Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.

master/Kbuild.in

@@ -35,8 +35,8 @@ obj-m := ec_master.o
 
 ec_master-objs := module.o master.o device.o pdo.o sync.o fmmu_config.o \
     slave.o slave_config.o pdo_mapping.o datagram.o domain.o mailbox.o \
-    canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o fsm_mapping.o \
-    fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
+    canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \
+    fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
 
 ifeq (@ENABLE_EOE@,1)
 	ec_master-objs += ethernet.o

master/Makefile.am

@@ -47,7 +47,7 @@ EXTRA_DIST = \
 	fsm_change.c fsm_change.h \
 	fsm_coe.c fsm_coe.h \
 	fsm_coe_map.c fsm_coe_map.h \
-	fsm_mapping.c fsm_mapping.h \
+	fsm_pdo_mapping.c fsm_pdo_mapping.h \
 	fsm_pdo_config.c fsm_pdo_config.h \
 	fsm_slave.c fsm_slave.h \
 	fsm_master.c fsm_master.h \

master/fsm_mapping.c → master/fsm_pdo_mapping.c

@@ -42,25 +42,25 @@
 #include "mailbox.h"
 #include "slave_config.h"
 
-#include "fsm_mapping.h"
+#include "fsm_pdo_mapping.h"
 
 /*****************************************************************************/
 
-void ec_fsm_mapping_state_start(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_end(ec_fsm_mapping_t *);
-void ec_fsm_mapping_state_error(ec_fsm_mapping_t *);
+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_mapping_next_sync(ec_fsm_mapping_t *);
+void ec_fsm_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *);
 
 /*****************************************************************************/
 
 /** Constructor.
  */
-void ec_fsm_mapping_init(
-        ec_fsm_mapping_t *fsm, /**< mapping state machine */
+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 */
         )
 {
@@ -72,8 +72,8 @@ void ec_fsm_mapping_init(
 
 /** Destructor.
  */
-void ec_fsm_mapping_clear(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_clear(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
 }
@@ -82,13 +82,13 @@ void ec_fsm_mapping_clear(
 
 /** Start PDO mapping configuration state machine.
  */
-void ec_fsm_mapping_start(
-        ec_fsm_mapping_t *fsm, /**< mapping 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_mapping_state_start;
+    fsm->state = ec_fsm_pdo_mapping_state_start;
 }
 
 /*****************************************************************************/
@@ -97,12 +97,12 @@ void ec_fsm_mapping_start(
  *
  * \return false, if state machine has terminated
  */
-int ec_fsm_mapping_running(
-        const ec_fsm_mapping_t *fsm /**< mapping state machine */
+int ec_fsm_pdo_mapping_running(
+        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
-    return fsm->state != ec_fsm_mapping_state_end
-        && fsm->state != ec_fsm_mapping_state_error;
+    return fsm->state != ec_fsm_pdo_mapping_state_end
+        && fsm->state != ec_fsm_pdo_mapping_state_error;
 }
 
 /*****************************************************************************/
@@ -114,12 +114,12 @@ int ec_fsm_mapping_running(
  *
  * \return false, if state machine has terminated
  */
-int ec_fsm_mapping_exec(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+int ec_fsm_pdo_mapping_exec(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
     fsm->state(fsm);
-    return ec_fsm_mapping_running(fsm);
+    return ec_fsm_pdo_mapping_running(fsm);
 }
 
 /*****************************************************************************/
@@ -128,11 +128,11 @@ int ec_fsm_mapping_exec(
  *
  * \return true, if the state machine terminated gracefully
  */
-int ec_fsm_mapping_success(
-        const ec_fsm_mapping_t *fsm /**< mapping state machine */
+int ec_fsm_pdo_mapping_success(
+        const ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
-    return fsm->state == ec_fsm_mapping_state_end;
+    return fsm->state == ec_fsm_pdo_mapping_state_end;
 }
 
 /******************************************************************************
@@ -141,25 +141,25 @@ int ec_fsm_mapping_success(
 
 /** Start mapping configuration.
  */
-void ec_fsm_mapping_state_start(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_state_start(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
     if (!fsm->slave->config) {
-        fsm->state = ec_fsm_mapping_state_end;
+        fsm->state = ec_fsm_pdo_mapping_state_end;
         return;
     }
 
     fsm->sync = NULL;
-    ec_fsm_mapping_next_sync(fsm);
+    ec_fsm_pdo_mapping_next_sync(fsm);
 }
 
