etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:af21f0bdc7c9
+:2b9c78543663
 #include "fsm_pdo.h"
 /*****************************************************************************/
-void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *);
+void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *);
+void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_state_end(ec_fsm_pdo_t *);
+void ec_fsm_pdo_state_end(ec_fsm_pdo_t *, ec_datagram_t *);
-void ec_fsm_pdo_state_error(ec_fsm_pdo_t *);
+void ec_fsm_pdo_state_error(ec_fsm_pdo_t *, ec_datagram_t *);
 /*****************************************************************************/
 /** Constructor.
 */
 * of the state machine is delayed to the next cycle.
 *
 * \return false, if state machine has terminated
 */
 int ec_fsm_pdo_exec(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-fsm->state(fsm);
+{
+fsm->state(fsm, datagram);
 return ec_fsm_pdo_running(fsm);
 }
 /*****************************************************************************/
 *****************************************************************************/
 /** Start reading PDO assignment.
 */
 void ec_fsm_pdo_read_state_start(
-ec_fsm_pdo_t *fsm /**< finite state machine */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 // read PDO assignment for first sync manager not reserved for mailbox
 fsm->sync_index = 1; // next is 2
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 }
 /*****************************************************************************/
 /** Read PDO assignment of next sync manager.
 */
 void ec_fsm_pdo_read_action_next_sync(
-ec_fsm_pdo_t *fsm /**< Finite state machine */
+ec_fsm_pdo_t *fsm, /**< finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 ec_slave_t *slave = fsm->slave;
 fsm->sync_index++;
 EC_SLAVE_DBG(slave, 1, "Reading PDO assignment of SM%u.\n",
 fsm->sync_index);
 ec_pdo_list_clear_pdos(&fsm->pdos);
-ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
+ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_pdo_read_state_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
 return;
 }
 EC_SLAVE_DBG(slave, 1, "Reading of PDO configuration finished.\n");
 /*****************************************************************************/
 /** Count assigned PDOs.
 */
 void ec_fsm_pdo_read_state_pdo_count(
-ec_fsm_pdo_t *fsm /**< finite state machine */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+{
+if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
+return;
+}
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 EC_SLAVE_ERR(fsm->slave, "Failed to read number of assigned PDOs"
 " for SM%u.\n", fsm->sync_index);
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 if (fsm->request.data_size != sizeof(uint8_t)) {
 EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
 " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
 fsm->request.index, fsm->request.subindex);
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 fsm->pdo_count = EC_READ_U8(fsm->request.data);
 EC_SLAVE_DBG(fsm->slave, 1, "%u PDOs assigned.\n", fsm->pdo_count);
 // read first PDO
 fsm->pdo_pos = 1;
-ec_fsm_pdo_read_action_next_pdo(fsm);
+ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
 }
 /*****************************************************************************/
 /** Read next PDO.
 */
 void ec_fsm_pdo_read_action_next_pdo(
-ec_fsm_pdo_t *fsm /**< finite state machine */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 if (fsm->pdo_pos <= fsm->pdo_count) {
-ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index,
+ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index,
 fsm->pdo_pos);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_pdo_read_state_pdo;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
 return;
 }
 // finished reading PDO configuration
 ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
 ec_pdo_list_clear_pdos(&fsm->pdos);
 // next sync manager
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 }
 /*****************************************************************************/
 /** Fetch PDO information.
 */
 void ec_fsm_pdo_read_state_pdo(
-ec_fsm_pdo_t *fsm /**< finite state machine */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+{
+if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
+return;
+}
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 EC_SLAVE_ERR(fsm->slave, "Failed to read index of"
 " assigned PDO %u from SM%u.\n",
 fsm->pdo_pos, fsm->sync_index);
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 if (fsm->request.data_size != sizeof(uint16_t)) {
 EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu returned"
 " when uploading SDO 0x%04X:%02X.\n", fsm->request.data_size,
 fsm->request.index, fsm->request.subindex);
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 if (!(fsm->pdo = (ec_pdo_t *)
 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
 EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO.\n");
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 ec_pdo_init(fsm->pdo);
 fsm->pdo->index = EC_READ_U16(fsm->request.data);
 list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
 fsm->state = ec_fsm_pdo_read_state_pdo_entries;
 ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
-fsm->state(fsm); // execute immediately
+fsm->state(fsm, datagram); // execute immediately
 }
 /*****************************************************************************/
 /** Fetch PDO information.
 */
 void ec_fsm_pdo_read_state_pdo_entries(
-ec_fsm_pdo_t *fsm /**< finite state machine */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
+{
-return;
+if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
+return;
+}
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
 EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entries"
 " for PDO 0x%04X.\n", fsm->pdo->index);
-ec_fsm_pdo_read_action_next_sync(fsm);
+ec_fsm_pdo_read_action_next_sync(fsm, datagram);
 return;
 }
 // next PDO
 fsm->pdo_pos++;
-ec_fsm_pdo_read_action_next_pdo(fsm);
+ec_fsm_pdo_read_action_next_pdo(fsm, datagram);
 }
 /******************************************************************************
 * Writing state functions.
