etherlabmaster: comparison master/fsm_coe

equal deleted inserted replaced

-:40c379697ebf
+:9b395c5646ab
 *
 *****************************************************************************/
 /**
 \file
-EtherCAT CoE mapping state machines.
+EtherCAT Pdo information state machines.
 */
 /*****************************************************************************/
 #include "globals.h"
 )
 {
 fsm->fsm_coe = fsm_coe;
 fsm->state = NULL;
 ec_sdo_request_init(&fsm->request);
-ec_pdo_mapping_init(&fsm->mapping);
+ec_pdo_list_init(&fsm->pdos);
 }
 /*****************************************************************************/
 /**
 */
 void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *fsm /**< finite state machine */)
 {
 ec_sdo_request_clear(&fsm->request);
-ec_pdo_mapping_clear(&fsm->mapping);
+ec_pdo_list_clear(&fsm->pdos);
 }
 /*****************************************************************************/
 /**
 /******************************************************************************
 *  state functions
 *****************************************************************************/
 /**
-* Start reading mapping.
+* Start reading Pdo assignment.
 */
 void ec_fsm_coe_map_state_start(
 ec_fsm_coe_map_t *fsm /**< finite state machine */
 )
 {
-// read mapping for first direction
+// read Pdo assignment for first direction
 fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
 ec_fsm_coe_map_action_next_dir(fsm);
 }
 /*****************************************************************************/
 /**
-* Read mapping of next direction manager.
+* Read Pdo assignment of next direction manager.
 */
 void ec_fsm_coe_map_action_next_dir(
 ec_fsm_coe_map_t *fsm /**< finite state machine */
 )
 }
 fsm->sync_sdo_index = 0x1C10 + fsm->sync->index;
 if (slave->master->debug_level)
-EC_DBG("Reading Pdo mapping of sync manager %u of slave %u.\n",
+EC_DBG("Reading Pdo assignment of sync manager %u of slave %u.\n",
 fsm->sync->index, slave->ring_position);
-ec_pdo_mapping_clear_pdos(&fsm->mapping);
+ec_pdo_list_clear_pdos(&fsm->pdos);
 ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_coe_map_state_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
 if (slave->master->debug_level)
-EC_DBG("Reading of Pdo mapping finished for slave %u.\n",
+EC_DBG("Reading of Pdo assignment finished for slave %u.\n",
 slave->ring_position);
 fsm->state = ec_fsm_coe_map_state_end;
 }
 /*****************************************************************************/
 /**
-* Count mapped Pdos.
+* Count assigned Pdos.
 */
 void ec_fsm_coe_map_state_pdo_count(
 ec_fsm_coe_map_t *fsm /**< finite state machine */
 )
 }
 fsm->sync_subindices = EC_READ_U8(fsm->request.data);
 if (fsm->slave->master->debug_level)
-EC_DBG("  %u Pdos mapped.\n", fsm->sync_subindices);
+EC_DBG("  %u Pdos assigned.\n", fsm->sync_subindices);
 // read first Pdo
 fsm->sync_subindex = 1;
 ec_fsm_coe_map_action_next_pdo(fsm);
 }
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
-// finished reading Pdo mapping/configuration
+// finished reading Pdo assignment/mapping
-if (ec_pdo_mapping_copy(&fsm->sync->mapping, &fsm->mapping)) {
+if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
 fsm->state = ec_fsm_coe_map_state_error;
 return;
 }
-fsm->sync->mapping_source = EC_SYNC_MAPPING_COE;
+fsm->sync->assign_source = EC_ASSIGN_COE;
-ec_pdo_mapping_clear_pdos(&fsm->mapping);
+ec_pdo_list_clear_pdos(&fsm->pdos);
 // next direction
 ec_fsm_coe_map_action_next_dir(fsm);
 }
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_ERR("Failed to read mapped Pdo index from slave %u.\n",
+EC_ERR("Failed to read assigned Pdo index from slave %u.\n",
 fsm->slave->ring_position);
 fsm->state = ec_fsm_coe_map_state_error;
 return;
 }
 fsm->pdo->dir = ec_sync_direction(fsm->sync);
 if (fsm->slave->master->debug_level)
 EC_DBG("  Pdo 0x%04X.\n", fsm->pdo->index);
-list_add_tail(&fsm->pdo->list, &fsm->mapping.pdos);
+list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
 ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
 ecrt_sdo_request_read(&fsm->request);
 fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 }
 /*****************************************************************************/
 /**
-* Read number of Pdo entries.
+* Read number of mapped Pdo entries.
 */
 void ec_fsm_coe_map_state_pdo_entry_count(
 ec_fsm_coe_map_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 index of mapped Pdo entry from slave %u.\n",
+EC_ERR("Failed to read mapped Pdo entry from slave %u.\n",
 fsm->slave->ring_position);
 fsm->state = ec_fsm_coe_map_state_error;
 return;
 }

changeset 879	9b395c5646ab
parent 859	233e32f428e1
child 903	d13004440b6d