From 051347007e679270b1c9418bc36859ca50419f84 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 21 Sep 2010 14:20:23 +0200
Subject: [PATCH] Always write PDO mapping/assignment.
---
TODO | 1 -
master/fsm_pdo.c | 101 ++++++++++++++++++++++-------------------
master/fsm_pdo_entry.c | 11 -----
3 files changed, 55 insertions(+), 58 deletions(-)
diff --git a/TODO b/TODO
index 3e981ab9..66341b7a 100644
--- a/TODO
+++ b/TODO
@@ -76,7 +76,6 @@ Future issues:
- Implement reading from stream for soe_write.
* Simplify master fsm by introducing a common request state to handle external
requests (replace write_sii, sdo_request, etc).
-* Write PDO mapping/assignment by default?
* Remove stdio uses in userspace library?
Smaller issues:
diff --git a/master/fsm_pdo.c b/master/fsm_pdo.c
index f80d1005..7341eed8 100644
--- a/master/fsm_pdo.c
+++ b/master/fsm_pdo.c
@@ -376,7 +376,7 @@ void ec_fsm_pdo_conf_state_start(
return;
}
- fsm->sync_index = 0xff; // next is zero
+ fsm->sync_index = 1; // next is 2
ec_fsm_pdo_conf_action_next_sync(fsm);
}
@@ -429,7 +429,8 @@ void ec_fsm_pdo_conf_action_next_sync(
}
// get first configured PDO
- if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
+ 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);
return;
@@ -506,17 +507,30 @@ void ec_fsm_pdo_conf_action_check_mapping(
ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
)
{
- if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
- EC_SLAVE_DBG(fsm->slave, 1, "Mapping of PDO 0x%04X"
- " is already configured correctly.\n", fsm->pdo->index);
- ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
+ // check, if slave supports PDO configuration
+ if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
+ && fsm->slave->sii.has_general
+ && fsm->slave->sii.coe_details.enable_pdo_configuration) {
+
+ // always write PDO mapping
+ ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
+ fsm->pdo, &fsm->slave_pdo);
+ fsm->state = ec_fsm_pdo_conf_state_mapping;
+ fsm->state(fsm); // execure immediately
return;
}
+ else if (!ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
+ EC_SLAVE_WARN(fsm->slave, "Slave does not support"
+ " changing the PDO mapping!\n");
+ EC_SLAVE_WARN(fsm->slave, "");
+ printk("Currently mapped PDO entries: ");
+ ec_pdo_print_entries(&fsm->slave_pdo);
+ printk(". Entries to map: ");
+ ec_pdo_print_entries(fsm->pdo);
+ printk("\n");
+ }
- ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
- fsm->pdo, &fsm->slave_pdo);
- fsm->state = ec_fsm_pdo_conf_state_mapping;
- fsm->state(fsm); // execure immediately
+ ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
}
/*****************************************************************************/
@@ -564,46 +578,42 @@ void ec_fsm_pdo_conf_action_check_assignment(
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)) {
- EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment for SM%u"
- " is already configured correctly.\n", fsm->sync_index);
- ec_fsm_pdo_conf_action_next_sync(fsm);
- return;
- }
+ if ((fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
+ && fsm->slave->sii.has_general
+ && fsm->slave->sii.coe_details.enable_pdo_assign) {
+
+ // always write PDO assignment
+ if (fsm->slave->master->debug_level) {
+ EC_SLAVE_DBG(fsm->slave, 1, "Setting PDO assignment of SM%u:\n",
+ fsm->sync_index);
+ EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
+ }
- if (fsm->slave->master->debug_level) {
- EC_SLAVE_DBG(fsm->slave, 1, "PDO assignment of SM%u differs:\n",
- fsm->sync_index);
- EC_SLAVE_DBG(fsm->slave, 1, ""); ec_fsm_pdo_print(fsm);
- }
+ if (ec_sdo_request_alloc(&fsm->request, 2)) {
+ fsm->state = ec_fsm_pdo_state_error;
+ return;
+ }
- // 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_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
- EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
- ec_fsm_pdo_conf_action_next_sync(fsm);
- return;
- }
+ // 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 (ec_sdo_request_alloc(&fsm->request, 2)) {
- fsm->state = ec_fsm_pdo_state_error;
+ EC_SLAVE_DBG(fsm->slave, 1, "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);
+ ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return;
}
+ else if (!ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
+ EC_SLAVE_WARN(fsm->slave, "Slave does not support assigning PDOs!\n");
+ EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
+ }
- // 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);
-
- EC_SLAVE_DBG(fsm->slave, 1, "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);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
+ ec_fsm_pdo_conf_action_next_sync(fsm);
}
/*****************************************************************************/
@@ -621,7 +631,7 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
EC_SLAVE_WARN(fsm->slave, "Failed to clear PDO assignment of SM%u.\n",
fsm->sync_index);
EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_print(fsm);
- fsm->state = ec_fsm_pdo_state_error;
+ ec_fsm_pdo_conf_action_next_sync(fsm);
return;
}
@@ -632,7 +642,6 @@ void ec_fsm_pdo_conf_state_zero_pdo_count(
// find first PDO
if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
- EC_SLAVE_DBG(fsm->slave, 1, "No PDOs to assign.\n");
// check for mapping to be altered
ec_fsm_pdo_conf_action_next_sync(fsm);
diff --git a/master/fsm_pdo_entry.c b/master/fsm_pdo_entry.c
index be2043aa..b284355c 100644
--- a/master/fsm_pdo_entry.c
+++ b/master/fsm_pdo_entry.c
@@ -328,17 +328,6 @@ void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
- // PDO mapping 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_SLAVE_WARN(fsm->slave, "Slave does not support"
- " changing the PDO mapping!\n");
- EC_SLAVE_WARN(fsm->slave, ""); ec_fsm_pdo_entry_print(fsm);
- fsm->state = ec_fsm_pdo_entry_state_error;
- return;
- }
-
if (ec_sdo_request_alloc(&fsm->request, 4)) {
fsm->state = ec_fsm_pdo_entry_state_error;
return;
--
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