56 void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *);

    56 void ec_fsm_pdo_mapping_next_dir(ec_fsm_pdo_mapping_t *);

   153     fsm->sync = NULL;

   153     fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT

   154     ec_fsm_pdo_mapping_next_sync(fsm);

   154     ec_fsm_pdo_mapping_next_dir(fsm);

   155 }

   155 }

   156 

   156 

   157 /*****************************************************************************/

   157 /*****************************************************************************/

   158 

   158 

   159 /** Process mapping of next sync manager.

   159 /** Process mapping of next direction.

   160  */

   160  */

   161 void ec_fsm_pdo_mapping_next_sync(

   161 void ec_fsm_pdo_mapping_next_dir(

   162         ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

   162         ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */

   163         )

   163         )

   164 {

   164 {

   165     ec_direction_t dir;

   165     for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {

   166     const ec_sync_t *sync;

   166         fsm->mapping = &fsm->slave->config->mapping[fsm->dir];

   167     const ec_pdo_mapping_t *map;

   167         

   168 

   168         if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {

   169     for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {

   169             if (!list_empty(&fsm->mapping->pdos)) {

   170         if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {

   170                 EC_ERR("No sync manager for direction %u!\n", fsm->dir);

   171             EC_WARN("No sync manager for direction %u!\n", dir);

   171                 fsm->state = ec_fsm_pdo_mapping_state_end;

   172                 return;

   173             }

   175         if (fsm->sync) { // there is a last SM

   177         // check if mapping has to be altered

   176             if (sync == fsm->sync) // this is the last SM

   178         if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping))

   177                 fsm->sync = NULL; // take the next one

   179             continue;

   178         } else {

   180 

   179             map = &fsm->slave->config->mapping[dir];

   181         if (fsm->slave->master->debug_level) {

   180             if (ec_pdo_mapping_equal(&sync->mapping, map))

   182             EC_DBG("Configuring Pdo mapping for SM%u of slave %u.\n",

   181                 continue;

   183                     fsm->sync->index, fsm->slave->ring_position);

   182 

   183             fsm->sync = sync;

   184             fsm->mapping = map;

   185             break;

   187     }

   185 

   188 

   186         // set mapped Pdo count to zero

   189     if (!fsm->sync) {

   187         fsm->sdodata.index = 0x1C10 + fsm->sync->index;

   188         fsm->sdodata.subindex = 0; // mapped Pdo count

   189         EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped

   190         fsm->sdodata.size = 1;

   191             EC_DBG("Pdo mapping finished for slave %u.\n",

   192             EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);

   192                     fsm->slave->ring_position);

   193 

   193         fsm->state = ec_fsm_pdo_mapping_state_end;

   194         fsm->state = ec_fsm_pdo_mapping_state_zero_count;

   194         return;

   195         ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);

   195     }

   196         ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   196 

   197         return;

   197     if (fsm->slave->master->debug_level) {

   198     }

   198         EC_DBG("Configuring Pdo mapping for SM%u of slave %u.\n",

   199 

   199                 fsm->sync->index, fsm->slave->ring_position);

   200     }

   201 

   202     // set mapped Pdo count to zero

   203     fsm->sdodata.index = 0x1C10 + fsm->sync->index;

   204     fsm->sdodata.subindex = 0; // mapped Pdo count

   205     EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped

   206     fsm->sdodata.size = 1;

   208         EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);

   201         EC_DBG("Pdo mapping finished for slave %u.\n",

   209 

   202                 fsm->slave->ring_position);

   210     fsm->state = ec_fsm_pdo_mapping_state_zero_count;

   203     fsm->state = ec_fsm_pdo_mapping_state_end;

   211     ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);

   212     ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately

   275         ec_fsm_pdo_mapping_next_sync(fsm);

   266         ec_fsm_pdo_mapping_next_dir(fsm);

   344     // mapping configuration for this sync manager complete.

   335     // mapping configuration for this direction finished

   345     ec_fsm_pdo_mapping_next_sync(fsm);

   336     ec_fsm_pdo_mapping_next_dir(fsm);