etherlabmaster: master/fsm_pdo_entry.c@e206f4485f60 (annotated)

1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	11	* published by the Free Software Foundation.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	12	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	16	* Public License for more details.
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	17	*
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	18	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	22	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1175 diff changeset	23	* the industrial property and similar rights of Beckhoff Automation GmbH.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	24	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	26
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	27	/** \file
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	28	* EtherCAT PDO mapping state machine.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	29	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	30
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	31	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	32
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#include "globals.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#include "master.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	35	#include "mailbox.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	36	#include "slave_config.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	37
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "fsm_pdo_entry.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	39
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	40	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	41
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	42	void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	43	void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	44	void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	45
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	46	void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	47
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	48	void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	52
1175 4684e0206eb9 Avoided compiler warning. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	53	void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *);
4684e0206eb9 Avoided compiler warning. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	54
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	56	void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	57
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	58	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	59
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	60	/** Constructor.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	62	void ec_fsm_pdo_entry_init(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	63	ec_fsm_pdo_entry_t fsm, /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	64	ec_fsm_coe_t fsm_coe /< CoE state machine to use. /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->fsm_coe = fsm_coe;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	68	ec_sdo_request_init(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	69	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	70
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	71	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	72
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	73	/** Destructor.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	74	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	75	void ec_fsm_pdo_entry_clear(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	76	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	77	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	78	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	79	ec_sdo_request_clear(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	80	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	81
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	82	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	83
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	84	/** Start reading a PDO's entries.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	85	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	86	void ec_fsm_pdo_entry_start_reading(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	87	ec_fsm_pdo_entry_t fsm, /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	88	ec_slave_t slave, /< slave to configure /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	89	ec_pdo_t pdo /< PDO to read entries for. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	90	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	91	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	92	fsm->slave = slave;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	93	fsm->target_pdo = pdo;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	94
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	95	ec_pdo_clear_entries(fsm->target_pdo);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	96
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	97	fsm->state = ec_fsm_pdo_entry_read_state_start;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	98	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	99
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	100	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	101
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	102	/** Start PDO mapping state machine.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	103	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	104	void ec_fsm_pdo_entry_start_configuration(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	105	ec_fsm_pdo_entry_t fsm, /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	106	ec_slave_t slave, /< slave to configure /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	107	const ec_pdo_t pdo /< PDO with the desired entries. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	108	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	109	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	110	fsm->slave = slave;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	111	fsm->source_pdo = pdo;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	112
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	113	fsm->state = ec_fsm_pdo_entry_conf_state_start;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	114	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	115
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	116	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	117
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	118	/** Get running state.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	119	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	120	* \return false, if state machine has terminated
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	121	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	122	int ec_fsm_pdo_entry_running(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	123	const ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	124	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	125	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	126	return fsm->state != 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	127	&& 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	128	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	129
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	130	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	131
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	132	/** Executes the current state.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	133	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	134	* \return false, if state machine has terminated
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	135	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	136	int ec_fsm_pdo_entry_exec(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	137	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	138	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	139	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	140	fsm->state(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	141	return ec_fsm_pdo_entry_running(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	142	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	143
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	144	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	145
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	146	/** Get execution result.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	147	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	148	* \return true, if the state machine terminated gracefully
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	149	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	150	int ec_fsm_pdo_entry_success(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	151	const ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	152	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	153	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	154	return fsm->state == 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	155	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	156
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	157	/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	158	* Reading state functions.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	159	*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	160
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	161	/** Request reading the number of mapped PDO entries.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	162	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	163	void ec_fsm_pdo_entry_read_state_start(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	164	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	165	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	166	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	167	ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	168	ecrt_sdo_request_read(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	169
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	170	fsm->state = ec_fsm_pdo_entry_read_state_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	171	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	172	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	173	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	175	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	176
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	177	/** Read number of mapped PDO entries.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	178	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	179	void ec_fsm_pdo_entry_read_state_count(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	180	ec_fsm_pdo_entry_t fsm /< finite state machine /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	181	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	182	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	183	if (ec_fsm_coe_exec(fsm->fsm_coe))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	184	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	185
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	186	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	187	EC_ERR("Failed to read number of mapped PDO entries.\n");
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	188	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	189	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	190	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	191
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	192	if (fsm->request.data_size != sizeof(uint8_t)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	193	EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	194	fsm->request.data_size, fsm->request.index,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	195	fsm->request.subindex);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	196	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	197	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	198	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	199
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	200	fsm->entry_count = EC_READ_U8(fsm->request.data);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	201
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	202	if (fsm->slave->master->debug_level)
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	203	EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	204
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	205	// read first PDO entry
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	206	fsm->entry_pos = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	207	ec_fsm_pdo_entry_read_action_next(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	208	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	209
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	210	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	211
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	212	/** Read next PDO entry.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	213	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	214	void ec_fsm_pdo_entry_read_action_next(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	215	ec_fsm_pdo_entry_t fsm /< finite state machine /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	216	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	217	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	218	if (fsm->entry_pos <= fsm->entry_count) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	219	ec_sdo_request_address(&fsm->request, fsm->target_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	220	ecrt_sdo_request_read(&fsm->request);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	221	fsm->state = ec_fsm_pdo_entry_read_state_entry;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	222	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	223	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	224	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	225	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	226
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	227	// finished reading entries.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	228	fsm->state = 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	229	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	230
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	231	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	232
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	233	/** Read PDO entry information.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	234	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	235	void ec_fsm_pdo_entry_read_state_entry(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	236	ec_fsm_pdo_entry_t fsm /< finite state machine /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	237	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	238	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	239	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	240
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	241	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	242	EC_ERR("Failed to read mapped PDO entry.\n");
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	243	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	244	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	245	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	246
