master/fsm_coe_map.c
author Florian Pose <fp@igh-essen.com>
Thu, 21 Feb 2008 09:50:54 +0000
changeset 807 f8bca95ab75d
parent 792 3778920f61e4
child 814 a51f857b1b2d
permissions -rw-r--r--
Moved ecrt_domain_reg_pdo_entry() to
ecrt_slave_config_reg_pdo_entry().
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE mapping state machines.
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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 "canopen.h"
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#include "fsm_coe_map.h"
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/*****************************************************************************/
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void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_pdo_count(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_pdo(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_pdo_entry_count(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_pdo_entry(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_end(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_state_error(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_action_next_sync(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_action_next_pdo(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_coe_map_init(
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        ec_fsm_coe_map_t *fsm, /**< finite 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->state = NULL;
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    fsm->fsm_coe = fsm_coe;
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    ec_pdo_mapping_init(&fsm->mapping);
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
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{
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    ec_pdo_mapping_clear(&fsm->mapping);
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}
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/*****************************************************************************/
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/**
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   Starts to upload an SDO from a slave.
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*/
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void ec_fsm_coe_map_start(
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        ec_fsm_coe_map_t *fsm, /**< finite state machine */
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        ec_slave_t *slave /**< EtherCAT slave */
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        )
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{
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    fsm->slave = slave;
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    fsm->state = ec_fsm_coe_map_state_start;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if state machine has terminated
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*/
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int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_coe_map_state_end
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        && fsm->state != ec_fsm_coe_map_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_coe_map_state_end;
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}
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/******************************************************************************
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 *  state functions
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 *****************************************************************************/
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/**
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 * Start reading mapping.
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 */
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void ec_fsm_coe_map_state_start(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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    // read mapping of first sync manager
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    fsm->sync_index = 0;
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    ec_fsm_coe_map_action_next_sync(fsm);
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}
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/*****************************************************************************/
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/**
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 * Read mapping of next sync manager.
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 */
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void ec_fsm_coe_map_action_next_sync(
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        ec_fsm_coe_map_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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    ec_sdo_entry_t *entry;
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    for (; fsm->sync_index < slave->sii_sync_count; fsm->sync_index++) {
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        if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + 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 mapping of sync manager %u of slave %u.\n",
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                    fsm->sync_index, slave->ring_position);
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        ec_pdo_mapping_clear_pdos(&fsm->mapping);
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        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
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            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
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                    fsm->sync_sdo->index,
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                    fsm->slave->ring_position);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        ec_sdo_request_init_read(&fsm->request, entry);
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        fsm->state = ec_fsm_coe_map_state_pdo_count;
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        ec_fsm_coe_upload(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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    }
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    fsm->state = ec_fsm_coe_map_state_end;
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}
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/*****************************************************************************/
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/**
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 * Count mapped PDOs.
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 */
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void ec_fsm_coe_map_state_pdo_count(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
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                fsm->slave->ring_position);
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        fsm->state = ec_fsm_coe_map_state_error;
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        return;
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    }
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    fsm->sync_subindices = EC_READ_U8(fsm->request.data);
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    if (fsm->slave->master->debug_level)
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        EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);
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    // read first PDO
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    fsm->sync_subindex = 1;
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    ec_fsm_coe_map_action_next_pdo(fsm);
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}
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/*****************************************************************************/
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/**
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 * Read next PDO.
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 */
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void ec_fsm_coe_map_action_next_pdo(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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    ec_sdo_entry_t *entry;
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    if (fsm->sync_subindex <= fsm->sync_subindices) {
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        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
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                        fsm->sync_subindex))) {
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            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
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                    fsm->sync_sdo->index,
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                    fsm->sync_subindex,
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                    fsm->slave->ring_position);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        ec_sdo_request_init_read(&fsm->request, entry);
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        fsm->state = ec_fsm_coe_map_state_pdo;
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        ec_fsm_coe_upload(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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    }
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    {
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        ec_sync_t *sync = fsm->slave->sii_syncs + fsm->sync_index;
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        if (ec_pdo_mapping_copy(&sync->mapping, &fsm->mapping)) {
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        sync->mapping_source = EC_SYNC_MAPPING_COE;
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        ec_pdo_mapping_clear_pdos(&fsm->mapping);
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        // next sync manager
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        fsm->sync_index++;
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        ec_fsm_coe_map_action_next_sync(fsm);
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    }
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}
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/*****************************************************************************/
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/**
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 * Fetch PDO information.
