master/fsm_pdo.c
author Florian Pose <fp@igh-essen.com>
Fri, 01 Aug 2008 09:29:40 +0000
changeset 1182 f5e725aa5483
parent 1180 846907b8cc4b
child 1183 d77f634ab0b5
permissions -rw-r--r--
ApplicationInterface
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/** \file
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 * EtherCAT Pdo configuration state machine.
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 */
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "mailbox.h"
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#include "slave_config.h"
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#include "fsm_pdo.h"
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/*****************************************************************************/
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void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *);
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void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_state_entries(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *);
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void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *);
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void ec_fsm_pdo_state_end(ec_fsm_pdo_t *);
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void ec_fsm_pdo_state_error(ec_fsm_pdo_t *);
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/*****************************************************************************/
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/** Constructor.
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 */
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void ec_fsm_pdo_init(
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        ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
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        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
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        )
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{
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    fsm->fsm_coe = fsm_coe;
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    ec_fsm_pdo_entry_init(&fsm->fsm_pdo_entry, fsm_coe);
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    ec_pdo_list_init(&fsm->pdos);
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    ec_sdo_request_init(&fsm->request);
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    ec_pdo_init(&fsm->slave_pdo);
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}
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/*****************************************************************************/
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/** Destructor.
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 */
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void ec_fsm_pdo_clear(
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        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
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        )
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{
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    ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
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    ec_pdo_list_clear(&fsm->pdos);
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    ec_sdo_request_clear(&fsm->request);
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    ec_pdo_clear(&fsm->slave_pdo);
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}
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/*****************************************************************************/
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/** Start reading the Pdo configuration.
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 */
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void ec_fsm_pdo_start_reading(
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        ec_fsm_pdo_t *fsm, /**< Pdo configuration 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_pdo_read_state_start;
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}
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/*****************************************************************************/
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/** Start writing the Pdo configuration.
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 */
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void ec_fsm_pdo_start_configuration(
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        ec_fsm_pdo_t *fsm, /**< Pdo configuration 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_pdo_conf_state_start;
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}
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/*****************************************************************************/
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/** Get running state.
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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_running(
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        const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
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        )
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{
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    return fsm->state != ec_fsm_pdo_state_end
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        && fsm->state != ec_fsm_pdo_state_error;
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}
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/*****************************************************************************/
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/** Executes the current state of the state machine.
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 *
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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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 *
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 * \return false, if state machine has terminated
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 */
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int ec_fsm_pdo_exec(
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        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
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        )
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{
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    fsm->state(fsm);
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    return ec_fsm_pdo_running(fsm);
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}
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/*****************************************************************************/
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/** Get execution result.
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 *
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 * \return true, if the state machine terminated gracefully
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 */
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int ec_fsm_pdo_success(
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        const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
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        )
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{
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    return fsm->state == ec_fsm_pdo_state_end;
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}
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/******************************************************************************
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 * Reading state funtions.
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 *****************************************************************************/
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/** Start reading Pdo assignment.
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 */
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void ec_fsm_pdo_read_state_start(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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        )
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{
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    // read Pdo assignment for first sync manager not reserved for mailbox
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    fsm->sync_index = 1; // next is 2
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    ec_fsm_pdo_read_action_next_sync(fsm);
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}
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/*****************************************************************************/
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/** Read Pdo assignment of next sync manager.
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 */
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void ec_fsm_pdo_read_action_next_sync(
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        ec_fsm_pdo_t *fsm /**< Finite state machine */
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        )
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{
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    ec_slave_t *slave = fsm->slave;
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    fsm->sync_index++;
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    for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
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        if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
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            continue;
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        if (slave->master->debug_level)
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            EC_DBG("Reading Pdo assignment of SM%u.\n", fsm->sync_index);
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        ec_pdo_list_clear_pdos(&fsm->pdos);
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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_pdo_read_state_pdo_count;
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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   216
        return;
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   217
    }
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   218
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   219
    if (slave->master->debug_level)
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   220
        EC_DBG("Reading of Pdo configuration finished.\n");
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   221
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    fsm->state = ec_fsm_pdo_state_end;
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   223
}
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/*****************************************************************************/
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   226
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/** Count assigned Pdos.
