author | Florian Pose <fp@igh-essen.com> |
Thu, 09 Aug 2007 15:45:56 +0000 | |
changeset 693 | e341f1788608 |
parent 660 | 582a90a34303 |
child 758 | 8fa6f825eb7d |
permissions | -rw-r--r-- |
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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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/** |
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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 "fsm_mapping.h" |
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/*****************************************************************************/ |
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void ec_fsm_mapping_state_start(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_state_end(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_state_error(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *); |
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/*****************************************************************************/ |
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/** |
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* Constructor. |
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*/ |
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void ec_fsm_mapping_init(ec_fsm_mapping_t *fsm, /**< 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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fsm->sdodata.data = (uint8_t *) &fsm->sdo_value; |
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} |
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/*****************************************************************************/ |
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/** |
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* Destructor. |
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*/ |
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void ec_fsm_mapping_clear(ec_fsm_mapping_t *fsm /**< mapping state machine */) |
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{ |
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} |
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/*****************************************************************************/ |
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/** |
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* Start PDO mapping configuration state machine. |
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*/ |
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void ec_fsm_mapping_start( |
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ec_fsm_mapping_t *fsm, /**< mapping state machine */ |
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ec_slave_t *slave /**< slave to configure */ |
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) |
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{ |
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fsm->slave = slave; |
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fsm->state = ec_fsm_mapping_state_start; |
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} |
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/*****************************************************************************/ |
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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_mapping_running( |
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const ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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) |
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{ |
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return fsm->state != ec_fsm_mapping_state_end |
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&& fsm->state != ec_fsm_mapping_state_error; |
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} |
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/*****************************************************************************/ |
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/** |
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* Executes the current state of the state machine. |
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* If the state machine's datagram is not sent or received yet, the execution |
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* of the state machine is delayed to the next cycle. |
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* \return false, if state machine has terminated |
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*/ |
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int ec_fsm_mapping_exec( |
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ec_fsm_mapping_t *fsm /**< 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_mapping_running(fsm); |
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} |
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/*****************************************************************************/ |
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/** |
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* \return true, if the state machine terminated gracefully |
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|
131 |
*/ |
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|
132 |
|
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|
133 |
int ec_fsm_mapping_success( |
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|
134 |
const ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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|
135 |
) |
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|
136 |
{ |
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|
137 |
return fsm->state == ec_fsm_mapping_state_end; |
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|
138 |
} |
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|
139 |
|
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|
140 |
/****************************************************************************** |
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|
141 |
* PDO mapping state machine |
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|
142 |
*****************************************************************************/ |
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|
143 |
|
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|
144 |
/** |
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|
145 |
*/ |
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|
146 |
|
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|
147 |
void ec_fsm_mapping_state_start( |
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|
148 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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|
149 |
) |
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|
150 |
{ |
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|
151 |
fsm->dir = EC_DIR_OUTPUT; |
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|
152 |
ec_fsm_mapping_next_sync(fsm); |
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|
153 |
} |
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|
154 |
|
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|
155 |
/*****************************************************************************/ |
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|
156 |
|
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|
157 |
/** |
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|
158 |
*/ |
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|
159 |
|
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|
160 |
void ec_fsm_mapping_next_sync( |
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|
161 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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|
162 |
) |
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|
163 |
{ |
660
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|
164 |
while (1) { |
635
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|
165 |
if (fsm->dir > EC_DIR_INPUT) { |
660
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|
166 |
// no more directions to configure mappings for |
635
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|
167 |
fsm->state = ec_fsm_mapping_state_end; |
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|
168 |
return; |
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|
169 |
} |
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|
170 |
|
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|
171 |
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) { |
660
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|
172 |
// no sync manager found for this direction |
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|
173 |
fsm->dir++; |
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|
174 |
continue; |
635
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|
175 |
} |
660
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|
176 |
|
635
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|
177 |
fsm->dir++; |
660
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|
178 |
if (fsm->sync->alt_mapping) |
