master/fsm_coe_map.c
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 09:56:39 +0000
branchstable-1.3
changeset 1760 036f19bde00b
parent 1749 696dd9f22777
permissions -rw-r--r--
Fixed lsec for terminals that do not support getting the terminal width.
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/******************************************************************************
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 *
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 *  $Id: fsm_coe.c 920 2007-09-12 10:07:55Z fp $
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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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void ec_fsm_coe_map_clear_pdos(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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    INIT_LIST_HEAD(&fsm->pdos);
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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_fsm_coe_map_clear_pdos(fsm);
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}
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/*****************************************************************************/
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    92
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/**
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 * Clear FSM PDOs.
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 */
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    96
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    97
void ec_fsm_coe_map_clear_pdos(
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    98
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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    99
        )
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{
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    ec_pdo_t *pdo, *next;
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   102
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   103
    // free all PDOs
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    list_for_each_entry_safe(pdo, next, &fsm->pdos, list) {
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        list_del(&pdo->list);
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        ec_pdo_clear(pdo);
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        kfree(pdo);
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    }
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}
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/*****************************************************************************/
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   112
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   113
/**
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   Starts to upload an SDO from a slave.
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   115
*/
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   116
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   117
void ec_fsm_coe_map_start(
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        ec_fsm_coe_map_t *fsm, /**< finite state machine */
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   119
        ec_slave_t *slave /**< EtherCAT slave */
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   120
        )
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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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   126
/*****************************************************************************/
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   128
/**
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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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   131
*/
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   133
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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   136
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   137
    return fsm->state != ec_fsm_coe_map_state_end
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   138
        && fsm->state != ec_fsm_coe_map_state_error;
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   139
}
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   141
/*****************************************************************************/
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   142
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   143
/**
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   144
   Returns, if the state machine terminated with success.
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   145
   \return non-zero if successful.
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   146
*/
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   147
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   148
int ec_fsm_coe_map_success(ec_fsm_coe_map_t *fsm /**< Finite state machine */)
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   149
{
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   150
    return fsm->state == ec_fsm_coe_map_state_end;
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   151
}
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   152
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   153
/******************************************************************************
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   154
 *  state functions
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   155
 *****************************************************************************/
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   156
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   157
/**
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   158
 * Start reading mapping.
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   159
 */
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   160
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   161
void ec_fsm_coe_map_state_start(
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   162
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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   163
        )
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   164
{
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   165
    // read mapping of first sync manager
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   166
    fsm->sync_index = 0;
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   167
    ec_fsm_coe_map_action_next_sync(fsm);
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   168
}
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   169
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   170
/*****************************************************************************/
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   171
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   172
/**
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   173
 * Read mapping of next sync manager.
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   174
 */
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   175
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   176
void ec_fsm_coe_map_action_next_sync(
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   177
        ec_fsm_coe_map_t *fsm /**< finite state machine */
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   178
        )
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   179
{
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   180
    ec_slave_t *slave = fsm->slave;
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   181
    ec_sdo_entry_t *entry;
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   182
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   183
    for (; fsm->sync_index < slave->sii_sync_count; fsm->sync_index++) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   184
        if (!(fsm->sync_sdo = ec_slave_get_sdo(slave, 0x1C10 + fsm->sync_index)))
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   185
            continue;
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   186
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   187
        if (slave->master->debug_level)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   188
            EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   189
                    fsm->sync_index, slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   190
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   191
        ec_fsm_coe_map_clear_pdos(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   192
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   193
        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   194
            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   195
                    fsm->sync_sdo->index,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   196
                    fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   197
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   198
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   199
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   200
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   201
        ec_sdo_request_init_read(&fsm->request, entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   202
        fsm->state = ec_fsm_coe_map_state_pdo_count;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   203
