diff -r 399ef727bf62 -r e206f4485f60 master/fsm_pdo.c --- a/master/fsm_pdo.c Mon Dec 29 14:10:27 2008 +0000 +++ b/master/fsm_pdo.c Mon Dec 29 15:19:16 2008 +0000 @@ -25,7 +25,7 @@ *****************************************************************************/ /** \file - * EtherCAT Pdo configuration state machine. + * EtherCAT PDO configuration state machine. */ /*****************************************************************************/ @@ -69,7 +69,7 @@ /** Constructor. */ void ec_fsm_pdo_init( - ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */ ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */ ) { @@ -85,7 +85,7 @@ /** Destructor. */ void ec_fsm_pdo_clear( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry); @@ -96,10 +96,10 @@ /*****************************************************************************/ -/** Start reading the Pdo configuration. +/** Start reading the PDO configuration. */ void ec_fsm_pdo_start_reading( - ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */ ec_slave_t *slave /**< slave to configure */ ) { @@ -109,10 +109,10 @@ /*****************************************************************************/ -/** Start writing the Pdo configuration. +/** Start writing the PDO configuration. */ void ec_fsm_pdo_start_configuration( - ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */ ec_slave_t *slave /**< slave to configure */ ) { @@ -127,7 +127,7 @@ * \return false, if state machine has terminated */ int ec_fsm_pdo_running( - const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { return fsm->state != ec_fsm_pdo_state_end @@ -144,7 +144,7 @@ * \return false, if state machine has terminated */ int ec_fsm_pdo_exec( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { fsm->state(fsm); @@ -158,7 +158,7 @@ * \return true, if the state machine terminated gracefully */ int ec_fsm_pdo_success( - const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { return fsm->state == ec_fsm_pdo_state_end; @@ -168,20 +168,20 @@ * Reading state funtions. *****************************************************************************/ -/** Start reading Pdo assignment. +/** 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 + // 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. +/** Read PDO assignment of next sync manager. */ void ec_fsm_pdo_read_action_next_sync( ec_fsm_pdo_t *fsm /**< Finite state machine */ @@ -196,7 +196,7 @@ continue; if (slave->master->debug_level) - EC_DBG("Reading Pdo assignment of SM%u.\n", fsm->sync_index); + EC_DBG("Reading PDO assignment of SM%u.\n", fsm->sync_index); ec_pdo_list_clear_pdos(&fsm->pdos); @@ -209,14 +209,14 @@ } if (slave->master->debug_level) - EC_DBG("Reading of Pdo configuration finished.\n"); + EC_DBG("Reading of PDO configuration finished.\n"); fsm->state = ec_fsm_pdo_state_end; } /*****************************************************************************/ -/** Count assigned Pdos. +/** Count assigned PDOs. */ void ec_fsm_pdo_read_state_pdo_count( ec_fsm_pdo_t *fsm /**< finite state machine */ @@ -225,14 +225,14 @@ 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", + 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 " + 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); @@ -242,16 +242,16 @@ 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 + 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. +/** Read next PDO. */ void ec_fsm_pdo_read_action_next_pdo( ec_fsm_pdo_t *fsm /**< finite state machine */ @@ -267,7 +267,7 @@ return; } - // finished reading Pdo configuration + // finished reading PDO configuration if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) { fsm->state = ec_fsm_pdo_state_error; @@ -282,7 +282,7 @@ /*****************************************************************************/ -/** Fetch Pdo information. +/** Fetch PDO information. */ void ec_fsm_pdo_read_state_pdo( ec_fsm_pdo_t *fsm /**< finite state machine */ @@ -291,14 +291,14 @@ 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", + 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 " + 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); @@ -308,7 +308,7 @@ if (!(fsm->pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) { - EC_ERR("Failed to allocate Pdo.\n"); + EC_ERR("Failed to allocate PDO.\n"); fsm->state = ec_fsm_pdo_state_error; return; } @@ -318,7 +318,7 @@ fsm->pdo->sync_index = fsm->sync_index; if (fsm->slave->master->debug_level) - EC_DBG("Pdo 0x%04X.\n", fsm->pdo->index); + EC_DBG("PDO 0x%04X.\n", fsm->pdo->index); list_add_tail(&fsm->pdo->list, &fsm->pdos.list); @@ -329,7 +329,7 @@ /*****************************************************************************/ -/** Fetch Pdo information. +/** Fetch PDO information. */ void ec_fsm_pdo_read_state_pdo_entries( ec_fsm_pdo_t *fsm /**< finite state machine */ @@ -339,13 +339,13 @@ return; if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) { - EC_ERR("Failed to read mapped Pdo entries for Pdo 0x%04X.\n", + 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 + // next PDO fsm->pdo_pos++; ec_fsm_pdo_read_action_next_pdo(fsm); } @@ -354,10 +354,10 @@ * Writing state functions. *****************************************************************************/ -/** Start Pdo configuration. +/** Start PDO configuration. */ void ec_fsm_pdo_conf_state_start( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { if (!fsm->slave->config) { @@ -371,16 +371,16 @@ /*****************************************************************************/ -/** Assign next Pdo. +/** 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 */ + 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 NULL; // no next PDO return list_entry(list, ec_pdo_t, list); } @@ -389,7 +389,7 @@ /** 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. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { fsm->sync_index++; @@ -408,13 +408,13 @@ 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 " + 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 + // 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); @@ -433,7 +433,7 @@ /** 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. