etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:399ef727bf62
+:e206f4485f60
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
 *
 *****************************************************************************/
 /** \file
-* EtherCAT Pdo configuration state machine.
+* EtherCAT PDO configuration state machine.
 */
 /*****************************************************************************/
 #include "globals.h"
 /*****************************************************************************/
 /** Constructor.
 */
 void ec_fsm_pdo_init(
-ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
 ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
 )
 {
 fsm->fsm_coe = fsm_coe;
 ec_fsm_pdo_entry_init(&fsm->fsm_pdo_entry, fsm_coe);
 /*****************************************************************************/
 /** Destructor.
 */
 void ec_fsm_pdo_clear(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
 ec_pdo_list_clear(&fsm->pdos);
 ec_sdo_request_clear(&fsm->request);
 ec_pdo_clear(&fsm->slave_pdo);
 }
 /*****************************************************************************/
-/** Start reading the Pdo configuration.
+/** Start reading the PDO configuration.
 */
 void ec_fsm_pdo_start_reading(
-ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
 ec_slave_t *slave /**< slave to configure */
 )
 {
 fsm->slave = slave;
 fsm->state = ec_fsm_pdo_read_state_start;
 }
 /*****************************************************************************/
-/** Start writing the Pdo configuration.
+/** Start writing the PDO configuration.
 */
 void ec_fsm_pdo_start_configuration(
-ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
 ec_slave_t *slave /**< slave to configure */
 )
 {
 fsm->slave = slave;
 fsm->state = ec_fsm_pdo_conf_state_start;
 /** Get running state.
 *
 * \return false, if state machine has terminated
 */
 int ec_fsm_pdo_running(
-const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 return fsm->state != ec_fsm_pdo_state_end
 && fsm->state != ec_fsm_pdo_state_error;
 }
 * of the state machine is delayed to the next cycle.
 *
 * \return false, if state machine has terminated
 */
 int ec_fsm_pdo_exec(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 fsm->state(fsm);
 return ec_fsm_pdo_running(fsm);
 }
 /** Get execution result.
 *
 * \return true, if the state machine terminated gracefully
 */
 int ec_fsm_pdo_success(
-const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 return fsm->state == ec_fsm_pdo_state_end;
 }
 /******************************************************************************
 * Reading state funtions.
 *****************************************************************************/
-/** Start reading Pdo assignment.
+/** Start reading PDO assignment.
 */
 void ec_fsm_pdo_read_state_start(
 ec_fsm_pdo_t *fsm /**< finite state machine */
 )
 {
-// read Pdo assignment for first sync manager not reserved for mailbox
+// read PDO assignment for first sync manager not reserved for mailbox
 fsm->sync_index = 1; // next is 2
 ec_fsm_pdo_read_action_next_sync(fsm);
 }
 /*****************************************************************************/
-/** Read Pdo assignment of next sync manager.
+/** Read PDO assignment of next sync manager.
 */
 void ec_fsm_pdo_read_action_next_sync(
 ec_fsm_pdo_t *fsm /**< Finite state machine */
 )
 {
 for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
 if (!(fsm->sync = ec_slave_get_sync(slave, fsm->sync_index)))
 continue;
 if (slave->master->debug_level)
-EC_DBG("Reading Pdo assignment of SM%u.\n", fsm->sync_index);
+EC_DBG("Reading PDO assignment of SM%u.\n", fsm->sync_index);
 ec_pdo_list_clear_pdos(&fsm->pdos);
 ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_read(&fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
 if (slave->master->debug_level)
-EC_DBG("Reading of Pdo configuration finished.\n");
+EC_DBG("Reading of PDO configuration finished.\n");
 fsm->state = ec_fsm_pdo_state_end;
 }
 /*****************************************************************************/
-/** Count assigned Pdos.
+/** Count assigned PDOs.
 */
 void ec_fsm_pdo_read_state_pdo_count(
 ec_fsm_pdo_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 assigned Pdos for SM%u.\n",
+EC_ERR("Failed to read number of assigned PDOs for SM%u.\n",
 fsm->sync_index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 if (fsm->request.data_size != sizeof(uint8_t)) {
-EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
+EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "
 "from slave %u.\n", fsm->request.data_size,
 fsm->request.index, fsm->request.subindex,
 fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 fsm->pdo_count = EC_READ_U8(fsm->request.data);
 if (fsm->slave->master->debug_level)
-EC_DBG("%u Pdos assigned.\n", fsm->pdo_count);
+EC_DBG("%u PDOs assigned.\n", fsm->pdo_count);
-// read first Pdo
+// read first PDO
 fsm->pdo_pos = 1;
 ec_fsm_pdo_read_action_next_pdo(fsm);
 }
 /*****************************************************************************/
-/** Read next Pdo.
