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