etherlabmaster: comparison master/fsm_pdo

equal deleted inserted replaced

-:af21f0bdc7c9
+:2b9c78543663
 #include "fsm_pdo_entry.h"
 /*****************************************************************************/
-void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
-void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *, ec_datagram_t *);
-void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *, ec_datagram_t *);
-void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *, ec_datagram_t *);
-void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
-void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *,
-void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *);
+ec_datagram_t *);
-void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *,
+ec_datagram_t *);
-void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *,
+ec_datagram_t *);
-void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *);
-void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *);
+void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *, ec_datagram_t *);
+void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *, ec_datagram_t *);
+void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *, ec_datagram_t *);
 /*****************************************************************************/
 /** Constructor.
 */
 /*****************************************************************************/
 /** Print the current and desired PDO mapping.
 */
 void ec_fsm_pdo_entry_print(
-ec_fsm_pdo_entry_t *fsm /**< PDO configuration state machine. */
+ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
 )
 {
 printk("Currently mapped PDO entries: ");
 ec_pdo_print_entries(fsm->cur_pdo);
 printk(". Entries to map: ");
 /** Start reading a PDO's entries.
 */
 void ec_fsm_pdo_entry_start_reading(
 ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
-ec_slave_t *slave, /**< slave to configure */
+ec_slave_t *slave, /**< Slave to configure. */
 ec_pdo_t *pdo /**< PDO to read entries for. */
 )
 {
 fsm->slave = slave;
 fsm->target_pdo = pdo;
 ec_pdo_clear_entries(fsm->target_pdo);
 fsm->state = ec_fsm_pdo_entry_read_state_start;
 }
 /*****************************************************************************/
 /** Start PDO mapping state machine.
 */
 void ec_fsm_pdo_entry_start_configuration(
 ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
-ec_slave_t *slave, /**< slave to configure */
+ec_slave_t *slave, /**< Slave to configure. */
 const ec_pdo_t *pdo, /**< PDO with the desired entries. */
 const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
 )
 {
 fsm->slave = slave;
 /** Executes the current state.
 *
 * \return false, if state machine has terminated
 */
 int ec_fsm_pdo_entry_exec(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-fsm->state(fsm);
+{
+fsm->state(fsm, datagram);
 return ec_fsm_pdo_entry_running(fsm);
 }
 /*****************************************************************************/
 *****************************************************************************/
 /** Request reading the number of mapped PDO entries.
 */
 void ec_fsm_pdo_entry_read_state_start(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
+{
+ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index, 0);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_pdo_entry_read_state_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
 }
 /*****************************************************************************/
 /** Read number of mapped PDO entries.
 */
 void ec_fsm_pdo_entry_read_state_count(
-ec_fsm_pdo_entry_t *fsm /**< finite state machine */
+ec_fsm_pdo_entry_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 mapped PDO entries.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count);
 // read first PDO entry
 fsm->entry_pos = 1;
-ec_fsm_pdo_entry_read_action_next(fsm);
+ec_fsm_pdo_entry_read_action_next(fsm, datagram);
 }
 /*****************************************************************************/
 /** Read next PDO entry.
 */
 void ec_fsm_pdo_entry_read_action_next(
-ec_fsm_pdo_entry_t *fsm /**< finite state machine */
+ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 if (fsm->entry_pos <= fsm->entry_count) {
-ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, fsm->entry_pos);
+ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index,
+fsm->entry_pos);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_pdo_entry_read_state_entry;
 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 entries.
 fsm->state = ec_fsm_pdo_entry_state_end;
 /*****************************************************************************/
 /** Read PDO entry information.
 */
 void ec_fsm_pdo_entry_read_state_entry(
-ec_fsm_pdo_entry_t *fsm /**< finite state machine */
+ec_fsm_pdo_entry_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 mapped PDO entry.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
 // next PDO entry
 fsm->entry_pos++;
-ec_fsm_pdo_entry_read_action_next(fsm);
+ec_fsm_pdo_entry_read_action_next(fsm, datagram);
 }
 }
 /******************************************************************************
 * Configuration state functions.
 *****************************************************************************/
 /** Start PDO mapping.
 */
 void ec_fsm_pdo_entry_conf_state_start(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 if (ec_sdo_request_alloc(&fsm->request, 4)) {
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 // set mapped PDO entry count to zero
 EC_WRITE_U8(fsm->request.data, 0);
 fsm->request.data_size = 1;
-ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
+ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
 ecrt_sdo_request_write(&fsm->request);
 EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n");
 fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_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
 }
 /*****************************************************************************/
 /** Process next PDO entry.
+*
+* \return Next PDO entry, or NULL.
 */
 ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
 const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
 const struct list_head *list /**< current entry list item */
 )
 {
 list = list->next;
 if (list == &fsm->source_pdo->entries)
 return NULL; // no next entry
 return list_entry(list, ec_pdo_entry_t, list);
 }
 /*****************************************************************************/
 /** Set the number of mapped entries to zero.
 */
 void ec_fsm_pdo_entry_conf_state_zero_entry_count(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping 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 mapping.\n");
 EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
 fsm->state = ec_fsm_pdo_entry_state_error;
 }
 // find first entry
 if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
 fsm, &fsm->source_pdo->entries))) {
 EC_SLAVE_DBG(fsm->slave, 1, "No entries to map.\n");
 fsm->state = ec_fsm_pdo_entry_state_end; // finished
 return;
 }
 // add first entry
 fsm->entry_pos = 1;
-ec_fsm_pdo_entry_conf_action_map(fsm);
+ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
 }
 /*****************************************************************************/
 /** Starts to add a PDO entry.
 */
 void ec_fsm_pdo_entry_conf_action_map(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 uint32_t value;
 EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)"
 value = fsm->entry->index << 16
 | fsm->entry->subindex << 8 | fsm->entry->bit_length;
 EC_WRITE_U32(fsm->request.data, value);
 fsm->request.data_size = 4;
-ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, fsm->entry_pos);
+ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index,
+fsm->entry_pos);
 ecrt_sdo_request_write(&fsm->request);
 fsm->state = ec_fsm_pdo_entry_conf_state_map_entry;
 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 entry.
 */
 void ec_fsm_pdo_entry_conf_state_map_entry(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping 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 map PDO entry"
 " 0x%04X:%02X (%u bit) to position %u.\n",
 fsm->entry->index, fsm->entry->subindex,
 fsm, &fsm->entry->list))) {
 // No more entries to add. Write entry count.
 EC_WRITE_U8(fsm->request.data, fsm->entry_pos);
 fsm->request.data_size = 1;
-ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
+ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
 ecrt_sdo_request_write(&fsm->request);
 EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n",
 fsm->entry_pos);
 fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_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 entry
 fsm->entry_pos++;
-ec_fsm_pdo_entry_conf_action_map(fsm);
+ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
 }
 /*****************************************************************************/
 /** Set the number of entries.
 */
 void ec_fsm_pdo_entry_conf_state_set_entry_count(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping 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 entries.\n");
 EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
 fsm->state = ec_fsm_pdo_entry_state_error;
 *****************************************************************************/
 /** State: ERROR.
 */
 void ec_fsm_pdo_entry_state_error(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
+ec_datagram_t *datagram /**< Datagram to use. */
 )
 {
 }
 /*****************************************************************************/
 /** State: END.
 */
 void ec_fsm_pdo_entry_state_end(
-ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
-)
+ec_datagram_t *datagram /**< Datagram to use. */
-{
+)
-}
+{
+}
-/*****************************************************************************/
+/*****************************************************************************/

changeset 2589	2b9c78543663
parent 1964	9327c261056f