fp@1174: /******************************************************************************
fp@1174:  *
fp@1174:  *  $Id$
fp@1174:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1174:  *
fp@1174:  *  This file is part of the IgH EtherCAT Master.
fp@1174:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@1326:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@1326:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1174:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1174:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1174:  *
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1174: /** \file
fp@1327:  * EtherCAT PDO mapping state machine.
fp@1174:  */
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #include "globals.h"
fp@1174: #include "master.h"
fp@1174: #include "mailbox.h"
fp@1174: #include "slave_config.h"
fp@1174: 
fp@1174: #include "fsm_pdo_entry.h"
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@2498: void ec_fsm_pdo_entry_read_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_read_state_count(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_read_state_entry(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_entry_read_action_next(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_entry_conf_state_start(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_conf_state_zero_entry_count(ec_fsm_pdo_entry_t *,
fp@2498:         ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_conf_state_map_entry(ec_fsm_pdo_entry_t *,
fp@2498:         ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_conf_state_set_entry_count(ec_fsm_pdo_entry_t *,
fp@2498:         ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_entry_conf_action_map(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: 
fp@2498: void ec_fsm_pdo_entry_state_end(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@2498: void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *, ec_datagram_t *);
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Constructor.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_init(
fp@1327:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@1174:         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->fsm_coe = fsm_coe;
fp@1174:     ec_sdo_request_init(&fsm->request);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Destructor.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_clear(
fp@1327:         ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     ec_sdo_request_clear(&fsm->request);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1823: /** Print the current and desired PDO mapping.
fp@1823:  */
fp@1823: void ec_fsm_pdo_entry_print(
fp@2498:         ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
fp@1823:         )
fp@1823: {
fp@1823:     printk("Currently mapped PDO entries: ");
fp@1823:     ec_pdo_print_entries(fsm->cur_pdo);
fp@1823:     printk(". Entries to map: ");
fp@1823:     ec_pdo_print_entries(fsm->source_pdo);
fp@1823:     printk("\n");
fp@1823: }
fp@1823: 
fp@1823: /*****************************************************************************/
fp@1823: 
fp@1327: /** Start reading a PDO's entries.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_start_reading(
fp@1327:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_slave_t *slave, /**< Slave to configure. */
fp@1327:         ec_pdo_t *pdo /**< PDO to read entries for. */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->slave = slave;
fp@1174:     fsm->target_pdo = pdo;
fp@1174: 
fp@1174:     ec_pdo_clear_entries(fsm->target_pdo);
fp@2421: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_read_state_start;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Start PDO mapping state machine.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_start_configuration(
fp@1327:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_slave_t *slave, /**< Slave to configure. */
fp@1823:         const ec_pdo_t *pdo, /**< PDO with the desired entries. */
fp@1823:         const ec_pdo_t *cur_pdo /**< Current PDO mapping. */
fp@1174:         )
fp@1174: {
fp@1174:     fsm->slave = slave;
fp@1174:     fsm->source_pdo = pdo;
fp@1823:     fsm->cur_pdo = cur_pdo;
fp@1823: 
fp@1823:     if (fsm->slave->master->debug_level) {
fp@1921:         EC_SLAVE_DBG(slave, 1, "Changing mapping of PDO 0x%04X.\n",
fp@1921:                 pdo->index);
fp@1921:         EC_SLAVE_DBG(slave, 1, ""); ec_fsm_pdo_entry_print(fsm);
fp@1823:     }
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_conf_state_start;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Get running state.
fp@1174:  *
fp@1174:  * \return false, if state machine has terminated
fp@1174:  */
fp@1174: int ec_fsm_pdo_entry_running(
fp@1327:         const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     return fsm->state != ec_fsm_pdo_entry_state_end
fp@1174:         && fsm->state != ec_fsm_pdo_entry_state_error;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Executes the current state.
fp@1174:  *
fp@1174:  * \return false, if state machine has terminated
fp@1174:  */
fp@1174: int ec_fsm_pdo_entry_exec(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     fsm->state(fsm, datagram);
fp@2498: 
fp@1174:     return ec_fsm_pdo_entry_running(fsm);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Get execution result.
fp@1174:  *
fp@1174:  * \return true, if the state machine terminated gracefully
fp@1174:  */
fp@1174: int ec_fsm_pdo_entry_success(
fp@1327:         const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
fp@1174:         )
fp@1174: {
fp@1174:     return fsm->state == ec_fsm_pdo_entry_state_end;
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Reading state functions.