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	247	if (fsm->request.data_size != sizeof(uint32_t)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	248	EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	249	fsm->request.data_size, fsm->request.index,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	250	fsm->request.subindex);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	251	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	252	} else {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	253	uint32_t pdo_entry_info;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	254	ec_pdo_entry_t *pdo_entry;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	255
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	256	pdo_entry_info = EC_READ_U32(fsm->request.data);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	257
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	258	if (!(pdo_entry = (ec_pdo_entry_t *)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	259	kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	260	EC_ERR("Failed to allocate PDO entry.\n");
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	261	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	262	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	263	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	264
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	265	ec_pdo_entry_init(pdo_entry);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	266	pdo_entry->index = pdo_entry_info >> 16;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	267	pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	268	pdo_entry->bit_length = pdo_entry_info & 0xFF;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	269
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	270	if (!pdo_entry->index && !pdo_entry->subindex) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	271	if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	272	ec_pdo_entry_clear(pdo_entry);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	273	kfree(pdo_entry);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	274	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	275	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	276	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	277	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	278
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	279	if (fsm->slave->master->debug_level) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	280	EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	281	pdo_entry->index, pdo_entry->subindex,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	282	pdo_entry->bit_length,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	283	pdo_entry->name ? pdo_entry->name : "???");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	284	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	285
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	286	list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	287
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	288	// next PDO entry
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	289	fsm->entry_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	290	ec_fsm_pdo_entry_read_action_next(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	291	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	292	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	293
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	294	/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	295	* Configuration state functions.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	296	*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	297
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	298	/** Start PDO mapping.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	299	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	300	void ec_fsm_pdo_entry_conf_state_start(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	301	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	302	)
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	303	{
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	304	// PDO mapping has to be changed. Does the slave support this?
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	305	if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	306	\|\| (fsm->slave->sii.has_general
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	307	&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	308	EC_WARN("Slave %u does not support changing the PDO mapping!\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	309	fsm->slave->ring_position);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	310	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	311	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	312	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	313
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	314	if (ec_sdo_request_alloc(&fsm->request, 4)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	315	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	316	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	317	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	318
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	319	// set mapped PDO entry count to zero
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	320	EC_WRITE_U8(fsm->request.data, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	321	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	322	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	323	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	324
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	325	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	326	EC_DBG("Setting entry count to zero.\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	327
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	328	fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	329	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	330	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	331	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	332
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	333	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	334
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	335	/** Process next PDO entry.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	336	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	337	ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	338	const ec_fsm_pdo_entry_t fsm, /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	339	const struct list_head list /< current entry list item /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	340	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	341	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	342	list = list->next;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	343	if (list == &fsm->source_pdo->entries)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	344	return NULL; // no next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	345	return list_entry(list, ec_pdo_entry_t, list);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	346	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	347
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	348	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	349
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	350	/** Set the number of mapped entries to zero.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	351	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	352	void ec_fsm_pdo_entry_conf_state_zero_entry_count(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	353	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	354	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	355	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	356	if (ec_fsm_coe_exec(fsm->fsm_coe))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	357	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	358
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	359	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	360	EC_WARN("Failed to clear PDO mapping.\n");
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	361	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	362	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	363	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	364
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	365	// find first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	366	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	367	fsm, &fsm->source_pdo->entries))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	368
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	369	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	370	EC_DBG("No entries to map.\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	371
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	372	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	373	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	374	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	375
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	376	// add first entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	377	fsm->entry_pos = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	378	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	379	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	380
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	381	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	382
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	383	/** Starts to add a PDO entry.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	384	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	385	void ec_fsm_pdo_entry_conf_action_map(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	386	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	387	)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	388	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	389	uint32_t value;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	390
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	391	if (fsm->slave->master->debug_level)
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	392	EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	393	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	394	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	395
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	396	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	397	\| 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	398	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	399	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	400	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	401	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	402
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	403	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	404	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	405	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	406	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	407
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	408	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	409
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	410	/** Add a PDO entry.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	411	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	412	void ec_fsm_pdo_entry_conf_state_map_entry(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	413	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 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	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	417
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	418	if (!ec_fsm_coe_success(fsm->fsm_coe)) {
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	419	EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	420	"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	421	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	422	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	423	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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	426	// find next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	427	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	428	fsm, &fsm->entry->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	429
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	430	// 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	431	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	432	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	433	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	434	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	435
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	436	if (fsm->slave->master->debug_level)
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	437	EC_DBG("Setting number of PDO entries to %u.\n", fsm->entry_pos);
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	438
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	439	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	440	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	441	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	442	return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	443	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	444
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	445	// add next entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	446	fsm->entry_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	447	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	448	}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	449
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	/** 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	453	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	454	void ec_fsm_pdo_entry_conf_state_set_entry_count(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	455	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 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	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	459
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	460	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	461	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	462	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	463	return;
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	466	if (fsm->slave->master->debug_level)
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	467	EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	468	fsm->source_pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	469
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	470	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	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	/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	474	* Common state functions
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	475	*****************************************************************************/
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	/** State: ERROR.
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	void ec_fsm_pdo_entry_state_error(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	480	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	481	)
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
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	487	/** State: END.
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	void ec_fsm_pdo_entry_state_end(
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	490	ec_fsm_pdo_entry_t fsm /< PDO mapping state machine. /
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	491	)
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	492	{
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	493	}
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	494
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	495	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 29 Dec 2008 15:19:16 +0000
branch	stable-1.4
changeset 1686	e206f4485f60
parent 1685	399ef727bf62
child 1363	11c0b2caa253
permissions	-rw-r--r--