diff -r 40c379697ebf -r 9b395c5646ab master/fsm_pdo_config.c
--- a/master/fsm_pdo_config.c	Mon Mar 31 09:42:37 2008 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,385 +0,0 @@
-/******************************************************************************
- *
- *  $Id$
- *
- *  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_config.h"
-
-/*****************************************************************************/
-
-void ec_fsm_pdo_config_state_start(ec_fsm_pdo_config_t *);
-void ec_fsm_pdo_config_state_zero_count(ec_fsm_pdo_config_t *);
-void ec_fsm_pdo_config_state_add_entry(ec_fsm_pdo_config_t *);
-void ec_fsm_pdo_config_state_entry_count(ec_fsm_pdo_config_t *);
-void ec_fsm_pdo_config_state_end(ec_fsm_pdo_config_t *);
-void ec_fsm_pdo_config_state_error(ec_fsm_pdo_config_t *);
-
-void ec_fsm_pdo_config_next_pdo(ec_fsm_pdo_config_t *);
-
-/*****************************************************************************/
-
-/** Constructor.
- */
-void ec_fsm_pdo_config_init(
-        ec_fsm_pdo_config_t *fsm, /**< pdo_config state machine */
-        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
-        )
-{
-    fsm->fsm_coe = fsm_coe;
-    ec_sdo_request_init(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Destructor.
- */
-void ec_fsm_pdo_config_clear(
-        ec_fsm_pdo_config_t *fsm /**< pdo_config state machine */
-        )
-{
-    ec_sdo_request_clear(&fsm->request);
-}
-
-/*****************************************************************************/
-
-/** Start Pdo configuration state machine.
- */
-void ec_fsm_pdo_config_start(
-        ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
-        ec_slave_t *slave /**< slave to configure */
-        )
-{
-    fsm->slave = slave;
-    fsm->state = ec_fsm_pdo_config_state_start;
-}
-
-/*****************************************************************************/
-
-/** Get running state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_config_running(
-        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    return fsm->state != ec_fsm_pdo_config_state_end
-        && fsm->state != ec_fsm_pdo_config_state_error;
-}
-
-/*****************************************************************************/
-
-/** Executes the current state.
- *
- * \return false, if state machine has terminated
- */
-int ec_fsm_pdo_config_exec(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    fsm->state(fsm);
-    return ec_fsm_pdo_config_running(fsm);
-}
-
-/*****************************************************************************/
-
-/** Get execution result.
- *
- * \return true, if the state machine terminated gracefully
- */
-int ec_fsm_pdo_config_success(
-        const ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    return fsm->state == ec_fsm_pdo_config_state_end;
-}
-
-/******************************************************************************
- * State functions.
- *****************************************************************************/
-
-/** Start Pdo configuration.
- */
-void ec_fsm_pdo_config_state_start(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    if (!fsm->slave->config) {
-        fsm->state = ec_fsm_pdo_config_state_end;
-        return;
-    }
-
-    fsm->pdo = NULL;
-    ec_fsm_pdo_config_next_pdo(fsm);
-}
-
-/*****************************************************************************/
-
-/** Process configuration of next Pdo.
- */
-void ec_fsm_pdo_config_next_pdo(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    ec_direction_t dir;
-    const ec_pdo_mapping_t *map;
-    const ec_pdo_t *pdo, *mapped_pdo;
-    
-    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
-        map = &fsm->slave->config->mapping[dir];
-
-        list_for_each_entry(pdo, &map->pdos, list) {
-            if (fsm->pdo) { // there was a Pdo configured in the last run
-                if (pdo == fsm->pdo) // this is the last Pdo
-                    fsm->pdo = NULL; // take the next one
-            } else {
-                if ((mapped_pdo = ec_slave_find_pdo(fsm->slave, pdo->index)))
-                    if (ec_pdo_equal_entries(pdo, mapped_pdo))
-                        continue; // Pdo configured correctly
-
-                fsm->pdo = pdo;
-                break;
-            }
-        }
-    }
-
-    if (!fsm->pdo) {
-        if (fsm->slave->master->debug_level)
-            EC_DBG("Pdo configuration finished for slave %u.\n",
-                    fsm->slave->ring_position);
-        fsm->state = ec_fsm_pdo_config_state_end;
-        return;
-    }
-
-    // Pdo configuration 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_configuration)) {
-        EC_ERR("Slave %u does not support changing the Pdo configuration!\n",
-                fsm->slave->ring_position);
-        fsm->state = ec_fsm_pdo_config_state_error;
-        return;
-    }
-
-    if (fsm->slave->master->debug_level) {
-        EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
-                fsm->pdo->index, fsm->slave->ring_position);
-    }
-
-    if (ec_sdo_request_alloc(&fsm->request, 4)) {
-        fsm->state = ec_fsm_pdo_config_state_error;
-        return;
-    }
-
-    // set mapped Pdo count to zero
-    EC_WRITE_U8(fsm->request.data, 0);
-    fsm->request.data_size = 1;
-    ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
-    ecrt_sdo_request_write(&fsm->request);
-    if (fsm->slave->master->debug_level)
-        EC_DBG("Setting entry count to zero for Pdo 0x%04X.\n",
-                fsm->pdo->index);
-
-    fsm->state = ec_fsm_pdo_config_state_zero_count;
-    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Process next Pdo entry.