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1327: /** Request reading the number of mapped PDO entries.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_read_state_start(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@2434:     ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index, 0);
fp@1174:     ecrt_sdo_request_read(&fsm->request);
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_read_state_count;
fp@1174:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:     ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Read number of mapped PDO entries.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_read_state_count(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave,
fp@1921:                 "Failed to read number of mapped PDO entries.\n");
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     if (fsm->request.data_size != sizeof(uint8_t)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at uploading"
fp@1921:                 " SDO 0x%04X:%02X.\n",
fp@1174:                 fsm->request.data_size, fsm->request.index,
fp@1174:                 fsm->request.subindex);
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     fsm->entry_count = EC_READ_U8(fsm->request.data);
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "%u PDO entries mapped.\n", fsm->entry_count);
fp@1327: 
fp@1327:     // read first PDO entry
fp@1174:     fsm->entry_pos = 1;
fp@2498:     ec_fsm_pdo_entry_read_action_next(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Read next PDO entry.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_read_action_next(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     if (fsm->entry_pos <= fsm->entry_count) {
fp@2434:         ecrt_sdo_request_index(&fsm->request, fsm->target_pdo->index,
fp@2434:                 fsm->entry_pos);
fp@1174:         ecrt_sdo_request_read(&fsm->request);
fp@1174:         fsm->state = ec_fsm_pdo_entry_read_state_entry;
fp@1174:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // finished reading entries.
fp@1174:     fsm->state = ec_fsm_pdo_entry_state_end;
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Read PDO entry information.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_read_state_entry(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< finite state machine */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Failed to read mapped PDO entry.\n");
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     if (fsm->request.data_size != sizeof(uint32_t)) {
fp@1921:         EC_SLAVE_ERR(fsm->slave, "Invalid data size %zu at"
fp@1921:                 " uploading SDO 0x%04X:%02X.\n",
fp@1174:                 fsm->request.data_size, fsm->request.index,
fp@1174:                 fsm->request.subindex);
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:     } else {
fp@1174:         uint32_t pdo_entry_info;
fp@1174:         ec_pdo_entry_t *pdo_entry;
fp@1174: 
fp@1174:         pdo_entry_info = EC_READ_U32(fsm->request.data);
fp@1174: 
fp@1174:         if (!(pdo_entry = (ec_pdo_entry_t *)
fp@1174:                     kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
fp@1921:             EC_SLAVE_ERR(fsm->slave, "Failed to allocate PDO entry.\n");
fp@1174:             fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:             return;
fp@1174:         }
fp@1174: 
fp@1174:         ec_pdo_entry_init(pdo_entry);
fp@1174:         pdo_entry->index = pdo_entry_info >> 16;
fp@1174:         pdo_entry->subindex = (pdo_entry_info >> 8) & 0xFF;
fp@1174:         pdo_entry->bit_length = pdo_entry_info & 0xFF;
fp@1174: 
fp@1174:         if (!pdo_entry->index && !pdo_entry->subindex) {
fp@1174:             if (ec_pdo_entry_set_name(pdo_entry, "Gap")) {
fp@1174:                 ec_pdo_entry_clear(pdo_entry);
fp@1174:                 kfree(pdo_entry);
fp@1174:                 fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:                 return;
fp@1174:             }
fp@1174:         }
fp@1174: 
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1,
fp@1921:                 "PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
fp@1921:                 pdo_entry->index, pdo_entry->subindex,
fp@1921:                 pdo_entry->bit_length,
fp@1921:                 pdo_entry->name ? pdo_entry->name : "???");
fp@1174: 
fp@1174:         list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
fp@1174: 
fp@1327:         // next PDO entry
fp@1174:         fsm->entry_pos++;
fp@2498:         ec_fsm_pdo_entry_read_action_next(fsm, datagram);
fp@1174:     }
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Configuration state functions.
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1327: /** Start PDO mapping.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_conf_state_start(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1327:         )
fp@1327: {
fp@1174:     if (ec_sdo_request_alloc(&fsm->request, 4)) {
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1327:     // set mapped PDO entry count to zero
fp@1174:     EC_WRITE_U8(fsm->request.data, 0);
fp@1174:     fsm->request.data_size = 1;
fp@2434:     ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
fp@1174:     ecrt_sdo_request_write(&fsm->request);
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Setting entry count to zero.\n");
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_conf_state_zero_entry_count;
fp@1174:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:     ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Process next PDO entry.
fp@2522:  *
fp@2522:  * \return Next PDO entry, or NULL.
