diff -r 6b1e2b0ed8bc -r b947d0b09f9a master/fsm_pdo_mapping.c
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_mapping.c	Tue Feb 19 16:18:01 2008 +0000
@@ -0,0 +1,370 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 mapping state machine.
+ */
+
+/*****************************************************************************/
+
+#include "globals.h"
+#include "master.h"
+#include "mailbox.h"
+#include "slave_config.h"
+
+#include "fsm_pdo_mapping.h"
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
+void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
+void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *);
+void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *);
+void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
+void ec_fsm_pdo_mapping_state_error(ec_fsm_pdo_mapping_t *);
+
+void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *);
+
+/*****************************************************************************/
+
+/** Constructor.
+ */
+void ec_fsm_pdo_mapping_init(
+        ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
+        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
+        )
+{
+    fsm->fsm_coe = fsm_coe;
+    fsm->sdodata.data = (uint8_t *) &fsm->sdo_value;
+}
+
+/*****************************************************************************/
+
+/** Destructor.
+ */
+void ec_fsm_pdo_mapping_clear(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** Start PDO mapping configuration state machine.
+ */
+void ec_fsm_pdo_mapping_start(
+        ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
+        ec_slave_t *slave /**< slave to configure */
+        )
+{
+    fsm->slave = slave;
+    fsm->state = ec_fsm_pdo_mapping_state_start;
+}
+
+/*****************************************************************************/
+
+/** Get running state.
+ *
+ * \return false, if state machine has terminated
+ */
+int ec_fsm_pdo_mapping_running(
+        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    return fsm->state != ec_fsm_pdo_mapping_state_end
+        && fsm->state != ec_fsm_pdo_mapping_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_mapping_exec(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    fsm->state(fsm);
+    return ec_fsm_pdo_mapping_running(fsm);
+}
+
+/*****************************************************************************/
+
+/** Get execution result.
+ *
+ * \return true, if the state machine terminated gracefully
+ */
+int ec_fsm_pdo_mapping_success(
+        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    return fsm->state == ec_fsm_pdo_mapping_state_end;
+}
+
+/******************************************************************************
+ * State functions.
+ *****************************************************************************/
+
+/** Start mapping configuration.
+ */
+void ec_fsm_pdo_mapping_state_start(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    if (!fsm->slave->config) {
+        fsm->state = ec_fsm_pdo_mapping_state_end;
+        return;
+    }
+
+    fsm->sync = NULL;
+    ec_fsm_pdo_mapping_next_sync(fsm);
+}
+
+/*****************************************************************************/
+
+/** Process mapping of next sync manager.
+ */
+void ec_fsm_pdo_mapping_next_sync(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    ec_direction_t dir;
+    const ec_sync_t *sync;
+    const ec_pdo_mapping_t *map;
+
+    for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
+        if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {
+            EC_WARN("No sync manager for direction %u!\n", dir);
+            continue;
+        }
+
+        if (fsm->sync) { // there is a last SM
+            if (sync == fsm->sync) // this is the last SM
+                fsm->sync = NULL; // take the next one
+        } else {
+            map = &fsm->slave->config->mapping[dir];
+            if (ec_pdo_mapping_equal(&sync->mapping, map))
+                continue;
+
+            fsm->sync = sync;
+            fsm->mapping = map;
+            break;
+        }
+    }
+
+    if (!sync) {
+        if (fsm->slave->master->debug_level)
+            EC_DBG("Pdo mapping finished for slave %u.\n",
+                    fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_mapping_state_end;
+        return;
+    }
+
+    if (fsm->slave->master->debug_level) {
+        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
+    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.size = 1;
+    if (fsm->slave->master->debug_level)
+        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);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** 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 */
+        )
+{
+    list = list->next; 
+    if (list == &fsm->mapping->pdos)
+        return NULL; // no next PDO
+    return list_entry(list, ec_pdo_t, list);
+}
+
+/*****************************************************************************/
+
+/** Add a Pdo to the mapping.
+ */
+void ec_fsm_pdo_mapping_add_pdo(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+    fsm->sdodata.subindex = fsm->pdo_count;
+    EC_WRITE_U16(&fsm->sdo_value, fsm->pdo->index);
+    fsm->sdodata.size = 2;
+
+    if (fsm->slave->master->debug_level)
+        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;
+    ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+    ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+}
+
+/*****************************************************************************/
+
+/** 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 */
+        )
+{
+    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",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_mapping_state_error;
+        return;
+    }
+
+    // map all PDOs belonging to the current sync manager
+    
+    // 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",
+                    fsm->sync->index, fsm->slave->ring_position);
+        ec_fsm_pdo_mapping_next_sync(fsm);
+        return;
+    }
+
+    // add first PDO to mapping
+    fsm->pdo_count = 1;
+    ec_fsm_pdo_mapping_add_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/** 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 */
+        )
+{
+    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",
+                fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_mapping_state_error;
+        return;
+    }
+
+    // find next PDO
+    if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {
+        // 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",
+                    fsm->pdo_count);
+        
+        fsm->state = ec_fsm_pdo_mapping_state_pdo_count;
+        ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
+        ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+        return;
+    }
+
+    // add next PDO to mapping
+    fsm->pdo_count++;
+    ec_fsm_pdo_mapping_add_pdo(fsm);
+}
+
+/*****************************************************************************/
+
+/** Set the number of mapped PDOs.
+ */
+void ec_fsm_pdo_mapping_state_pdo_count(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping 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 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",
+                fsm->sync->index, fsm->slave->ring_position);
+
+    // mapping configuration for this sync manager complete.
+    ec_fsm_pdo_mapping_next_sync(fsm);
+}
+
+/******************************************************************************
+ * Common state functions
+ *****************************************************************************/
+
+/** State: ERROR.
+ */
+void ec_fsm_pdo_mapping_state_error(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+}
+
+/*****************************************************************************/
+
+/** State: END.
+ */
+void ec_fsm_pdo_mapping_state_end(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
+        )
+{
+}
+
+/*****************************************************************************/