etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:3b81d074735c
+:3778920f61e4
 *  standard) as the (only) precondition to have the right to use EtherCAT
 *  Technology, IP and trade marks.
 *
 *****************************************************************************/
-/**
+/** \file
-\file
+* EtherCAT PDO mapping state machine.
-EtherCAT PDO mapping state machine.
+*/
-*/
 /*****************************************************************************/
 #include "globals.h"
 #include "master.h"
 #include "mailbox.h"
+#include "slave_config.h"
 #include "fsm_mapping.h"
 /*****************************************************************************/
 void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
 void ec_fsm_mapping_next_sync(ec_fsm_mapping_t *);
 /*****************************************************************************/
-/**
+/** Constructor.
-* Constructor.
+*/
-*/
+void ec_fsm_mapping_init(
+ec_fsm_mapping_t *fsm, /**< mapping state machine */
-void ec_fsm_mapping_init(ec_fsm_mapping_t *fsm, /**< mapping state machine */
 ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
 )
 {
 fsm->fsm_coe = fsm_coe;
 fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
 }
 /*****************************************************************************/
-/**
+/** Destructor.
-* Destructor.
+*/
-*/
+void ec_fsm_mapping_clear(
+ec_fsm_mapping_t *fsm /**< mapping state machine */
-void ec_fsm_mapping_clear(ec_fsm_mapping_t *fsm /**< mapping state machine */)
+)
 {
 }
 /*****************************************************************************/
-/**
+/** Start PDO mapping configuration state machine.
-* Start PDO mapping configuration state machine.
+*/
-*/
 void ec_fsm_mapping_start(
 ec_fsm_mapping_t *fsm, /**< mapping state machine */
 ec_slave_t *slave /**< slave to configure */
 )
 {
 fsm->state = ec_fsm_mapping_state_start;
 }
 /*****************************************************************************/
-/**
+/** Get running state.
+*
 * \return false, if state machine has terminated
 */
 int ec_fsm_mapping_running(
 const ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 return fsm->state != ec_fsm_mapping_state_end
 && fsm->state != ec_fsm_mapping_state_error;
 }
 /*****************************************************************************/
-/**
+/** Executes the current state of the state machine.
-* Executes the current state of the state machine.
+*
 * If the state machine's datagram is not sent or received yet, the execution
 * of the state machine is delayed to the next cycle.
+*
 * \return false, if state machine has terminated
 */
 int ec_fsm_mapping_exec(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 fsm->state(fsm);
 return ec_fsm_mapping_running(fsm);
 }
 /*****************************************************************************/
-/**
+/** Get execution result.
+*
 * \return true, if the state machine terminated gracefully
 */
 int ec_fsm_mapping_success(
 const ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 return fsm->state == ec_fsm_mapping_state_end;
 }
 /******************************************************************************
-* state functions
+* State functions.
 *****************************************************************************/
-/**
+/** Start mapping configuration.
-* Start mapping configuration.
+*/
-*/
 void ec_fsm_mapping_state_start(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
+if (!fsm->slave->config) {
+fsm->state = ec_fsm_mapping_state_end;
+return;
+}
 fsm->dir = EC_DIR_OUTPUT;
 ec_fsm_mapping_next_sync(fsm);
 }
 /*****************************************************************************/
-/**
+/** Process mapping of next sync manager.
-* Process mapping of next sync manager.
+*/
-*/
 void ec_fsm_mapping_next_sync(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 while (1) {
 fsm->state = ec_fsm_mapping_state_end;
 return;
 }
 if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
-// no sync manager found for this direction
+EC_WARN("next_sync(): No sync manager!\n");
 fsm->dir++;
 continue;
 }
-fsm->dir++;
+fsm->mapping = &fsm->slave->config->mapping[fsm->dir];
-if (fsm->sync->alt_mapping)
+if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping)) {
+// the mapping for this direction does not have to be altered
+fsm->dir++;
+continue;
+} else {
+fsm->dir++;
 break;
+}
 }
 if (fsm->slave->master->debug_level) {
-EC_DBG("Configuring PDO mapping for SM%u of slave %i.\n",
+EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n",
 fsm->sync->index, fsm->slave->ring_position);
 }
 // set mapped PDO count to zero
 fsm->sdodata.index = 0x1C10 + fsm->sync->index;
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/**
+/** Process mapping of next PDO.
-* Process mapping of next PDO.
+*/
-*/
 ec_pdo_t *ec_fsm_mapping_next_pdo(
-ec_fsm_mapping_t *fsm, /**< mapping state machine */
+const ec_fsm_mapping_t *fsm, /**< mapping state machine */
-struct list_head *list /**< current PDO list item */
+const struct list_head *list /**< current PDO list item */
 )
 {
-ec_pdo_t *pdo;
+list = list->next;
+if (list == &fsm->mapping->pdos)
-do {
+return NULL; // no next PDO
-list = list->next;
+return list_entry(list, ec_pdo_t, list);
-if (list == &fsm->sync->pdos)
+}
-return NULL; // no next PDO
-pdo = list_entry(list, ec_pdo_t, list);
+/*****************************************************************************/
-}
-while (pdo->sync_index != fsm->sync->index);
+/** Set the number of mapped PDOs to zero.
+*/
-return pdo;
-}
-/*****************************************************************************/
-/**
-* Set the number of mapped PDOs to zero.
-*/
 void ec_fsm_mapping_state_zero_count(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 }
 // map all PDOs belonging to the current sync manager
 // find first PDO
-if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
+if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
-fsm, &fsm->sync->pdos))) {
 if (fsm->slave->master->debug_level)
 EC_DBG("No PDOs to map for SM%u of slave %u.\n",
 fsm->sync->index, fsm->slave->ring_position);
 ec_fsm_mapping_next_sync(fsm);
 return;
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/**
+/** Add a PDO to the sync managers mapping.
-* Add a PDO to the sync managers mapping.
+*/
-*/
 void ec_fsm_mapping_state_add_pdo(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 fsm->state = ec_fsm_mapping_state_error;
 return;
 }
 // find next PDO
-if (!(fsm->pdo = ec_fsm_mapping_next_pdo(
+if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->pdo->list))) {
-fsm, &fsm->pdo->list))) {
 // no more PDOs to map. write PDO count
 fsm->sdodata.subindex = 0;
 EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
 fsm->sdodata.size = 1;
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/**
+/** Set the number of mapped PDOs.
-* Set the number of mapped PDOs.
+*/
-*/
 void ec_fsm_mapping_state_pdo_count(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 /******************************************************************************
 * Common state functions
 *****************************************************************************/
-/**
+/** State: ERROR.
-State: ERROR.
+*/
-*/
 void ec_fsm_mapping_state_error(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 }
 /*****************************************************************************/
-/**
+/** State: END.
-State: END.
+*/
-*/
 void ec_fsm_mapping_state_end(
 ec_fsm_mapping_t *fsm /**< mapping state machine */
 )
 {
 }

changeset 792	3778920f61e4
parent 758	8fa6f825eb7d
child 801	6b1e2b0ed8bc