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   228
 */
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   229
void ec_fsm_pdo_read_state_pdo_count(
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        ec_fsm_pdo_t *fsm /**< finite state machine */
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   231
        )
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{
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   233
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   234
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   235
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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   236
        EC_ERR("Failed to read number of assigned Pdos for SM%u.\n",
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   237
                fsm->sync_index);
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   238
        fsm->state = ec_fsm_pdo_state_error;
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   239
        return;
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   240
    }
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parents:
diff changeset
   241
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   242
    if (fsm->request.data_size != sizeof(uint8_t)) {
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   243
        EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
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   244
                "from slave %u.\n", fsm->request.data_size,
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   245
                fsm->request.index, fsm->request.subindex,
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   246
                fsm->slave->ring_position);
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   247
        fsm->state = ec_fsm_pdo_state_error;
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   248
        return;
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   249
    }
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   250
    fsm->pdo_count = EC_READ_U8(fsm->request.data);
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diff changeset
   251
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   252
    if (fsm->slave->master->debug_level)
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   253
        EC_DBG("%u Pdos assigned.\n", fsm->pdo_count);
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   254
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    // read first Pdo
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    fsm->pdo_pos = 1;
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   257
    ec_fsm_pdo_read_action_next_pdo(fsm);
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   258
}
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   259
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/*****************************************************************************/
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   261
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/** Read next Pdo.
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   263
 */
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   264
void ec_fsm_pdo_read_action_next_pdo(
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   265
        ec_fsm_pdo_t *fsm /**< finite state machine */
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   266
        )
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{
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    if (fsm->pdo_pos <= fsm->pdo_count) {
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        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index,
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   270
                fsm->pdo_pos);
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        ecrt_sdo_request_read(&fsm->request);
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        fsm->state = ec_fsm_pdo_read_state_pdo;
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        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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        return;
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   276
    }
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    // finished reading Pdo configuration
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   279
    
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    if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
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        fsm->state = ec_fsm_pdo_state_error;
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   282
        return;
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   283
    }
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   284
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   285
    fsm->sync->assign_source = EC_ASSIGN_COE;
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   286
    ec_pdo_list_clear_pdos(&fsm->pdos);
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   287
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    // next sync manager
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   289
    ec_fsm_pdo_read_action_next_sync(fsm);
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   290
}
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   291
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/*****************************************************************************/
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   293
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/** Fetch Pdo information.
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   295
 */
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   296
void ec_fsm_pdo_read_state_pdo(
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   297
        ec_fsm_pdo_t *fsm /**< finite state machine */
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   298
        )
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   299
{
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   300
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   301
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   302
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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   303
        EC_ERR("Failed to read index of assigned Pdo %u from SM%u.\n",
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   304
                fsm->pdo_pos, fsm->sync_index);
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   305
        fsm->state = ec_fsm_pdo_state_error;
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   306
        return;
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   307
    }
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parents:
diff changeset
   308
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   309
    if (fsm->request.data_size != sizeof(uint16_t)) {
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   310
        EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
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   311
                "from slave %u.\n", fsm->request.data_size,
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   312
                fsm->request.index, fsm->request.subindex,
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   313
                fsm->slave->ring_position);
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   314
        fsm->state = ec_fsm_pdo_state_error;
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   315
        return;
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   316
    }
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diff changeset
   317
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   318
    if (!(fsm->pdo = (ec_pdo_t *)
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   319
                kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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   320
        EC_ERR("Failed to allocate Pdo.\n");
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   321
        fsm->state = ec_fsm_pdo_state_error;
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diff changeset
   322
        return;
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diff changeset
   323
    }
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parents:
diff changeset
   324
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   325
    ec_pdo_init(fsm->pdo);
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   326
    fsm->pdo->index = EC_READ_U16(fsm->request.data);
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   327
    fsm->pdo->sync_index = fsm->sync_index;
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diff changeset
   328
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diff changeset
   329
    if (fsm->slave->master->debug_level)
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diff changeset
   330
        EC_DBG("Pdo 0x%04X.\n", fsm->pdo->index);
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   331
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   332
    list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
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diff changeset
   333
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   334
    fsm->state = ec_fsm_pdo_read_state_pdo_entries;
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parents:
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   335
    ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
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   336
    fsm->state(fsm); // execute immediately
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diff changeset
   337
}
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parents:
diff changeset
   338
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diff changeset
   339
/*****************************************************************************/
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diff changeset
   340
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   341
/** Fetch Pdo information.