+/** Read next PDO.
 */
 void ec_fsm_pdo_read_action_next_pdo(
 ec_fsm_pdo_t *fsm /**< finite state machine */
 )
 {
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
-// finished reading Pdo configuration
+// finished reading PDO configuration
 if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 ec_fsm_pdo_read_action_next_sync(fsm);
 }
 /*****************************************************************************/
-/** Fetch Pdo information.
+/** Fetch PDO information.
 */
 void ec_fsm_pdo_read_state_pdo(
 ec_fsm_pdo_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 assigned Pdo %u from SM%u.\n",
+EC_ERR("Failed to read index of assigned PDO %u from SM%u.\n",
 fsm->pdo_pos, fsm->sync_index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 if (fsm->request.data_size != sizeof(uint16_t)) {
-EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
+EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "
 "from slave %u.\n", fsm->request.data_size,
 fsm->request.index, fsm->request.subindex,
 fsm->slave->ring_position);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 if (!(fsm->pdo = (ec_pdo_t *)
 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
-EC_ERR("Failed to allocate Pdo.\n");
+EC_ERR("Failed to allocate PDO.\n");
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
 ec_pdo_init(fsm->pdo);
 fsm->pdo->index = EC_READ_U16(fsm->request.data);
 fsm->pdo->sync_index = fsm->sync_index;
 if (fsm->slave->master->debug_level)
-EC_DBG("Pdo 0x%04X.\n", fsm->pdo->index);
+EC_DBG("PDO 0x%04X.\n", fsm->pdo->index);
 list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
 fsm->state = ec_fsm_pdo_read_state_pdo_entries;
 ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave, fsm->pdo);
 fsm->state(fsm); // execute immediately
 }
 /*****************************************************************************/
-/** Fetch Pdo information.
+/** Fetch PDO information.
 */
 void ec_fsm_pdo_read_state_pdo_entries(
 ec_fsm_pdo_t *fsm /**< finite state machine */
 )
 {
 if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
 return;
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
-EC_ERR("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
+EC_ERR("Failed to read mapped PDO entries for PDO 0x%04X.\n",
 fsm->pdo->index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
-// next Pdo
+// next PDO
 fsm->pdo_pos++;
 ec_fsm_pdo_read_action_next_pdo(fsm);
 }
 /******************************************************************************
 * Writing state functions.
 *****************************************************************************/
-/** Start Pdo configuration.
+/** Start PDO configuration.
 */
 void ec_fsm_pdo_conf_state_start(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (!fsm->slave->config) {
 fsm->state = ec_fsm_pdo_state_end;
 return;
 ec_fsm_pdo_conf_action_next_sync(fsm);
 }
 /*****************************************************************************/
-/** Assign next Pdo.
+/** Assign next PDO.
 */
 ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
-const ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
-const struct list_head *list /**< current Pdo list item */
+const struct list_head *list /**< current PDO list item */
 )
 {
 list = list->next;
 if (list == &fsm->pdos.list)
-return NULL; // no next Pdo
+return NULL; // no next PDO
 return list_entry(list, ec_pdo_t, list);
 }
 /*****************************************************************************/
 /** Get the next sync manager for a pdo configuration.
 */
 void ec_fsm_pdo_conf_action_next_sync(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 fsm->sync_index++;
 for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
 return;
 }
 if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
 if (!list_empty(&fsm->pdos.list))
-EC_WARN("Pdos configured for SM%u, but slave %u does not "
+EC_WARN("PDOs configured for SM%u, but slave %u does not "
 "provide the sync manager information!\n",
 fsm->sync_index, fsm->slave->ring_position);
 continue;
 }
-// get first configured Pdo
+// get first configured PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
 // no pdos configured
 ec_fsm_pdo_conf_action_check_assignment(fsm);
 return;
 }
 /*****************************************************************************/
 /** Check if the mapping has to be read, otherwise start to configure it.