 *****************************************************************************/
 /** Start PDO configuration.
 */
 void ec_fsm_pdo_conf_state_start(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 if (!fsm->slave->config) {
 fsm->state = ec_fsm_pdo_state_end;
 return;
 }
 fsm->sync_index = 1; // next is 2
-ec_fsm_pdo_conf_action_next_sync(fsm);
+ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
 }
 /*****************************************************************************/
 /** Assign next PDO.
+*
+* \return Next PDO, or NULL.
 */
 ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
 const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
 const struct list_head *list /**< current PDO list item */
 )
 {
 list = list->next;
 if (list == &fsm->pdos.list)
 return NULL; // no next PDO
 return list_entry(list, ec_pdo_t, list);
 }
 /*****************************************************************************/
 /** Get the next sync manager for a pdo configuration.
 */
 void ec_fsm_pdo_conf_action_next_sync(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 fsm->sync_index++;
 for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
 if (!fsm->slave->config) {
 // slave configuration removed in the meantime
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 &fsm->slave->config->sync_configs[fsm->sync_index].pdos))
 {
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
 if (!list_empty(&fsm->pdos.list))
 EC_SLAVE_WARN(fsm->slave, "PDOs configured for SM%u,"
 " but slave does not provide the"
 " sync manager information!\n",
 // get first configured PDO
 if (!(fsm->pdo =
 ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
 // no pdos configured
-ec_fsm_pdo_conf_action_check_assignment(fsm);
+ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
 return;
 }
-ec_fsm_pdo_conf_action_pdo_mapping(fsm);
+ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
 return;
 }
 fsm->state = ec_fsm_pdo_state_end;
 }
 /*****************************************************************************/
 /** Check if the mapping has to be read, otherwise start to configure it.
 */
 void ec_fsm_pdo_conf_action_pdo_mapping(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 const ec_pdo_t *assigned_pdo;
 fsm->slave_pdo.index = fsm->pdo->index;
 }
 if (list_empty(&fsm->slave_pdo.entries)) {
 EC_SLAVE_DBG(fsm->slave, 1, "Reading mapping of PDO 0x%04X.\n",
 fsm->pdo->index);
 // pdo mapping is unknown; start loading it
 ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
 &fsm->slave_pdo);
 fsm->state = ec_fsm_pdo_conf_state_read_mapping;
-fsm->state(fsm); // execute immediately
+fsm->state(fsm, datagram); // execute immediately
 return;
 }
 // pdo mapping is known, check if it most be re-configured
-ec_fsm_pdo_conf_action_check_mapping(fsm);
+ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
 }
 /*****************************************************************************/
 /** Execute the PDO entry state machine to read the current PDO's mapping.
 */
 void ec_fsm_pdo_conf_state_read_mapping(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
+{
-return;
+if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
+return;
+}
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
 EC_SLAVE_WARN(fsm->slave,
 "Failed to read PDO entries for PDO 0x%04X.\n",
 fsm->pdo->index);
 // check if the mapping must be re-configured
-ec_fsm_pdo_conf_action_check_mapping(fsm);
+ec_fsm_pdo_conf_action_check_mapping(fsm, datagram);
 }
 /*****************************************************************************/
 /** Check if the mapping has to be re-configured.
 *
 * \todo Display mapping differences.
 */
 void ec_fsm_pdo_conf_action_check_mapping(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 // check, if slave supports PDO configuration
 if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
 && fsm->slave->sii.has_general
 // always write PDO mapping
 ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
 fsm->pdo, &fsm->slave_pdo);
 fsm->state = ec_fsm_pdo_conf_state_mapping;
-fsm->state(fsm); // execure immediately
+fsm->state(fsm, datagram); // execure immediately
 return;
 }
 else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
 EC_SLAVE_WARN(fsm->slave, "Slave does not support"
 " changing the PDO mapping!\n");
 printk(". Entries to map: ");
 ec_pdo_print_entries(fsm->pdo);
 printk("\n");
 }
-ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
+ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
 }
 /*****************************************************************************/
 /** Let the PDO entry state machine configure the current PDO's mapping.
 */
 void ec_fsm_pdo_conf_state_mapping(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
+{
-return;
+if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry, datagram)) {
+return;
+}
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
 EC_SLAVE_WARN(fsm->slave,
 "Failed to configure mapping of PDO 0x%04X.\n",
 fsm->pdo->index);
-ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
+ec_fsm_pdo_conf_action_next_pdo_mapping(fsm, datagram);
 }
 /*****************************************************************************/
 /** Check mapping of next PDO, otherwise configure assignment.