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diff changeset
   342
 */
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diff changeset
   343
void ec_fsm_pdo_read_state_pdo_entries(
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parents:
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   344
        ec_fsm_pdo_t *fsm /**< finite state machine */
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parents:
diff changeset
   345
        )
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parents:
diff changeset
   346
{
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parents:
diff changeset
   347
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   348
        return;
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parents:
diff changeset
   349
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diff changeset
   350
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
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parents:
diff changeset
   351
        EC_ERR("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
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parents:
diff changeset
   352
                fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   353
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   354
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   355
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   356
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   357
    // next Pdo
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parents:
diff changeset
   358
    fsm->pdo_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   359
    ec_fsm_pdo_read_action_next_pdo(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   360
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   361
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   362
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   363
 * Writing state functions.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   364
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   365
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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diff changeset
   366
/** Start Pdo configuration.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   367
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   368
void ec_fsm_pdo_conf_state_start(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   369
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   370
        )
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parents:
diff changeset
   371
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   372
    if (!fsm->slave->config) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   373
        fsm->state = ec_fsm_pdo_state_end;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   374
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   375
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   376
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   377
    fsm->sync_index = 0xff; // next is zero
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   378
    ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   379
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   380
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   381
/*****************************************************************************/
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parents:
diff changeset
   382
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   383
/** Assign next Pdo.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   384
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   385
ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   386
        const ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   387
        const struct list_head *list /**< current Pdo list item */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   388
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   389
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   390
    list = list->next; 
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   391
    if (list == &fsm->pdos.list)
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   392
        return NULL; // no next Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    return list_entry(list, ec_pdo_t, list);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   394
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
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parents:
diff changeset
   397
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
/** Get the next sync manager for a pdo configuration.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
void ec_fsm_pdo_conf_action_next_sync(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
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
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    fsm->sync_index++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
        if (ec_pdo_list_copy(&fsm->pdos,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
                    &fsm->slave->config->sync_configs[fsm->sync_index].pdos)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
            fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
            return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
        if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
            if (!list_empty(&fsm->pdos.list))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
                EC_WARN("Pdos configured for SM%u, but slave %u does not "
1180
846907b8cc4b Configure Pdos before configuring the Pdo sync managers,
Florian Pose <fp@igh-essen.com>
parents: 1174
diff changeset
   416
                        "provide the sync manager information!\n",
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
                        fsm->sync_index, fsm->slave->ring_position);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
            continue;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        // get first configured Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
            // no pdos configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
            ec_fsm_pdo_conf_action_check_assignment(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
            return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
        ec_fsm_pdo_conf_action_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
    fsm->state = ec_fsm_pdo_state_end;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
/**
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
void ec_fsm_pdo_conf_action_pdo_mapping(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
    const ec_pdo_t *assigned_pdo;
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
    fsm->slave_pdo.index = fsm->pdo->index;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
    if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
        ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
    } else { // configured Pdo is not assigned and thus unknown
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
        ec_pdo_clear_entries(&fsm->slave_pdo);
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    if (list_empty(&fsm->slave_pdo.entries)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        if (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
   456
            EC_DBG("Reading mapping of Pdo 0x%04X.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
                    fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
            
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        // pdo mapping is unknown; start loading it
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
        ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
                &fsm->slave_pdo);
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_conf_state_read_mapping;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
        fsm->state(fsm); // execute immediately
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        return;
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
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
    // pdo mapping is known, check if it most be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
    ec_fsm_pdo_conf_action_check_mapping(fsm);
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
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
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
void ec_fsm_pdo_conf_state_read_mapping(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
        )
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
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
        return;
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
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
        EC_WARN("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
                fsm->pdo->index);
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
    // check if the mapping must be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
    ec_fsm_pdo_conf_action_check_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
/**
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
void ec_fsm_pdo_conf_action_check_mapping(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
        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
   500
            EC_DBG("Mapping of Pdo 0x%04X is already configured correctly.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
                    fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
        ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
    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
   507
        // TODO display diff
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
        EC_DBG("Changing mapping of Pdo 0x%04X.\n", fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
    ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
            fsm->pdo);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
    fsm->state = ec_fsm_pdo_conf_state_mapping;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    fsm->state(fsm); // execure immediately
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
/**
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
void ec_fsm_pdo_conf_state_mapping(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
    if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
    if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
        EC_WARN("Failed to configure mapping of Pdo 0x%04X.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
                fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
    ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
/**
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
void ec_fsm_pdo_conf_action_next_pdo_mapping(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
    // get next configured Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
        // no more configured pdos
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
        ec_fsm_pdo_conf_action_check_assignment(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
    ec_fsm_pdo_conf_action_pdo_mapping(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
/**
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   557
void ec_fsm_pdo_conf_action_check_assignment(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   558
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
    // check if assignment has to be re-configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
    if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
        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
   565
            EC_DBG("Pdo assignment for SM%u is already configured "
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
                    "correctly.\n", fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   568
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   569
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   570
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   571
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   572
    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
   573
        EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   574
        EC_DBG("Currently assigned Pdos: ");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   575
        ec_pdo_list_print(&fsm->sync->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   576
        printk("\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   577
        EC_DBG("Pdos to assign: ");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   578
        ec_pdo_list_print(&fsm->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   579
        printk("\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   580
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   581
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   582
    // Pdo assignment has to be changed. Does the slave support this?
