--- a/master/fsm_pdo_mapping.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_pdo_mapping.c Fri Feb 22 12:29:30 2008 +0000
@@ -32,7 +32,7 @@
*****************************************************************************/
/** \file
- * EtherCAT PDO mapping state machine.
+ * EtherCAT Pdo mapping state machine.
*/
/*****************************************************************************/
@@ -80,7 +80,7 @@
/*****************************************************************************/
-/** Start PDO mapping configuration state machine.
+/** Start Pdo mapping configuration state machine.
*/
void ec_fsm_pdo_mapping_start(
ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
@@ -195,17 +195,17 @@
}
if (fsm->slave->master->debug_level) {
- EC_DBG("Configuring PDO mapping for SM%u of slave %u.\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
+ // set mapped Pdo count to zero
fsm->sdodata.index = 0x1C10 + fsm->sync->index;
- fsm->sdodata.subindex = 0; // mapped PDO count
- EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
+ fsm->sdodata.subindex = 0; // mapped Pdo count
+ EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped
fsm->sdodata.size = 1;
if (fsm->slave->master->debug_level)
- EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
+ EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
fsm->state = ec_fsm_pdo_mapping_state_zero_count;
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
@@ -214,16 +214,16 @@
/*****************************************************************************/
-/** Process mapping of next PDO.
+/** Process mapping of next Pdo.
*/
ec_pdo_t *ec_fsm_pdo_mapping_next_pdo(
const ec_fsm_pdo_mapping_t *fsm, /**< mapping 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->mapping->pdos)
- return NULL; // no next PDO
+ return NULL; // no next Pdo
return list_entry(list, ec_pdo_t, list);
}
@@ -240,7 +240,7 @@
fsm->sdodata.size = 2;
if (fsm->slave->master->debug_level)
- EC_DBG("Mapping PDO 0x%04X at position %u.\n",
+ EC_DBG("Mapping Pdo 0x%04X at position %u.\n",
fsm->pdo->index, fsm->sdodata.subindex);
fsm->state = ec_fsm_pdo_mapping_state_add_pdo;
@@ -250,7 +250,7 @@
/*****************************************************************************/
-/** Set the number of mapped PDOs to zero.
+/** Set the number of mapped Pdos to zero.
*/
void ec_fsm_pdo_mapping_state_zero_count(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -259,31 +259,31 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to clear PDO mapping for slave %u.\n",
+ EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
- // map all PDOs belonging to the current sync manager
+ // map all Pdos belonging to the current sync manager
- // find first PDO
+ // find first Pdo
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
if (fsm->slave->master->debug_level)
- EC_DBG("No PDOs to map for SM%u of slave %u.\n",
+ EC_DBG("No Pdos to map for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
ec_fsm_pdo_mapping_next_sync(fsm);
return;
}
- // add first PDO to mapping
+ // add first Pdo to mapping
fsm->pdo_count = 1;
ec_fsm_pdo_mapping_add_pdo(fsm);
}
/*****************************************************************************/
-/** Add a PDO to the sync managers mapping.
+/** Add a Pdo to the sync managers mapping.
*/
void ec_fsm_pdo_mapping_state_add_pdo(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -292,21 +292,21 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n",
+ EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
- // find next PDO
+ // find next Pdo
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {
- // no more PDOs to map. write PDO count
+ // 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;
if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of mapped PDOs to %u.\n",
+ EC_DBG("Setting number of mapped Pdos to %u.\n",
fsm->pdo_count);
fsm->state = ec_fsm_pdo_mapping_state_pdo_count;
@@ -315,14 +315,14 @@
return;
}
- // add next PDO to mapping
+ // add next Pdo to mapping
fsm->pdo_count++;
ec_fsm_pdo_mapping_add_pdo(fsm);
}
/*****************************************************************************/
-/** Set the number of mapped PDOs.
+/** Set the number of mapped Pdos.
*/
void ec_fsm_pdo_mapping_state_pdo_count(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -331,14 +331,14 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
+ EC_ERR("Failed to set number of mapped Pdos for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
if (fsm->slave->master->debug_level)
- EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
+ EC_DBG("Successfully set Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
// mapping configuration for this sync manager complete.