 */
 void ec_fsm_pdo_conf_action_pdo_mapping(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 const ec_pdo_t *assigned_pdo;
 fsm->slave_pdo.index = fsm->pdo->index;
 if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
 ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
-} else { // configured Pdo is not assigned and thus unknown
+} else { // configured PDO is not assigned and thus unknown
 ec_pdo_clear_entries(&fsm->slave_pdo);
 }
 if (list_empty(&fsm->slave_pdo.entries)) {
 if (fsm->slave->master->debug_level)
-EC_DBG("Reading mapping of Pdo 0x%04X.\n",
+EC_DBG("Reading mapping of PDO 0x%04X.\n",
 fsm->pdo->index);
 // pdo mapping is unknown; start loading it
 ec_fsm_pdo_entry_start_reading(&fsm->fsm_pdo_entry, fsm->slave,
 &fsm->slave_pdo);
 ec_fsm_pdo_conf_action_check_mapping(fsm);
 }
 /*****************************************************************************/
-/** Execute the Pdo entry state machine to read the current Pdo's mapping.
+/** Execute the PDO entry state machine to read the current PDO's mapping.
 */
 void ec_fsm_pdo_conf_state_read_mapping(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
 return;
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
-EC_WARN("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
+EC_WARN("Failed to read mapped PDO entries for PDO 0x%04X.\n",
 fsm->pdo->index);
 // check if the mapping must be re-configured
 ec_fsm_pdo_conf_action_check_mapping(fsm);
 }
 /** Check if the mapping has to be re-configured.
 *
 * \todo Display mapping differences.
 */
 void ec_fsm_pdo_conf_action_check_mapping(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
 if (fsm->slave->master->debug_level)
-EC_DBG("Mapping of Pdo 0x%04X is already configured correctly.\n",
+EC_DBG("Mapping of PDO 0x%04X is already configured correctly.\n",
 fsm->pdo->index);
 ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
 return;
 }
 if (fsm->slave->master->debug_level) {
 // TODO display diff
-EC_DBG("Changing mapping of Pdo 0x%04X.\n", fsm->pdo->index);
+EC_DBG("Changing mapping of PDO 0x%04X.\n", fsm->pdo->index);
 }
 ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
 fsm->pdo);
 fsm->state = ec_fsm_pdo_conf_state_mapping;
 fsm->state(fsm); // execure immediately
 }
 /*****************************************************************************/
-/** Let the Pdo entry state machine configure the current Pdo's mapping.
+/** Let the PDO entry state machine configure the current PDO's mapping.
 */
 void ec_fsm_pdo_conf_state_mapping(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
 return;
 if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
-EC_WARN("Failed to configure mapping of Pdo 0x%04X.\n",
+EC_WARN("Failed to configure mapping of PDO 0x%04X.\n",
 fsm->pdo->index);
 ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
 }
 /*****************************************************************************/
-/** Check mapping of next Pdo, otherwise configure assignment.
+/** Check mapping of next PDO, otherwise configure assignment.
 */
 void ec_fsm_pdo_conf_action_next_pdo_mapping(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
-// get next configured Pdo
+// get next configured PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
 // no more configured pdos
 ec_fsm_pdo_conf_action_check_assignment(fsm);
 return;
 }
 ec_fsm_pdo_conf_action_pdo_mapping(fsm);
 }
 /*****************************************************************************/
-/** Check if the Pdo assignment of the current SM has to be re-configured.
+/** Check if the PDO assignment of the current SM has to be re-configured.
 */
 void ec_fsm_pdo_conf_action_check_assignment(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 // check if assignment has to be re-configured
 if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
 if (fsm->slave->master->debug_level)
-EC_DBG("Pdo assignment for SM%u is already configured "
+EC_DBG("PDO assignment for SM%u is already configured "
 "correctly.\n", fsm->sync_index);
 ec_fsm_pdo_conf_action_next_sync(fsm);
 return;
 }
 if (fsm->slave->master->debug_level) {
-EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
+EC_DBG("PDO assignment of SM%u differs:\n", fsm->sync_index);
-EC_DBG("Currently assigned Pdos: ");
+EC_DBG("Currently assigned PDOs: ");
 ec_pdo_list_print(&fsm->sync->pdos);
 printk("\n");
-EC_DBG("Pdos to assign: ");
+EC_DBG("PDOs to assign: ");
 ec_pdo_list_print(&fsm->pdos);
 printk("\n");
 }
-// Pdo assignment has to be changed. Does the slave support this?