fp@1174:  */
fp@1174: ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
fp@1327:         const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@1174:         const struct list_head *list /**< current entry list item */
fp@1174:         )
fp@1174: {
fp@2421:     list = list->next;
fp@1174:     if (list == &fsm->source_pdo->entries)
fp@1174:         return NULL; // no next entry
fp@1174:     return list_entry(list, ec_pdo_entry_t, list);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Set the number of mapped entries to zero.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_conf_state_zero_entry_count(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO mapping.\n");
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // find first entry
fp@1174:     if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
fp@1174:                     fsm, &fsm->source_pdo->entries))) {
fp@2421: 
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "No entries to map.\n");
fp@1174: 
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_end; // finished
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // add first entry
fp@1174:     fsm->entry_pos = 1;
fp@2498:     ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Starts to add a PDO entry.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_conf_action_map(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174:     uint32_t value;
fp@1174: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Mapping PDO entry 0x%04X:%02X (%u bit)"
fp@1921:             " at position %u.\n",
fp@1921:             fsm->entry->index, fsm->entry->subindex,
fp@1921:             fsm->entry->bit_length, fsm->entry_pos);
fp@1174: 
fp@1174:     value = fsm->entry->index << 16
fp@1174:         | fsm->entry->subindex << 8 | fsm->entry->bit_length;
fp@1174:     EC_WRITE_U32(fsm->request.data, value);
fp@1174:     fsm->request.data_size = 4;
fp@2434:     ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index,
fp@2434:             fsm->entry_pos);
fp@1174:     ecrt_sdo_request_write(&fsm->request);
fp@2421: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_conf_state_map_entry;
fp@1174:     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:     ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1327: /** Add a PDO entry.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_conf_state_map_entry(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to map PDO entry"
fp@1921:                 " 0x%04X:%02X (%u bit) to position %u.\n",
fp@1921:                 fsm->entry->index, fsm->entry->subindex,
fp@1174:                 fsm->entry->bit_length, fsm->entry_pos);
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fp@1174:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // find next entry
fp@1174:     if (!(fsm->entry = ec_fsm_pdo_entry_conf_next_entry(
fp@1174:                     fsm, &fsm->entry->list))) {
fp@1174: 
fp@1174:         // No more entries to add. Write entry count.
fp@1174:         EC_WRITE_U8(fsm->request.data, fsm->entry_pos);
fp@1174:         fsm->request.data_size = 1;
fp@2434:         ecrt_sdo_request_index(&fsm->request, fsm->source_pdo->index, 0);
fp@1174:         ecrt_sdo_request_write(&fsm->request);
fp@1174: 
fp@1921:         EC_SLAVE_DBG(fsm->slave, 1, "Setting number of PDO entries to %u.\n",
fp@1921:                 fsm->entry_pos);
fp@2421: 
fp@1174:         fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
fp@1174:         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
fp@2498:         ec_fsm_coe_exec(fsm->fsm_coe, datagram); // execute immediately
fp@1174:         return;
fp@1174:     }
fp@1174: 
fp@1174:     // add next entry
fp@1174:     fsm->entry_pos++;
fp@2498:     ec_fsm_pdo_entry_conf_action_map(fsm, datagram);
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** Set the number of entries.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_conf_state_set_entry_count(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498:     if (ec_fsm_coe_exec(fsm->fsm_coe, datagram)) {
fp@2498:         return;
fp@2498:     }
fp@1174: 
fp@1174:     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
fp@1921:         EC_SLAVE_WARN(fsm->slave, "Failed to set number of entries.\n");
fp@1921:         EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
fp@1921:         fsm->state = ec_fsm_pdo_entry_state_error;
fp@1921:         return;
fp@1921:     }
fp@1921: 
fp@1921:     EC_SLAVE_DBG(fsm->slave, 1, "Successfully configured"
fp@1921:             " mapping for PDO 0x%04X.\n", fsm->source_pdo->index);
fp@1174: 
fp@1174:     fsm->state = ec_fsm_pdo_entry_state_end; // finished
fp@1174: }
fp@1174: 
fp@1174: /******************************************************************************
fp@1174:  * Common state functions
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1174: /** State: ERROR.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_state_error(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@1174:         )
fp@1174: {
fp@1174: }
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /** State: END.
fp@1174:  */
fp@1174: void ec_fsm_pdo_entry_state_end(
fp@2498:         ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
fp@2498:         ec_datagram_t *datagram /**< Datagram to use. */
fp@2498:         )
fp@2498: {
fp@2498: }
fp@2498: 
fp@2498: /*****************************************************************************/