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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH

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 *

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 *  This file is part of the IgH EtherCAT Master.

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 *

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 *  The IgH EtherCAT Master is free software; you can redistribute it

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General Public License for more details.

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 *

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 *  You should have received a copy of the GNU General Public License

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 *  along with the IgH EtherCAT Master; if not, write to the Free Software

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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

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 *

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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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 *****************************************************************************/

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/** \file

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 * EtherCAT PDO mapping state machine.

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 */

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/*****************************************************************************/

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#include "globals.h"

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#include "master.h"

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#include "mailbox.h"

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#include "slave_config.h"

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#include "fsm_pdo_mapping.h"

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/*****************************************************************************/

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void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *);

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/*****************************************************************************/

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/** Constructor.

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 */

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void ec_fsm_pdo_mapping_init(

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        ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */

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        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */

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        )

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{

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    fsm->fsm_coe = fsm_coe;

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    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;

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}

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/*****************************************************************************/

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/** Destructor.

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 */

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void ec_fsm_pdo_mapping_clear(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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}

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/*****************************************************************************/

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/** Start PDO mapping configuration state machine.

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 */

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void ec_fsm_pdo_mapping_start(

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        ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */

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        ec_slave_t *slave /**< slave to configure */

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        )

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{

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    fsm->slave = slave;

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    fsm->state = ec_fsm_pdo_mapping_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_mapping_running(

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        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    return fsm->state != ec_fsm_pdo_mapping_state_end

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        && fsm->state != ec_fsm_pdo_mapping_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_mapping_exec(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    fsm->state(fsm);

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    return ec_fsm_pdo_mapping_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_mapping_success(

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        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    return fsm->state == ec_fsm_pdo_mapping_state_end;

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}

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/******************************************************************************

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 * State functions.

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 *****************************************************************************/

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/** Start mapping configuration.

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 */

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void ec_fsm_pdo_mapping_state_start(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    if (!fsm->slave->config) {

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        fsm->state = ec_fsm_pdo_mapping_state_end;

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        return;

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    }

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    fsm->sync = NULL;

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    ec_fsm_pdo_mapping_next_sync(fsm);

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}

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/*****************************************************************************/

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/** Process mapping of next sync manager.

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 */

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void ec_fsm_pdo_mapping_next_sync(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    ec_direction_t dir;

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    const ec_sync_t *sync;

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    const ec_pdo_mapping_t *map;

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    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

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        if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {

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            EC_WARN("No sync manager for direction %u!\n", dir);

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            continue;

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        }

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        if (fsm->sync) { // there is a last SM

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            if (sync == fsm->sync) // this is the last SM

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                fsm->sync = NULL; // take the next one

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        } else {

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            map = &fsm->slave->config->mapping[dir];

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            if (ec_pdo_mapping_equal(&sync->mapping, map))

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                continue;

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            fsm->sync = sync;

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            fsm->mapping = map;

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            break;

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        }

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    }

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    if (!sync) {

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        if (fsm->slave->master->debug_level)

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            EC_DBG("Pdo mapping finished for slave %u.\n",

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                    fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_mapping_state_end;

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        return;

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    }

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    if (fsm->slave->master->debug_level) {

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        EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n",

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                fsm->sync->index, fsm->slave->ring_position);

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    }

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    // set mapped PDO count to zero

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    fsm->sdodata.index = 0x1C10 + fsm->sync->index;

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    fsm->sdodata.subindex = 0; // mapped PDO count

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    EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped

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    fsm->sdodata.size = 1;

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    if (fsm->slave->master->debug_level)

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        EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);

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    fsm->state = ec_fsm_pdo_mapping_state_zero_count;

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    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);

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    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

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}

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/*****************************************************************************/

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/** Process mapping of next PDO.

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 */

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ec_pdo_t *ec_fsm_pdo_mapping_next_pdo(

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        const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */

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        const struct list_head *list /**< current PDO list item */

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        )

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{

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    list = list->next; 

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    if (list == &fsm->mapping->pdos)

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        return NULL; // no next PDO

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    return list_entry(list, ec_pdo_t, list);

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}

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/*****************************************************************************/

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/** Add a Pdo to the mapping.

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 */

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void ec_fsm_pdo_mapping_add_pdo(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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    fsm->sdodata.subindex = fsm->pdo_count;

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    EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);

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    fsm->sdodata.size = 2;

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    if (fsm->slave->master->debug_level)

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        EC_DBG("Mapping PDO 0x%04X at position %u.\n",

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                fsm->pdo->index, fsm->sdodata.subindex);

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    fsm->state = ec_fsm_pdo_mapping_state_add_pdo;

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    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);

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    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

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}

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/*****************************************************************************/

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/** Set the number of mapped PDOs to zero.

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 */

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void ec_fsm_pdo_mapping_state_zero_count(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping 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 clear PDO mapping for slave %u.\n",

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                fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_mapping_state_error;

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        return;

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    }

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    // map all PDOs belonging to the current sync manager

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    // find first PDO

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    if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {

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        if (fsm->slave->master->debug_level)

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            EC_DBG("No PDOs to map for SM%u of slave %u.\n",

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                    fsm->sync->index, fsm->slave->ring_position);

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        ec_fsm_pdo_mapping_next_sync(fsm);

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        return;

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    }

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    // add first PDO to mapping

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    fsm->pdo_count = 1;

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    ec_fsm_pdo_mapping_add_pdo(fsm);

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}

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/*****************************************************************************/

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/** Add a PDO to the sync managers mapping.

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 */

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void ec_fsm_pdo_mapping_state_add_pdo(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping 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 map PDO 0x%04X for SM%u of slave %u.\n",

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                fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_mapping_state_error;

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        return;

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    }

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    // find next PDO

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    if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {

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        // no more PDOs to map. write PDO count

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        fsm->sdodata.subindex = 0;

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        EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);

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        fsm->sdodata.size = 1;

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        if (fsm->slave->master->debug_level)

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            EC_DBG("Setting number of mapped PDOs to %u.\n",

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                    fsm->pdo_count);

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        fsm->state = ec_fsm_pdo_mapping_state_pdo_count;

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        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);

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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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    // add next PDO to mapping

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    fsm->pdo_count++;

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    ec_fsm_pdo_mapping_add_pdo(fsm);

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}

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/*****************************************************************************/

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/** Set the number of mapped PDOs.

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 */

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void ec_fsm_pdo_mapping_state_pdo_count(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping 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 set number of mapped PDOs for slave %u.\n",

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                fsm->slave->ring_position);

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        fsm->state = ec_fsm_pdo_mapping_state_error;

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        return;

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    }

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    if (fsm->slave->master->debug_level)

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        EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",

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                fsm->sync->index, fsm->slave->ring_position);

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    // mapping configuration for this sync manager complete.

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    ec_fsm_pdo_mapping_next_sync(fsm);

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}

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/******************************************************************************

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 * Common state functions

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 *****************************************************************************/

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/** State: ERROR.

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 */

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void ec_fsm_pdo_mapping_state_error(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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}

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/*****************************************************************************/

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/** State: END.

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 */

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void ec_fsm_pdo_mapping_state_end(

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        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

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        )

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{

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}

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/*****************************************************************************/