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   204
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   205
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   206
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   207
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   208
    fsm->state = ec_fsm_coe_map_state_end;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   209
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   210
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   211
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   212
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   213
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   214
 * Count mapped PDOs.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   215
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   216
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   217
void ec_fsm_coe_map_state_pdo_count(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   218
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   219
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   220
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   221
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   222
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   223
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   224
        EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   225
                fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   226
        fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   227
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   228
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   229
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   230
    fsm->sync_subindices = EC_READ_U8(fsm->request.data);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   231
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   232
    if (fsm->slave->master->debug_level)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   233
        EC_DBG("  %u PDOs mapped.\n", fsm->sync_subindices);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   234
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   235
    // read first PDO
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   236
    fsm->sync_subindex = 1;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   237
    ec_fsm_coe_map_action_next_pdo(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   238
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   239
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   240
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   241
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   242
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
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diff changeset
   243
 * Read next PDO.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   244
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   245
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   246
void ec_fsm_coe_map_action_next_pdo(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
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diff changeset
   247
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
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diff changeset
   248
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   249
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   250
    ec_sdo_entry_t *entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   251
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   252
    if (fsm->sync_subindex <= fsm->sync_subindices) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   253
        if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
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diff changeset
   254
                        fsm->sync_subindex))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   255
            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   256
                    fsm->sync_sdo->index,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   257
                    fsm->sync_subindex,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   258
                    fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   259
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   260
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   261
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   262
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   263
        ec_sdo_request_init_read(&fsm->request, entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
        fsm->state = ec_fsm_coe_map_state_pdo;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   266
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   267
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   268
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   269
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   270
    {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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   271
        ec_sync_t *sync = fsm->slave->sii_syncs + fsm->sync_index;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   272
        ec_pdo_t *pdo;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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diff changeset
   273
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   274
        // exchange sync manager PDO mapping
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
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parents:
diff changeset
   275
        ec_sync_clear_pdos(sync);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   276
        list_for_each_entry(pdo, &fsm->pdos, list) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   277
            ec_sync_add_pdo(sync, pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   278
        }
1749
696dd9f22777 merge -r972:974 trunk -> branches/stable-1.3 (mapping source, new slave info file)
Florian Pose <fp@igh-essen.com>
parents: 1746
diff changeset
   279
        sync->mapping_source = EC_SYNC_MAPPING_COE;
1746
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   280
        ec_fsm_coe_map_clear_pdos(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   281
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   282
        // next sync manager
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   283
        fsm->sync_index++;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   284
        ec_fsm_coe_map_action_next_sync(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   285
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   286
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   287
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   289
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   291
 * Fetch PDO information.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
void ec_fsm_coe_map_state_pdo(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   295
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   297
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
        EC_ERR("Failed to read mapped PDO index from slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
                fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
        fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
        ec_sdo_entry_t *entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
        if (!(fsm->pdo = (ec_pdo_t *)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
                    kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
            EC_ERR("Failed to allocate PDO.\n");
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
        ec_pdo_init(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
        fsm->pdo->index = EC_READ_U16(fsm->request.data);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
        fsm->pdo->type =
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
            ec_sync_get_pdo_type(fsm->slave->sii_syncs + fsm->sync_index);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
        if (fsm->slave->master->debug_level)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
            EC_DBG("  PDO 0x%04X.\n", fsm->pdo->index);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
        if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, fsm->pdo->index))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
                    fsm->slave->ring_position, fsm->pdo->index);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
            ec_pdo_clear(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
            kfree(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
        if (fsm->pdo_sdo->name && strlen(fsm->pdo_sdo->name)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
            if (!(fsm->pdo->name = (char *)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
                        kmalloc(strlen(fsm->pdo_sdo->name) + 1, GFP_KERNEL))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
                EC_ERR("Failed to allocate PDO name.\n");
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
                ec_pdo_clear(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
                kfree(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
                fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
                return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
            }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