- */
-ec_pdo_entry_t *ec_fsm_pdo_config_next_entry(
-        const ec_fsm_pdo_config_t *fsm, /**< Pdo configuration state machine */
-        const struct list_head *list /**< current entry list item */
-        )
-{
-    list = list->next; 
-    if (list == &fsm->pdo->entries)
-        return NULL; // no next entry
-    return list_entry(list, ec_pdo_entry_t, list);
-}
-
-/*****************************************************************************/
-
-/** Starts to add a Pdo entry.
- */
-void ec_fsm_pdo_config_add_entry(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine. */
-        )
-{
-    uint32_t value;
-
-    value = fsm->entry->index << 16
-        | fsm->entry->subindex << 8 | fsm->entry->bit_length;
-    EC_WRITE_U32(fsm->request.data, value);
-    fsm->request.data_size = 4;
-    ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->entry_count);
-    ecrt_sdo_request_write(&fsm->request);
-    if (fsm->slave->master->debug_level)
-        EC_DBG("Configuring Pdo entry %08X at position %u.\n",
-                value, fsm->entry_count);
-    
-    fsm->state = ec_fsm_pdo_config_state_add_entry;
-    ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-}
-
-/*****************************************************************************/
-
-/** Set the number of configured entries to zero.
- */
-void ec_fsm_pdo_config_state_zero_count(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to clear Pdo configuration for slave %u.\n",
-                fsm->slave->ring_position);
-        fsm->state = ec_fsm_pdo_config_state_error;
-        return;
-    }
-
-    // find first entry
-    if (!(fsm->entry =
-                ec_fsm_pdo_config_next_entry(fsm, &fsm->pdo->entries))) {
-        if (fsm->slave->master->debug_level)
-            EC_DBG("No entries to configure for Pdo 0x%04X of slave %u.\n",
-                    fsm->pdo->index, fsm->slave->ring_position);
-        ec_fsm_pdo_config_next_pdo(fsm);
-        return;
-    }
-
-    // add first entry
-    fsm->entry_count = 1;
-    ec_fsm_pdo_config_add_entry(fsm);
-}
-
-/*****************************************************************************/
-
-/** Add a Pdo entry.
- */
-void ec_fsm_pdo_config_state_add_entry(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to add entry 0x%04X:%u for slave %u.\n",
-                fsm->entry->index, fsm->entry->subindex,
-                fsm->slave->ring_position);
-        fsm->state = ec_fsm_pdo_config_state_error;
-        return;
-    }
-
-    // find next entry
-    if (!(fsm->entry = ec_fsm_pdo_config_next_entry(fsm, &fsm->entry->list))) {
-        // No more entries to add. Write entry count.
-        EC_WRITE_U8(fsm->request.data, fsm->entry_count);
-        fsm->request.data_size = 1;
-        ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
-        ecrt_sdo_request_write(&fsm->request);
-        if (fsm->slave->master->debug_level)
-            EC_DBG("Setting number of Pdo entries to %u.\n",
-                    fsm->entry_count);
-        
-        fsm->state = ec_fsm_pdo_config_state_entry_count;
-        ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
-        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
-        return;
-    }
-
-    // add next entry
-    fsm->entry_count++;
-    ec_fsm_pdo_config_add_entry(fsm);
-}
-
-/*****************************************************************************/
-
-/** Set the number of entries.
- */
-void ec_fsm_pdo_config_state_entry_count(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-    if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
-
-    if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to set number of entries for slave %u.\n",
-                fsm->slave->ring_position);
-        fsm->state = ec_fsm_pdo_config_state_error;
-        return;
-    }
-
-    if (fsm->slave->master->debug_level)
-        EC_DBG("Successfully configured Pdo 0x%04X on slave %u.\n",
-                fsm->pdo->index, fsm->slave->ring_position);
-
-    ec_fsm_pdo_config_next_pdo(fsm);
-}
-
-/******************************************************************************
- * Common state functions
- *****************************************************************************/
-
-/** State: ERROR.
- */
-void ec_fsm_pdo_config_state_error(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-}
-
-/*****************************************************************************/
-
-/** State: END.
- */
-void ec_fsm_pdo_config_state_end(
-        ec_fsm_pdo_config_t *fsm /**< Pdo configuration state machine */
-        )
-{
-}
-
-/*****************************************************************************/