   244
        )
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   245
{
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   246
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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parents:
diff changeset
   247
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   248
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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   249
        EC_ERR("Failed to read mapped Pdo entry.\n");
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   250
        fsm->state = ec_fsm_pdo_entry_state_error;
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   251
        return;
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   252
    }
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parents:
diff changeset
   253
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   254
    if (fsm->request.data_size != sizeof(uint32_t)) {
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   255
        EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
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   256
                fsm->request.data_size, fsm->request.index,
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   257
                fsm->request.subindex);
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   258
        fsm->state = ec_fsm_pdo_entry_state_error;
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   259
    } else {
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   260
        uint32_t pdo_entry_info;
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   261
        ec_pdo_entry_t *pdo_entry;
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   262
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   263
        pdo_entry_info = EC_READ_U32(fsm->request.data);
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   264
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   265
        if (!(pdo_entry = (ec_pdo_entry_t *)
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   266
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
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            EC_ERR("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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        }
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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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                kfree(pdo_entry);
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                fsm->state = ec_fsm_pdo_entry_state_error;
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                return;
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   283
            }
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   284
        }
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   285
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   286
        if (fsm->slave->master->debug_level) {
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   287
            EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n",
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                    pdo_entry->index, pdo_entry->subindex,
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                    pdo_entry->bit_length,
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   290
                    pdo_entry->name ? pdo_entry->name : "???");
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   291
        }
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   292
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   293
        list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
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   294
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        // next Pdo entry
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   296
        fsm->entry_pos++;
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   297
        ec_fsm_pdo_entry_read_action_next(fsm);
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   298
    }
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   299
}
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/******************************************************************************
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   302
 * Configuration state functions.
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 *****************************************************************************/
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/** Start Pdo mapping.
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   306
 */
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void ec_fsm_pdo_entry_conf_state_start(
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        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
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   309
        )
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{
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   311
    // Pdo mapping has to be changed. Does the slave support this?
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   312
    if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
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   313
            || (fsm->slave->sii.has_general
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   314
                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
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   315
        EC_WARN("Slave %u does not support changing the Pdo mapping!\n",
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   316
                fsm->slave->ring_position);
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   317
        fsm->state = ec_fsm_pdo_entry_state_error;
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   318
        return;
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   319
    }
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   320
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   321
    if (ec_sdo_request_alloc(&fsm->request, 4)) {
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   322
        fsm->state = ec_fsm_pdo_entry_state_error;
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   323
        return;
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   324
    }
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   325
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    // set mapped Pdo entry count to zero
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   327
    EC_WRITE_U8(fsm->request.data, 0);
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   328
    fsm->request.data_size = 1;
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   329
    ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
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   330
    ecrt_sdo_request_write(&fsm->request);
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   331
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   332
    if (fsm->slave->master->debug_level)
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   333
        EC_DBG("Setting entry count to zero.\n");
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diff changeset
   334
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   335
    fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
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   336
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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   337
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   338
}
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   339
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   340
/*****************************************************************************/
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   341
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   342
/** Process next Pdo entry.
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   343
 */
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   344
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
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   345
        const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
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   346
        const struct list_head *list /**< current entry list item */
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   347
        )
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   348
{
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   349
    list = list->next; 
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   350
    if (list == &fsm->source_pdo->entries)
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   351
        return NULL; // no next entry
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   352
    return list_entry(list, ec_pdo_entry_t, list);
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diff changeset
   353
}
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   354
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   355
/*****************************************************************************/
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diff changeset
   356
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   357
/** Set the number of mapped entries to zero.
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parents:
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   358
 */
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diff changeset
   359
void ec_fsm_pdo_entry_conf_state_zero_entry_count(
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parents:
diff changeset
   360
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
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parents:
diff changeset
   361
        )
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parents:
diff changeset
   362
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   363
    if (ec_fsm_coe_exec(fsm->fsm_coe))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   364
        return;
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parents:
diff changeset
   365
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diff changeset
   366
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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parents:
diff changeset
   367
        EC_WARN("Failed to clear Pdo mapping.\n");
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diff changeset
   368
        fsm->state = ec_fsm_pdo_entry_state_error;
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parents:
diff changeset
   369
        return;
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parents:
diff changeset
   370
    }
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parents:
diff changeset
   371
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   372
    // find first entry
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diff changeset
   373
    if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
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parents:
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   374
                    fsm, &fsm->source_pdo->entries))) {
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parents:
diff changeset
   375
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   376
        if (fsm->slave->master->debug_level)
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parents:
diff changeset
   377
            EC_DBG("No entries to map.\n");
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parents:
diff changeset
   378
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   379
        fsm->state = ec_fsm_pdo_entry_state_end; // finished
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parents:
diff changeset
   380
        return;
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parents:
diff changeset
   381
    }
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parents:
diff changeset
   382
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parents:
diff changeset
   383
    // add first entry
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parents:
diff changeset
   384
    fsm->entry_pos = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   385
    ec_fsm_pdo_entry_conf_action_map(fsm);
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parents:
diff changeset
   386
}
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parents:
diff changeset
   387
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   388
/*****************************************************************************/
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parents:
diff changeset
   389
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   390
/** Starts to add a Pdo entry.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   391
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   392
void ec_fsm_pdo_entry_conf_action_map(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   393
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   394
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   395
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   396
    uint32_t value;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   397
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   398
    if (fsm->slave->master->debug_level)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   399
        EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
                fsm->entry->index, fsm->entry->subindex,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
                fsm->entry->bit_length, fsm->entry_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    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
   404
        | 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
   405
    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
   406
    fsm->request.data_size = 4;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, fsm->entry_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    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
   409
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
    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
   411
    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
/*****************************************************************************/
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
/** Add a Pdo entry.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
void 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
   420
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
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
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to "
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
                "position %u.\n", fsm->entry->index, fsm->entry->subindex,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
                fsm->entry->bit_length, fsm->entry_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
        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
   430
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    // find next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
    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
   435
                    fsm, &fsm->entry->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
        // 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
   438
        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
   439
        fsm->request.data_size = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
        ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        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
   442
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
        if (fsm->slave->master->debug_level)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
            EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos);
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
        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
   447
        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
    // add next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    fsm->entry_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
    ec_fsm_pdo_entry_conf_action_map(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
/** 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
   460
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
void 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
   462
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
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
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        EC_ERR("Failed to set number of entries.\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
        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
   470
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    if (fsm->slave->master->debug_level)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
        EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
                fsm->source_pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
    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
   478
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
 * Common state functions
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
/** State: ERROR.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
void 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
   487
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
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
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
/** State: END.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
void ec_fsm_pdo_entry_state_end(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
}
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
/*****************************************************************************/