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|
179 |
break; |
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|
180 |
} |
635
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|
181 |
|
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|
182 |
if (fsm->slave->master->debug_level) { |
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|
183 |
EC_DBG("Configuring PDO mapping for SM%u of slave %i.\n", |
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|
184 |
fsm->sync->index, fsm->slave->ring_position); |
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|
185 |
} |
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|
186 |
|
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|
187 |
// set mapped PDO count to zero |
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|
188 |
fsm->sdodata.index = 0x1C10 + fsm->sync->index; |
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|
189 |
fsm->sdodata.subindex = 0; // mapped PDO count |
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|
190 |
EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped |
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|
191 |
fsm->sdodata.size = 1; |
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|
192 |
if (fsm->slave->master->debug_level) |
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|
193 |
EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index); |
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|
194 |
|
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|
195 |
fsm->state = ec_fsm_mapping_state_zero_count; |
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|
196 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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|
197 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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|
198 |
} |
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parents:
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|
199 |
|
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|
200 |
/*****************************************************************************/ |
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parents:
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|
201 |
|
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|
202 |
/** |
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|
203 |
*/ |
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|
204 |
|
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|
205 |
ec_pdo_t *ec_fsm_mapping_next_pdo( |
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changeset
|
206 |
ec_fsm_mapping_t *fsm, /**< mapping state machine */ |
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changeset
|
207 |
struct list_head *list /**< current PDO list item */ |
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changeset
|
208 |
) |
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parents:
diff
changeset
|
209 |
{ |
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parents:
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changeset
|
210 |
ec_pdo_t *pdo; |
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parents:
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changeset
|
211 |
|
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parents:
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changeset
|
212 |
do { |
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parents:
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changeset
|
213 |
list = list->next; |
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parents:
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changeset
|
214 |
if (list == &fsm->sync->pdos) |
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parents:
diff
changeset
|
215 |
return NULL; // no next PDO |
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parents:
diff
changeset
|
216 |
pdo = list_entry(list, ec_pdo_t, list); |
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parents:
diff
changeset
|
217 |
} |
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changeset
|
218 |
while (pdo->sync_index != fsm->sync->index); |
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changeset
|
219 |
|
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|
220 |
return pdo; |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
221 |
} |
d304ef4af542
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parents:
diff
changeset
|
222 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
223 |
/*****************************************************************************/ |
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parents:
diff
changeset
|
224 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
225 |
/** |
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parents:
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changeset
|
226 |
*/ |
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parents:
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changeset
|
227 |
|
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parents:
diff
changeset
|
228 |
void ec_fsm_mapping_state_zero_count( |
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diff
changeset
|
229 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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parents:
diff
changeset
|
230 |
) |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
231 |
{ |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
232 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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parents:
diff
changeset
|
233 |
|
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
234 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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parents:
diff
changeset
|
235 |
EC_ERR("Failed to clear PDO mapping for slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
236 |
fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
237 |
fsm->state = ec_fsm_mapping_state_error; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
238 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
239 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
// map all PDOs belonging to the current sync manager |
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parents:
diff
changeset
|
242 |
|
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
// find first PDO |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
244 |
if (!(fsm->pdo = ec_fsm_mapping_next_pdo( |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
245 |
fsm, &fsm->sync->pdos))) { |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
246 |
if (fsm->slave->master->debug_level) |
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parents:
diff
changeset
|
247 |
EC_DBG("No PDOs to map for SM%u of slave %u.\n", |
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Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
248 |
fsm->sync->index, fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
249 |
ec_fsm_mapping_next_sync(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
250 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
251 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
252 |
|
d304ef4af542
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parents:
diff
changeset
|
253 |
// add first PDO to mapping |
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parents:
diff
changeset
|
254 |
fsm->pdo_count = 1; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
255 |
fsm->sdodata.subindex = fsm->pdo_count; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
256 |
EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
257 |
fsm->sdodata.size = 2; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
258 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
259 |
if (fsm->slave->master->debug_level) |
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|
260 |
EC_DBG("Mapping PDO 0x%04X at position %u.\n", |
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|
261 |
fsm->pdo->index, fsm->sdodata.subindex); |
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|
262 |
|
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|
263 |
fsm->state = ec_fsm_mapping_state_add_pdo; |
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|
264 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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|
265 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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|
266 |
} |
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|
267 |
|
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|
268 |
/*****************************************************************************/ |
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|
269 |
|
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|
270 |
/** |
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271 |
*/ |
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|
272 |
|
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|
273 |
void ec_fsm_mapping_state_add_pdo( |