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 */
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void ec_fsm_coe_map_state_pdo(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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        EC_ERR("Failed to read mapped PDO index from slave %u.\n",
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                fsm->slave->ring_position);
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        fsm->state = ec_fsm_coe_map_state_error;
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        return;
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    }
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    {
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        ec_sdo_entry_t *entry;
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        if (!(fsm->pdo = (ec_pdo_t *)
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                    kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
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            EC_ERR("Failed to allocate PDO.\n");
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        ec_pdo_init(fsm->pdo);
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        fsm->pdo->index = EC_READ_U16(fsm->request.data);
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        fsm->pdo->dir =
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            ec_sync_direction(fsm->slave->sii_syncs + fsm->sync_index);
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        if (fsm->slave->master->debug_level)
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            EC_DBG("  PDO 0x%04X.\n", fsm->pdo->index);
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        if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, fsm->pdo->index))) {
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            EC_ERR("Slave %u has no SDO 0x%04X.\n",
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                    fsm->slave->ring_position, fsm->pdo->index);
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            ec_pdo_clear(fsm->pdo);
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            kfree(fsm->pdo);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        if (ec_pdo_set_name(fsm->pdo, fsm->pdo_sdo->name)) {
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            ec_pdo_clear(fsm->pdo);
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            kfree(fsm->pdo);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
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            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
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                    fsm->pdo_sdo->index,
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                    fsm->slave->ring_position);
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            ec_pdo_clear(fsm->pdo);
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            kfree(fsm->pdo);
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            fsm->state = ec_fsm_coe_map_state_error;
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            return;
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        }
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        list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
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        ec_sdo_request_init_read(&fsm->request, entry);
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        fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
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        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
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        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
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   334
        return;
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   335
    }
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}
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/*****************************************************************************/
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/**
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 * Read number of PDO entries.
741
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 */
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void ec_fsm_coe_map_state_pdo_entry_count(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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   348
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
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   349
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   350
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
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   351
        EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
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   352
                fsm->slave->ring_position);
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   353
        fsm->state = ec_fsm_coe_map_state_error;
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   354
        return;
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   355
    }
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   356
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   357
    fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
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   358
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   359
    if (fsm->slave->master->debug_level)
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diff changeset
   360
        EC_DBG("    %u PDO entries mapped.\n", fsm->pdo_subindices);
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   361
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   362
    // read first PDO entry
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   363
    fsm->pdo_subindex = 1;
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diff changeset
   364
    ec_fsm_coe_map_action_next_pdo_entry(fsm);
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   365
}
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/*****************************************************************************/
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/**
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   370
 * Read next PDO entry.
741
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 */
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   373
void ec_fsm_coe_map_action_next_pdo_entry(
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   374
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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   375
        )
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{
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   377
    ec_sdo_entry_t *entry;
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   378
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   379
    if (fsm->pdo_subindex <= fsm->pdo_subindices) {
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   380
        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
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   381
                        fsm->pdo_subindex))) {
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   382
            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
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diff changeset
   383
                    fsm->pdo_sdo->index, fsm->pdo_subindex,
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parents:
diff changeset
   384
                    fsm->slave->ring_position);
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parents:
diff changeset
   385
            fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
            return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
        }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
        ec_sdo_request_init_read(&fsm->request, entry);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
        fsm->state = ec_fsm_coe_map_state_pdo_entry;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
        return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
    }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    // next PDO
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
    fsm->sync_subindex++;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
    ec_fsm_coe_map_action_next_pdo(fsm);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
/**
758
8fa6f825eb7d Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents: 751
diff changeset
   404
 * Read PDO entry information.