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { const ec_pdo_t *assigned_pdo; @@ -442,14 +442,14 @@ 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 + } 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", + EC_DBG("Reading mapping of PDO 0x%04X.\n", fsm->pdo->index); // pdo mapping is unknown; start loading it @@ -466,17 +466,17 @@ /*****************************************************************************/ -/** Execute the Pdo entry state machine to read the current Pdo's mapping. +/** 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. */ + 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", + EC_WARN("Failed to read mapped PDO entries for PDO 0x%04X.\n", fsm->pdo->index); // check if the mapping must be re-configured @@ -490,12 +490,12 @@ * \todo Display mapping differences. */ void ec_fsm_pdo_conf_action_check_mapping( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + 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", + 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; @@ -503,7 +503,7 @@ if (fsm->slave->master->debug_level) { // TODO display diff - EC_DBG("Changing mapping of Pdo 0x%04X.\n", fsm->pdo->index); + EC_DBG("Changing mapping of PDO 0x%04X.\n", fsm->pdo->index); } ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave, @@ -514,17 +514,17 @@ /*****************************************************************************/ -/** Let the Pdo entry state machine configure the current Pdo's mapping. +/** 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. */ + 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", + EC_WARN("Failed to configure mapping of PDO 0x%04X.\n", fsm->pdo->index); ec_fsm_pdo_conf_action_next_pdo_mapping(fsm); @@ -532,13 +532,13 @@ /*****************************************************************************/ -/** Check mapping of next Pdo, otherwise configure assignment. +/** 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 + 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); @@ -550,17 +550,17 @@ /*****************************************************************************/ -/** Check if the Pdo assignment of the current SM has to be re-configured. +/** 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. */ + 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 " + EC_DBG("PDO assignment for SM%u is already configured " "correctly.\n", fsm->sync_index); ec_fsm_pdo_conf_action_next_sync(fsm); @@ -568,20 +568,20 @@ } if (fsm->slave->master->debug_level) { - EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index); - EC_DBG("Currently assigned Pdos: "); + 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_DBG("PDOs to assign: "); ec_pdo_list_print(&fsm->pdos); printk("\n"); } - // Pdo assignment has to be changed. Does the slave support this? + // 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", + EC_WARN("Slave %u does not support assigning PDOs!\n", fsm->slave->ring_position); ec_fsm_pdo_conf_action_next_sync(fsm); return; @@ -592,14 +592,14 @@ return; } - // set mapped Pdo count to zero - EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped + // 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"); + 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); @@ -608,48 +608,48 @@ /*****************************************************************************/ -/** Set the number of assigned Pdos to zero. +/** 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. */ + 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_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 + // assign all PDOs belonging to the current sync manager - // find first Pdo + // 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"); + 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 + // assign first PDO fsm->pdo_pos = 1; ec_fsm_pdo_conf_action_assign_pdo(fsm); } /*****************************************************************************/ -/** Assign a Pdo. +/** Assign a PDO. */ void ec_fsm_pdo_conf_action_assign_pdo( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { EC_WRITE_U16(fsm->request.data, fsm->pdo->index); @@ -659,7 +659,7 @@ ecrt_sdo_request_write(&fsm->request); if (fsm->slave->master->debug_level) - EC_DBG("Assigning Pdo 0x%04X at position %u.\n", + 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; @@ -669,32 +669,32 @@ /*****************************************************************************/ -/** Add a Pdo to the sync managers Pdo assignment. +/** 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. */ + 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", + 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 + // 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 + // 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); + 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); @@ -702,36 +702,36 @@ return; } - // add next Pdo to assignment + // add next PDO to assignment fsm->pdo_pos++; ec_fsm_pdo_conf_action_assign_pdo(fsm); } /*****************************************************************************/ -/** Set the number of assigned Pdos. +/** Set the number of assigned PDOs. */ void ec_fsm_pdo_conf_state_set_pdo_count( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + 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", + 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 + // 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", + EC_DBG("Successfully configured PDO assignment of SM%u.\n", fsm->sync_index); - // check if Pdo mapping has to be altered + // check if PDO mapping has to be altered ec_fsm_pdo_conf_action_next_sync(fsm); } @@ -742,7 +742,7 @@ /** State: ERROR. */ void ec_fsm_pdo_state_error( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ ) { } @@ -752,9 +752,9 @@ /** State: END. */ void ec_fsm_pdo_state_end( - ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */ - ) -{ -} - -/*****************************************************************************/ + ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */ + ) +{ +} + +/*****************************************************************************/