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274 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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|
275 |
) |
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|
276 |
{ |
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|
277 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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|
278 |
|
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|
279 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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|
280 |
EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n", |
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|
281 |
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position); |
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|
282 |
fsm->state = ec_fsm_mapping_state_error; |
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|
283 |
return; |
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|
284 |
} |
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|
285 |
|
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|
286 |
// find next PDO |
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|
287 |
if (!(fsm->pdo = ec_fsm_mapping_next_pdo( |
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|
288 |
fsm, &fsm->pdo->list))) { |
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|
289 |
// no more PDOs to map. write PDO count |
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|
290 |
fsm->sdodata.subindex = 0; |
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|
291 |
EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); |
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|
292 |
fsm->sdodata.size = 1; |
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|
293 |
|
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|
294 |
if (fsm->slave->master->debug_level) |
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|
295 |
EC_DBG("Setting number of mapped PDOs to %u.\n", |
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|
296 |
fsm->pdo_count); |
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|
297 |
|
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298 |
fsm->state = ec_fsm_mapping_state_pdo_count; |
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|
299 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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|
300 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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|
301 |
return; |
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|
302 |
} |
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|
303 |
|
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|
304 |
// add next PDO to mapping |
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|
305 |
fsm->pdo_count++; |
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|
306 |
fsm->sdodata.subindex = fsm->pdo_count; |
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|
307 |
EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index); |
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|
308 |
fsm->sdodata.size = 2; |
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|
309 |
|
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|
310 |
if (fsm->slave->master->debug_level) |
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|
311 |
EC_DBG("Mapping PDO 0x%04X at position %u.\n", |
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|
312 |
fsm->pdo->index, fsm->sdodata.subindex); |
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|
313 |
|
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|
314 |
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata); |
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parents:
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|
315 |
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately |
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|
316 |
} |
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|
317 |
|
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|
318 |
/*****************************************************************************/ |
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|
319 |
|
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|
320 |
/** |
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parents:
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|
321 |
*/ |
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|
322 |
|
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parents:
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|
323 |
void ec_fsm_mapping_state_pdo_count( |
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|
324 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
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parents:
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|
325 |
) |
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parents:
diff
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|
326 |
{ |
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parents:
diff
changeset
|
327 |
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; |
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parents:
diff
changeset
|
328 |
|
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parents:
diff
changeset
|
329 |
if (!ec_fsm_coe_success(fsm->fsm_coe)) { |
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parents:
diff
changeset
|
330 |
EC_ERR("Failed to set number of mapped PDOs for slave %u.\n", |
d304ef4af542
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parents:
diff
changeset
|
331 |
fsm->slave->ring_position); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
fsm->state = ec_fsm_mapping_state_error; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
333 |
return; |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
334 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
335 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
if (fsm->slave->master->debug_level) |
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parents:
diff
changeset
|
337 |
EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n", |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
fsm->sync->index, fsm->slave->ring_position); |
d304ef4af542
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parents:
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changeset
|
339 |
|
d304ef4af542
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parents:
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|
340 |
// mapping configuration for this sync manager complete. |
d304ef4af542
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parents:
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changeset
|
341 |
ec_fsm_mapping_next_sync(fsm); |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
diff
changeset
|
342 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
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parents:
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changeset
|
343 |
|
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parents:
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|
344 |
/****************************************************************************** |
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parents:
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|
345 |
* Common state functions |
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parents:
diff
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|
346 |
*****************************************************************************/ |
d304ef4af542
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parents:
diff
changeset
|
347 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
/** |
d304ef4af542
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parents:
diff
changeset
|
349 |
State: ERROR. |
d304ef4af542
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
void ec_fsm_mapping_state_error( |
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parents:
diff
changeset
|
353 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
354 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
/*****************************************************************************/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
/** |
d304ef4af542
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parents:
diff
changeset
|
361 |
State: END. |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
*/ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
void ec_fsm_mapping_state_end( |
d304ef4af542
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
365 |
ec_fsm_mapping_t *fsm /**< mapping state machine */ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
366 |
) |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
367 |
{ |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
368 |
} |
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
369 |
|
d304ef4af542
Implemented alternative PDO mapping configuration interface.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
/*****************************************************************************/ |