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
 */
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
void ec_fsm_coe_map_state_pdo_entry(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
        ec_fsm_coe_map_t *fsm /**< finite state machine */
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
        )
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
        EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
                fsm->slave->ring_position);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
        fsm->state = ec_fsm_coe_map_state_error;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
        return;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    {
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        uint32_t pdo_entry_info;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        ec_sdo_t *sdo;
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   423
        ec_sdo_entry_t *entry;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   424
        ec_pdo_entry_t *pdo_entry;
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
        pdo_entry_info = EC_READ_U32(fsm->request.data);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   427
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   428
        if (!(pdo_entry = (ec_pdo_entry_t *)
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   429
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   430
            EC_ERR("Failed to allocate PDO entry.\n");
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   431
            fsm->state = ec_fsm_coe_map_state_error;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   432
            return;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   433
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   434
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   435
        ec_pdo_entry_init(pdo_entry);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   436
        pdo_entry->index = pdo_entry_info >> 16;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   437
        pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   438
        pdo_entry->bit_length = pdo_entry_info & 0xFF;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   439
767
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   440
        if (!pdo_entry->index && !pdo_entry->subindex) {
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   441
            // we have a gap in the PDO, next PDO entry
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   442
            if (fsm->slave->master->debug_level) {
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   443
                EC_DBG("    PDO entry gap: %u bit.\n",
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   444
                        pdo_entry->bit_length);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   445
            }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   446
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   447
            if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   448
                ec_pdo_entry_clear(pdo_entry);
767
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   449
                kfree(pdo_entry);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   450
                fsm->state = ec_fsm_coe_map_state_error;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   451
                return;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   452
            }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   453
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   454
            list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   455
            fsm->pdo_subindex++;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   456
            ec_fsm_coe_map_action_next_pdo_entry(fsm);
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   457
            return;
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   458
        }
3218dd94b364 Allow gaps in PDO mapping.
Florian Pose <fp@igh-essen.com>
parents: 762
diff changeset
   459
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   460
        if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry->index))) {
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   462
                    fsm->slave->ring_position, pdo_entry->index);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   463
            ec_pdo_entry_clear(pdo_entry);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   464
            kfree(pdo_entry);
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   465
            fsm->state = ec_fsm_coe_map_state_error;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   466
            return;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   467
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   468
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   469
        if (!(entry = ec_sdo_get_entry(sdo, pdo_entry->subindex))) {
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   470
            EC_ERR("Slave %u has no SDO entry 0x%04X:%u.\n",
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   471
                    fsm->slave->ring_position, pdo_entry->index,
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   472
                    pdo_entry->subindex);
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   473
            ec_pdo_entry_clear(pdo_entry);
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   474
            kfree(pdo_entry);
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   475
            fsm->state = ec_fsm_coe_map_state_error;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   476
            return;
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   477
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   478
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   479
        if (ec_pdo_entry_set_name(pdo_entry, entry->description)) {
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   480
            ec_pdo_entry_clear(pdo_entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   481
            kfree(pdo_entry);
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   482
            fsm->state = ec_fsm_coe_map_state_error;
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   483
            return;
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
        }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
        if (fsm->slave->master->debug_level) {
792
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   487
            EC_DBG("    PDO entry 0x%04X \"%s\" (%u bit).\n", pdo_entry->index,
3778920f61e4 Implemented most realtime interface changes for version 1.4, improved
Florian Pose <fp@igh-essen.com>
parents: 768
diff changeset
   488
                    pdo_entry->name ? pdo_entry->name : "???",
749
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   489
                    pdo_entry->bit_length);
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   490
        }
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   491
c8f1395f818a Only exchange sync manager PDOs, if they could completely be read in.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
   492
        list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
        // next PDO entry
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
        fsm->pdo_subindex++;
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
        ec_fsm_coe_map_action_next_pdo_entry(fsm);
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    }
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
/**
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
   State: ERROR.
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
*/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
void ec_fsm_coe_map_state_error(
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
        ec_fsm_coe_map_t *fsm /**< finite state machine */
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
        )
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
{
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
}
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
/*****************************************************************************/
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
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/**
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   State: END.
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*/
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void ec_fsm_coe_map_state_end(
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        ec_fsm_coe_map_t *fsm /**< finite state machine */
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        )
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{
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}
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/*****************************************************************************/