etherlabmaster: comparison master/fsm_pdo

equal deleted inserted replaced

-:ef907b0b5125
+:4d179b06dd3c
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/
 /** \file
-* EtherCAT Pdo mapping state machine.
+* EtherCAT PDO mapping state machine.
 */
 /*****************************************************************************/
 #include "globals.h"
 /*****************************************************************************/
 /** Constructor.
 */
 void ec_fsm_pdo_entry_init(
-ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
 ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
 )
 {
 fsm->fsm_coe = fsm_coe;
 ec_sdo_request_init(&fsm->request);
 /*****************************************************************************/
 /** Destructor.
 */
 void ec_fsm_pdo_entry_clear(
-ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
 )
 {
 ec_sdo_request_clear(&fsm->request);
 }
 /*****************************************************************************/
-/** Start reading a Pdo's entries.
+/** Start reading a PDO's entries.
 */
 void ec_fsm_pdo_entry_start_reading(
-ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
 ec_slave_t *slave, /**< slave to configure */
-ec_pdo_t *pdo /**< Pdo to read entries for. */
+ec_pdo_t *pdo /**< PDO to read entries for. */
 )
 {
 fsm->slave = slave;
 fsm->target_pdo = pdo;
 fsm->state = ec_fsm_pdo_entry_read_state_start;
 }
 /*****************************************************************************/
-/** Start Pdo mapping state machine.
+/** Start PDO mapping state machine.
 */
 void ec_fsm_pdo_entry_start_configuration(
-ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
 ec_slave_t *slave, /**< slave to configure */
-const ec_pdo_t *pdo /**< Pdo with the desired entries. */
+const ec_pdo_t *pdo /**< PDO with the desired entries. */
 )
 {
 fsm->slave = slave;
 fsm->source_pdo = pdo;
 /** Get running state.
 *
 * \return false, if state machine has terminated
 */
 int ec_fsm_pdo_entry_running(
-const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
 )
 {
 return fsm->state != ec_fsm_pdo_entry_state_end
 && fsm->state != ec_fsm_pdo_entry_state_error;
 }
 /** 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. */
 )
 {
 fsm->state(fsm);
 return ec_fsm_pdo_entry_running(fsm);
 }
 /** Get execution result.
 *
 * \return true, if the state machine terminated gracefully
 */
 int ec_fsm_pdo_entry_success(
-const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
 )
 {
 return fsm->state == ec_fsm_pdo_entry_state_end;
 }
 /******************************************************************************
 * Reading state functions.
 *****************************************************************************/
-/** Request reading the number of mapped Pdo entries.
+/** 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_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
 ecrt_sdo_request_read(&fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/** Read number of mapped Pdo entries.
+/** Read number of mapped PDO entries.
 */
 void ec_fsm_pdo_entry_read_state_count(
 ec_fsm_pdo_entry_t *fsm /**< finite state machine */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe))
 return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to read number of mapped Pdo entries.\n");
+EC_ERR("Failed to read number of mapped PDO entries.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 if (fsm->request.data_size != sizeof(uint8_t)) {
-EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
 fsm->request.data_size, fsm->request.index,
 fsm->request.subindex);
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 fsm->entry_count = EC_READ_U8(fsm->request.data);
 if (fsm->slave->master->debug_level)
-EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count);
+EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
-// read first Pdo entry
+// read first PDO entry
 fsm->entry_pos = 1;
 ec_fsm_pdo_entry_read_action_next(fsm);
 }
 /*****************************************************************************/
-/** Read next Pdo entry.
+/** Read next PDO entry.
 */
 void ec_fsm_pdo_entry_read_action_next(
 ec_fsm_pdo_entry_t *fsm /**< finite state machine */
 )
 {
 fsm->state = ec_fsm_pdo_entry_state_end;
 }
 /*****************************************************************************/
-/** Read Pdo entry information.
+/** Read PDO entry information.
 */
 void ec_fsm_pdo_entry_read_state_entry(
 ec_fsm_pdo_entry_t *fsm /**< finite state machine */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to read mapped Pdo entry.\n");
+EC_ERR("Failed to read mapped PDO entry.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 if (fsm->request.data_size != sizeof(uint32_t)) {
-EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
 fsm->request.data_size, fsm->request.index,
 fsm->request.subindex);
 fsm->state = ec_fsm_pdo_entry_state_error;
 } else {
 uint32_t pdo_entry_info;
 pdo_entry_info = EC_READ_U32(fsm->request.data);
 if (!(pdo_entry = (ec_pdo_entry_t *)
 kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
-EC_ERR("Failed to allocate Pdo entry.\n");
+EC_ERR("Failed to allocate PDO entry.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 ec_pdo_entry_init(pdo_entry);
 return;
 }
 }
 if (fsm->slave->master->debug_level) {
-EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n",
+EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
 pdo_entry->index, pdo_entry->subindex,
 pdo_entry->bit_length,
 pdo_entry->name ? pdo_entry->name : "???");
 }
 list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
-// next Pdo entry
+// next PDO entry
 fsm->entry_pos++;
 ec_fsm_pdo_entry_read_action_next(fsm);
 }
 }
 /******************************************************************************
 * Configuration state functions.
 *****************************************************************************/
-/** Start Pdo mapping.
+/** 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. */
 )
 {
-// Pdo mapping has to be changed. Does the slave support this?
+// PDO mapping has to be changed. Does the slave support this?
 if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
 || (fsm->slave->sii.has_general
 && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
-EC_WARN("Slave %u does not support changing the Pdo mapping!\n",
+EC_WARN("Slave %u does not support changing the PDO mapping!\n",
 fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 if (ec_sdo_request_alloc(&fsm->request, 4)) {
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
-// set mapped Pdo entry count to zero
+// 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_write(&fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/** Process next Pdo entry.
+/** Process next PDO entry.
 */
 ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
-const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+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)
 /*****************************************************************************/
 /** 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. */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe))
 return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_WARN("Failed to clear Pdo mapping.\n");
+EC_WARN("Failed to clear PDO mapping.\n");
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 // find first entry
 ec_fsm_pdo_entry_conf_action_map(fsm);
 }
 /*****************************************************************************/
-/** Starts to add a Pdo entry.
+/** 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. */
 )
 {
 uint32_t value;
 if (fsm->slave->master->debug_level)
-EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n",
+EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
 fsm->entry->index, fsm->entry->subindex,
 fsm->entry->bit_length, fsm->entry_pos);
 value = fsm->entry->index << 16
 | fsm->entry->subindex << 8 | fsm->entry->bit_length;
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/** Add a Pdo entry.
+/** 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. */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to "
+EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
 "position %u.\n", fsm->entry->index, fsm->entry->subindex,
 fsm->entry->bit_length, fsm->entry_pos);
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 fsm->request.data_size = 1;
 ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
-EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos);
+EC_DBG("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
 return;
 /*****************************************************************************/
 /** 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. */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
 fsm->state = ec_fsm_pdo_entry_state_error;
 return;
 }
 if (fsm->slave->master->debug_level)
-EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n",
+EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
 fsm->source_pdo->index);
 fsm->state = ec_fsm_pdo_entry_state_end; // finished
 }
 *****************************************************************************/
 /** 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. */
 )
 {
 }
 /*****************************************************************************/
 /** 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. */
 )
 {
 }
 /*****************************************************************************/

changeset 1327	4d179b06dd3c
parent 1326	ef907b0b5125
child 1363	11c0b2caa253