            memcpy(fsm->pdo->name, fsm->pdo_sdo->name,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
                    strlen(fsm->pdo_sdo->name) + 1);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
        } else {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
            fsm->pdo->name = NULL;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
            EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
                    fsm->pdo_sdo->index,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
                    fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
            ec_pdo_clear(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
            kfree(fsm->pdo);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
        list_add_tail(&fsm->pdo->list, &fsm->pdos);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
        ec_sdo_request_init_read(&fsm->request, entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
        fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
 * Read number of PDO entries.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
void ec_fsm_coe_map_state_pdo_entry_count(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
        EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
                fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
        fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
    fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    if (fsm->slave->master->debug_level)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
        EC_DBG("    %u PDO entries mapped.\n", fsm->pdo_subindices);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    // read first PDO entry
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
    fsm->pdo_subindex = 1;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    ec_fsm_coe_map_action_next_pdo_entry(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
 * Read next PDO entry.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
void ec_fsm_coe_map_action_next_pdo_entry(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
    ec_sdo_entry_t *entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
    if (fsm->pdo_subindex <= fsm->pdo_subindices) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
        if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   412
                        fsm->pdo_subindex))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   413
            EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   414
                    fsm->pdo_sdo->index, fsm->pdo_subindex,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   415
                    fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   416
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   417
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        ec_sdo_request_init_read(&fsm->request, entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        fsm->state = ec_fsm_coe_map_state_pdo_entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
        ec_fsm_coe_upload(fsm->fsm_coe, fsm->slave, &fsm->request);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
    // next PDO
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
    fsm->sync_subindex++;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
    ec_fsm_coe_map_action_next_pdo(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
 * Read PDO entry information.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
 */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
void ec_fsm_coe_map_state_pdo_entry(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   440
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   441
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   442
    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   443
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   444
    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
                fsm->slave->ring_position);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
        fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
        return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
    {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
        uint32_t pdo_entry_info;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
        ec_sdo_t *sdo;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
        ec_sdo_entry_t *entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        ec_pdo_entry_t *pdo_entry;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
        pdo_entry_info = EC_READ_U32(fsm->request.data);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
        if (!(pdo_entry = (ec_pdo_entry_t *)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
                    kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
            EC_ERR("Failed to allocate PDO entry.\n");
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
        pdo_entry->index = pdo_entry_info >> 16;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
        pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
        pdo_entry->bit_length = pdo_entry_info & 0xFF;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
        if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry->index))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
            EC_ERR("Slave %u has no SDO 0x%04X.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
                    fsm->slave->ring_position, pdo_entry->index);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
            kfree(pdo_entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
        if (!(entry = ec_sdo_get_entry(sdo, pdo_entry->subindex))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
            EC_ERR("Slave %u has no SDO entry 0x%04X:%u.\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   480
                    fsm->slave->ring_position, pdo_entry->index,
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   481
                    pdo_entry->subindex);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   482
            kfree(pdo_entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   483
            fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
            return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
        if (entry->description && strlen(entry->description)) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
            if (!(pdo_entry->name = (char *)
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
                        kmalloc(strlen(entry->description) + 1, GFP_KERNEL))) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
                EC_ERR("Failed to allocate PDO entry name.\n");
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   491
                kfree(pdo_entry);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
                fsm->state = ec_fsm_coe_map_state_error;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
                return;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
            }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
            memcpy(pdo_entry->name, entry->description, strlen(entry->description) + 1);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
        } else {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
            pdo_entry->name = NULL;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        if (fsm->slave->master->debug_level) {
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
            EC_DBG("    PDO entry 0x%04X \"%s\" (%u bit).\n",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
                    pdo_entry->index, pdo_entry->name ? pdo_entry->name : "???",
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
                    pdo_entry->bit_length);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
        }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
        list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   507
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   508
        // next PDO entry
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   509
        fsm->pdo_subindex++;
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   510
        ec_fsm_coe_map_action_next_pdo_entry(fsm);
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
    }
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
   State: ERROR.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
*/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
void ec_fsm_coe_map_state_error(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   522
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
/*****************************************************************************/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
/**
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
   State: END.
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
*/
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
void ec_fsm_coe_map_state_end(
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
        ec_fsm_coe_map_t *fsm /**< finite state machine */
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
        )
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
{
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
}
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
72e7507b3f1b merge -r931:HEAD svn://yak/vol/projekte/msr_messen_steuern_regeln/ethercat/rep/trunk .
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
/*****************************************************************************/