 */
 void ec_fsm_pdo_conf_action_next_pdo_mapping(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 // get next configured PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
 // no more configured pdos
-ec_fsm_pdo_conf_action_check_assignment(fsm);
+ec_fsm_pdo_conf_action_check_assignment(fsm, datagram);
 return;
 }
-ec_fsm_pdo_conf_action_pdo_mapping(fsm);
+ec_fsm_pdo_conf_action_pdo_mapping(fsm, datagram);
 }
 /*****************************************************************************/
 /** Check if the PDO assignment of the current SM has to be re-configured.
 */
 void ec_fsm_pdo_conf_action_check_assignment(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
 && fsm->slave->sii.has_general
 && fsm->slave->sii.coe_details.enable_pdo_assign) {
 }
 // set mapped PDO count to zero
 EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
 fsm->request.data_size = 1;
-ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
+ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 EC_SLAVE_DBG(fsm->slave, 1, "Setting number of assigned"
 " PDOs to zero.\n");
 fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
 return;
 }
 else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
 EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
 EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
 }
-ec_fsm_pdo_conf_action_next_sync(fsm);
+ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
 }
 /*****************************************************************************/
 /** Set the number of assigned PDOs to zero.
 */
 void ec_fsm_pdo_conf_state_zero_pdo_count(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_coe_exec(fsm->fsm_coe))
+{
-return;
+if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
+return;
+}
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
 fsm->sync_index);
-EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
+EC_SLAVE_WARN(fsm->slave, "");
-ec_fsm_pdo_conf_action_next_sync(fsm);
+ec_fsm_pdo_print(fsm);
+ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
 return;
 }
 // the sync manager's assigned PDOs have been cleared
 ec_pdo_list_clear_pdos(&fsm->sync->pdos);
 // assign all PDOs belonging to the current sync manager
 // find first PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
 // check for mapping to be altered
-ec_fsm_pdo_conf_action_next_sync(fsm);
+ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
 return;
 }
 // assign first PDO
 fsm->pdo_pos = 1;
-ec_fsm_pdo_conf_action_assign_pdo(fsm);
+ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
 }
 /*****************************************************************************/
 /** Assign a PDO.
 */
 void ec_fsm_pdo_conf_action_assign_pdo(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
 fsm->request.data_size = 2;
-ec_sdo_request_address(&fsm->request,
+ecrt_sdo_request_index(&fsm->request,
 0x1C10 + fsm->sync_index, fsm->pdo_pos);
 ecrt_sdo_request_write(&fsm->request);
 EC_SLAVE_DBG(fsm->slave, 1, "Assigning PDO 0x%04X at position %u.\n",
 fsm->pdo->index, fsm->pdo_pos);
 fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
 }
 /*****************************************************************************/
 /** Add a PDO to the sync managers PDO assignment.
 */
 void ec_fsm_pdo_conf_state_assign_pdo(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+{
+if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
+return;
+}
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 EC_SLAVE_WARN(fsm->slave, "Failed to assign PDO 0x%04X at position %u"
 " of SM%u.\n",
 fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
 return;
 }
 // find next PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
 // no more PDOs to assign, set PDO count
 EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
 fsm->request.data_size = 1;
-ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
+ecrt_sdo_request_index(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 EC_SLAVE_DBG(fsm->slave, 1,
 "Setting number of assigned PDOs to %u.\n",
 fsm->pdo_pos);
 fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
 return;
 }
 // add next PDO to assignment
 fsm->pdo_pos++;
-ec_fsm_pdo_conf_action_assign_pdo(fsm);
+ec_fsm_pdo_conf_action_assign_pdo(fsm, datagram);
 }
 /*****************************************************************************/
 /** Set the number of assigned PDOs.
 */
 void ec_fsm_pdo_conf_state_set_pdo_count(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
+{
+if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
+return;
+}
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 EC_SLAVE_WARN(fsm->slave, "Failed to set number of"
 " assigned PDOs of SM%u.\n", fsm->sync_index);
 EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
 EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
 " PDO assignment of SM%u.\n", fsm->sync_index);
 // check if PDO mapping has to be altered
-ec_fsm_pdo_conf_action_next_sync(fsm);
+ec_fsm_pdo_conf_action_next_sync(fsm, datagram);
 }
 /******************************************************************************
 * Common state functions
 *****************************************************************************/
 /** State: ERROR.
 */
 void ec_fsm_pdo_state_error(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 }
 /*****************************************************************************/
 /** State: END.
 */
 void ec_fsm_pdo_state_end(
-ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< Finite state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-}
+{
+}
-/*****************************************************************************/
+/*****************************************************************************/

changeset 2589	2b9c78543663
parent 1964	9327c261056f