+// PDO assignment 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_assign)) {
-EC_WARN("Slave %u does not support assigning Pdos!\n",
+EC_WARN("Slave %u does not support assigning PDOs!\n",
 fsm->slave->ring_position);
 ec_fsm_pdo_conf_action_next_sync(fsm);
 return;
 }
 if (ec_sdo_request_alloc(&fsm->request, 2)) {
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
-// set mapped Pdo count to zero
+// set mapped PDO count to zero
-EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
+EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
 fsm->request.data_size = 1;
 ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
-EC_DBG("Setting number of assigned Pdos to zero.\n");
+EC_DBG("Setting number of assigned PDOs to zero.\n");
 fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/** Set the number of assigned Pdos to zero.
+/** Set the number of assigned PDOs to zero.
 */
 void ec_fsm_pdo_conf_state_zero_pdo_count(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration 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 assignment of SM%u.\n", fsm->sync_index);
+EC_WARN("Failed to clear PDO assignment of SM%u.\n", fsm->sync_index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
-// the sync manager's assigned Pdos have been cleared
+// the sync manager's assigned PDOs have been cleared
 ec_pdo_list_clear_pdos(&fsm->sync->pdos);
-// assign all Pdos belonging to the current sync manager
+// assign all PDOs belonging to the current sync manager
-// find first Pdo
+// find first PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
 if (fsm->slave->master->debug_level)
-EC_DBG("No Pdos to assign.\n");
+EC_DBG("No PDOs to assign.\n");
 // check for mapping to be altered
 ec_fsm_pdo_conf_action_next_sync(fsm);
 return;
 }
-// assign first Pdo
+// assign first PDO
 fsm->pdo_pos = 1;
 	ec_fsm_pdo_conf_action_assign_pdo(fsm);
 }
 /*****************************************************************************/
-/** Assign a Pdo.
+/** Assign a PDO.
 */
 void ec_fsm_pdo_conf_action_assign_pdo(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
 fsm->request.data_size = 2;
 ec_sdo_request_address(&fsm->request,
 0x1C10 + fsm->sync_index, fsm->pdo_pos);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
-EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
+EC_DBG("Assigning PDO 0x%04X at position %u.\n",
 fsm->pdo->index, fsm->pdo_pos);
 fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 }
 /*****************************************************************************/
-/** Add a Pdo to the sync managers Pdo assignment.
+/** Add a PDO to the sync managers PDO assignment.
 */
 void ec_fsm_pdo_conf_state_assign_pdo(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_WARN("Failed to assign Pdo 0x%04X at position %u of SM%u.\n",
+EC_WARN("Failed to assign PDO 0x%04X at position %u of SM%u.\n",
 fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
-// find next Pdo
+// find next PDO
 if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
-// no more Pdos to assign, set Pdo count
+// no more PDOs to assign, set PDO count
 EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
 fsm->request.data_size = 1;
 ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
 ecrt_sdo_request_write(&fsm->request);
 if (fsm->slave->master->debug_level)
-EC_DBG("Setting number of assigned Pdos to %u.\n", fsm->pdo_pos);
+EC_DBG("Setting number of assigned PDOs to %u.\n", fsm->pdo_pos);
 fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
 ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
 ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
 return;
 }
-// add next Pdo to assignment
+// add next PDO to assignment
 fsm->pdo_pos++;
 ec_fsm_pdo_conf_action_assign_pdo(fsm);
 }
 /*****************************************************************************/
-/** Set the number of assigned Pdos.
+/** Set the number of assigned PDOs.
 */
 void ec_fsm_pdo_conf_state_set_pdo_count(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-EC_WARN("Failed to set number of assigned Pdos of SM%u.\n",
+EC_WARN("Failed to set number of assigned PDOs of SM%u.\n",
 fsm->sync_index);
 fsm->state = ec_fsm_pdo_state_error;
 return;
 }
-// Pdos have been configured
+// PDOs have been configured
 ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
 if (fsm->slave->master->debug_level)
-EC_DBG("Successfully configured Pdo assignment of SM%u.\n",
+EC_DBG("Successfully configured PDO assignment of SM%u.\n",
 fsm->sync_index);
-// check if Pdo mapping has to be altered
+// check if PDO mapping has to be altered
 ec_fsm_pdo_conf_action_next_sync(fsm);
 }
 /******************************************************************************
 * Common state functions
 *****************************************************************************/
 /** State: ERROR.
 */
 void ec_fsm_pdo_state_error(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 }
 /*****************************************************************************/
 /** State: END.
 */
 void ec_fsm_pdo_state_end(
-ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
 )
 {
 }
 /*****************************************************************************/

branch	stable-1.4
changeset 1686	e206f4485f60
parent 1685	399ef727bf62
child 1338	eb31b5a135da