/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/** \file
* EtherCAT Pdo configuration state machine.
*/
/*****************************************************************************/
#include "globals.h"
#include "master.h"
#include "mailbox.h"
#include "slave_config.h"
#include "fsm_pdo.h"
/*****************************************************************************/
void ec_fsm_pdo_read_state_start(ec_fsm_pdo_t *);
void ec_fsm_pdo_read_state_pdo_count(ec_fsm_pdo_t *);
void ec_fsm_pdo_read_state_pdo(ec_fsm_pdo_t *);
void ec_fsm_pdo_read_state_pdo_entries(ec_fsm_pdo_t *);
void ec_fsm_pdo_read_action_next_sync(ec_fsm_pdo_t *);
void ec_fsm_pdo_read_action_next_pdo(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_start(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_read_mapping(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_mapping(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_zero_pdo_count(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_assign_pdo(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_state_set_pdo_count(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_next_sync(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_pdo_mapping(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_check_mapping(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_next_pdo_mapping(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_check_assignment(ec_fsm_pdo_t *);
void ec_fsm_pdo_conf_action_assign_pdo(ec_fsm_pdo_t *);
void ec_fsm_pdo_state_end(ec_fsm_pdo_t *);
void ec_fsm_pdo_state_error(ec_fsm_pdo_t *);
/*****************************************************************************/
/** Constructor.
*/
void ec_fsm_pdo_init(
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);
ec_pdo_list_init(&fsm->pdos);
ec_sdo_request_init(&fsm->request);
ec_pdo_init(&fsm->slave_pdo);
}
/*****************************************************************************/
/** Destructor.
*/
void ec_fsm_pdo_clear(
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.
*/
void ec_fsm_pdo_start_reading(
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.
*/
void ec_fsm_pdo_start_configuration(
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. */
)
{
return fsm->state != ec_fsm_pdo_state_end
&& fsm->state != ec_fsm_pdo_state_error;
}
/*****************************************************************************/
/** Executes the current state of the state machine.
*
* If the state machine's datagram is not sent or received yet, the execution
* 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. */
)
{
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. */
)
{
return fsm->state == ec_fsm_pdo_state_end;
}
/******************************************************************************
* Reading state funtions.
*****************************************************************************/
/** 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
fsm->sync_index = 1; // next is 2
ec_fsm_pdo_read_action_next_sync(fsm);
}
/*****************************************************************************/
/** Read Pdo assignment of next sync manager.
*/
void ec_fsm_pdo_read_action_next_sync(
ec_fsm_pdo_t *fsm /**< Finite state machine */
)
{
ec_slave_t *slave = fsm->slave;
fsm->sync_index++;
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_pdo_list_clear_pdos(&fsm->pdos);
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_pdo_read_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 configuration finished.\n");
fsm->state = ec_fsm_pdo_state_end;
}
/*****************************************************************************/
/** 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",
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 "
"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);
// read first Pdo
fsm->pdo_pos = 1;
ec_fsm_pdo_read_action_next_pdo(fsm);
}
/*****************************************************************************/
/** Read next Pdo.
*/
void ec_fsm_pdo_read_action_next_pdo(
ec_fsm_pdo_t *fsm /**< finite state machine */
)
{
if (fsm->pdo_pos <= fsm->pdo_count) {
ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index,
fsm->pdo_pos);
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_pdo_read_state_pdo;
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
if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
fsm->state = ec_fsm_pdo_state_error;
return;
}
ec_pdo_list_clear_pdos(&fsm->pdos);
// next sync manager
ec_fsm_pdo_read_action_next_sync(fsm);
}
/*****************************************************************************/
/** 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",
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 "
"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");
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);
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.
*/
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",
fsm->pdo->index);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// next Pdo
fsm->pdo_pos++;
ec_fsm_pdo_read_action_next_pdo(fsm);
}
/******************************************************************************
* Writing state functions.
*****************************************************************************/
/** Start Pdo configuration.
*/
void ec_fsm_pdo_conf_state_start(
ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
)
{
if (!fsm->slave->config) {
fsm->state = ec_fsm_pdo_state_end;
return;
}
fsm->sync_index = 0xff; // next is zero
ec_fsm_pdo_conf_action_next_sync(fsm);
}
/*****************************************************************************/
/** Assign next Pdo.
*/
ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
const ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
const struct list_head *list /**< current Pdo list item */
)
{
list = list->next;
if (list == &fsm->pdos.list)
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. */
)
{
fsm->sync_index++;
for (; fsm->sync_index < EC_MAX_SYNC_MANAGERS; fsm->sync_index++) {
if (!fsm->slave->config) { // slave configuration removed in the meantime
fsm->state = ec_fsm_pdo_state_error;
return;
}
if (ec_pdo_list_copy(&fsm->pdos,
&fsm->slave->config->sync_configs[fsm->sync_index].pdos)) {
fsm->state = ec_fsm_pdo_state_error;
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 "
"provide the sync manager information!\n",
fsm->sync_index, fsm->slave->ring_position);
continue;
}
// 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;
}
ec_fsm_pdo_conf_action_pdo_mapping(fsm);
return;
}
fsm->state = ec_fsm_pdo_state_end;
}
/*****************************************************************************/
/** 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. */
)
{
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
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",
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);
fsm->state = ec_fsm_pdo_conf_state_read_mapping;
fsm->state(fsm); // execute immediately
return;
}
// pdo mapping is known, check if it most be re-configured
ec_fsm_pdo_conf_action_check_mapping(fsm);
}
/*****************************************************************************/
/** 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. */
)
{
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",
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. */
)
{
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",
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_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.
*/
void ec_fsm_pdo_conf_state_mapping(
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",
fsm->pdo->index);
ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
}
/*****************************************************************************/
/** 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. */
)
{
// 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.
*/
void ec_fsm_pdo_conf_action_check_assignment(
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 "
"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("Currently assigned Pdos: ");
ec_pdo_list_print(&fsm->sync->pdos);
printk("\n");
EC_DBG("Pdos to assign: ");
ec_pdo_list_print(&fsm->pdos);
printk("\n");
}
// 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",
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
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");
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.
*/
void ec_fsm_pdo_conf_state_zero_pdo_count(
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);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// 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
// 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");
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
// assign first Pdo
fsm->pdo_pos = 1;
ec_fsm_pdo_conf_action_assign_pdo(fsm);
}
/*****************************************************************************/
/** Assign a Pdo.
*/
void ec_fsm_pdo_conf_action_assign_pdo(
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",
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.
*/
void ec_fsm_pdo_conf_state_assign_pdo(
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",
fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// 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
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);
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
fsm->pdo_pos++;
ec_fsm_pdo_conf_action_assign_pdo(fsm);
}
/*****************************************************************************/
/** Set the number of assigned Pdos.
*/
void ec_fsm_pdo_conf_state_set_pdo_count(
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",
fsm->sync_index);
fsm->state = ec_fsm_pdo_state_error;
return;
}
// 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",
fsm->sync_index);
// 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. */
)
{
}
/*****************************************************************************/
/** State: END.
*/
void ec_fsm_pdo_state_end(
ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
)
{
}
/*****************************************************************************/