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   583
    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
   584
            || (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
   585
                && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   586
        EC_WARN("Slave %u does not support assigning Pdos!\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   587
                fsm->slave->ring_position);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   588
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   589
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   590
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   591
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   592
    if (ec_sdo_request_alloc(&fsm->request, 2)) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   593
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   594
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   595
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   596
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   597
    // set mapped Pdo count to zero
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   598
    EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   599
    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
   600
    ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   601
    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
   602
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   603
    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
   604
        EC_DBG("Setting number of assigned Pdos to zero.\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   605
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   606
    fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   607
    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
   608
    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
   609
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   610
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   611
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   612
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   613
/** Set the number of assigned Pdos to zero.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   614
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   615
void ec_fsm_pdo_conf_state_zero_pdo_count(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   616
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   617
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   618
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   619
    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
   620
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   621
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   622
    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
   623
        EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   624
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   625
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   626
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   627
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   628
    // the sync manager's assigned Pdos have been cleared
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   629
    ec_pdo_list_clear_pdos(&fsm->sync->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   630
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   631
    // assign all Pdos belonging to the current sync manager
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   632
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   633
    // find first Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   634
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   635
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   636
        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
   637
            EC_DBG("No Pdos to assign.\n");
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   638
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   639
        // check for mapping to be altered
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   640
        ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   641
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   642
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   643
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   644
    // assign first Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   645
    fsm->pdo_pos = 1;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   646
	ec_fsm_pdo_conf_action_assign_pdo(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   647
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   648
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   649
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   650
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   651
/** Assign a Pdo.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   652
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   653
void ec_fsm_pdo_conf_action_assign_pdo(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   654
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   655
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   656
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   657
    EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   658
    fsm->request.data_size = 2;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   659
    ec_sdo_request_address(&fsm->request,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   660
            0x1C10 + fsm->sync_index, fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   661
    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
   662
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   663
    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
   664
        EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   665
                fsm->pdo->index, fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   666
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   667
    fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   668
    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
   669
    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
   670
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   671
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   672
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   673
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   674
/** Add a Pdo to the sync managers Pdo assignment.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   675
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   676
void ec_fsm_pdo_conf_state_assign_pdo(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   677
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   678
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   679
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   680
    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
   681
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   682
    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
   683
        EC_WARN("Failed to assign Pdo 0x%04X at position %u of SM%u.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   684
                fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   685
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   686
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   687
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   688
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   689
    // find next Pdo
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   690
    if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   691
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   692
        // no more Pdos to assign, set Pdo count
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   693
        EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   694
        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
   695
        ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   696
        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
   697
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   698
        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
   699
            EC_DBG("Setting number of assigned Pdos to %u.\n", fsm->pdo_pos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   700
        
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   701
        fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   702
        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
   703
        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
   704
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   705
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   706
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   707
    // add next Pdo to assignment
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   708
    fsm->pdo_pos++;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   709
    ec_fsm_pdo_conf_action_assign_pdo(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   710
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   711
    
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   712
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   713
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   714
/** Set the number of assigned Pdos.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   715
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   716
void ec_fsm_pdo_conf_state_set_pdo_count(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   717
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   718
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   719
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   720
    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
   721
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   722
    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
   723
        EC_WARN("Failed to set number of assigned Pdos of SM%u.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   724
                fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   725
        fsm->state = ec_fsm_pdo_state_error;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   726
        return;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   727
    }
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   728
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   729
    // Pdos have been configured
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   730
    ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   731
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   732
    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
   733
        EC_DBG("Successfully configured Pdo assignment of SM%u.\n",
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   734
                fsm->sync_index);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   735
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   736
    // check if Pdo mapping has to be altered
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   737
    ec_fsm_pdo_conf_action_next_sync(fsm);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   738
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   739
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   740
/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   741
 * Common state functions
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   742
 *****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   743
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   744
/** State: ERROR.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   745
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   746
void ec_fsm_pdo_state_error(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   747
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   748
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   749
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   750
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   751
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   752
/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   753
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   754
/** State: END.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   755
 */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   756
void ec_fsm_pdo_state_end(
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   757
        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   758
        )
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   759
{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   760
}
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   761
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   762
/*****************************************************************************/