 /*****************************************************************************/
 
 /** Process mapping of next sync manager.
  */
-void ec_fsm_mapping_next_sync(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_next_sync(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
     ec_direction_t dir;
@@ -190,7 +190,7 @@ void ec_fsm_mapping_next_sync(
         if (fsm->slave->master->debug_level)
             EC_DBG("Pdo mapping finished for slave %u.\n",
                     fsm->slave->ring_position);
-        fsm->state = ec_fsm_mapping_state_end;
+        fsm->state = ec_fsm_pdo_mapping_state_end;
         return;
     }
 
@@ -207,7 +207,7 @@ void ec_fsm_mapping_next_sync(
     if (fsm->slave->master->debug_level)
         EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
 
-    fsm->state = ec_fsm_mapping_state_zero_count;
+    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
 }
@@ -216,8 +216,8 @@ void ec_fsm_mapping_next_sync(
 
 /** Process mapping of next PDO.
  */
-ec_pdo_t *ec_fsm_mapping_next_pdo(
-        const ec_fsm_mapping_t *fsm, /**< mapping state machine */
+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 */
         )
 {
@@ -231,8 +231,8 @@ ec_pdo_t *ec_fsm_mapping_next_pdo(
 
 /** Add a Pdo to the mapping.
  */
-void ec_fsm_mapping_add_pdo(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_add_pdo(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
     fsm->sdodata.subindex = fsm->pdo_count;
@@ -243,7 +243,7 @@ void ec_fsm_mapping_add_pdo(
         EC_DBG("Mapping PDO 0x%04X at position %u.\n",
                 fsm->pdo->index, fsm->sdodata.subindex);
     
-    fsm->state = ec_fsm_mapping_state_add_pdo;
+    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
 }
@@ -252,8 +252,8 @@ void ec_fsm_mapping_add_pdo(
 
 /** Set the number of mapped PDOs to zero.
  */
-void ec_fsm_mapping_state_zero_count(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+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;
@@ -261,32 +261,32 @@ void ec_fsm_mapping_state_zero_count(
     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_mapping_state_error;
+        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_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
+    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_mapping_next_sync(fsm);
+        ec_fsm_pdo_mapping_next_sync(fsm);
         return;
     }
 
     // add first PDO to mapping
     fsm->pdo_count = 1;
-    ec_fsm_mapping_add_pdo(fsm);
+    ec_fsm_pdo_mapping_add_pdo(fsm);
 }
 
 /*****************************************************************************/
 
 /** Add a PDO to the sync managers mapping.
  */
-void ec_fsm_mapping_state_add_pdo(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+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;
@@ -294,12 +294,12 @@ void ec_fsm_mapping_state_add_pdo(
     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_mapping_state_error;
+        fsm->state = ec_fsm_pdo_mapping_state_error;
         return;
     }
 
     // find next PDO
-    if (!(fsm->pdo = ec_fsm_mapping_next_pdo(fsm, &fsm->pdo->list))) {
+    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);
@@ -309,7 +309,7 @@ void ec_fsm_mapping_state_add_pdo(
             EC_DBG("Setting number of mapped PDOs to %u.\n",
                     fsm->pdo_count);
         
-        fsm->state = ec_fsm_mapping_state_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;
@@ -317,15 +317,15 @@ void ec_fsm_mapping_state_add_pdo(
 
     // add next PDO to mapping
     fsm->pdo_count++;
-    ec_fsm_mapping_add_pdo(fsm);
+    ec_fsm_pdo_mapping_add_pdo(fsm);
 }
 
 /*****************************************************************************/
 
 /** Set the number of mapped PDOs.
  */
-void ec_fsm_mapping_state_pdo_count(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+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;
@@ -333,7 +333,7 @@ void ec_fsm_mapping_state_pdo_count(
     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_mapping_state_error;
+        fsm->state = ec_fsm_pdo_mapping_state_error;
         return;
     }
 
@@ -342,7 +342,7 @@ void ec_fsm_mapping_state_pdo_count(
                 fsm->sync->index, fsm->slave->ring_position);
 
     // mapping configuration for this sync manager complete.
-    ec_fsm_mapping_next_sync(fsm);
+    ec_fsm_pdo_mapping_next_sync(fsm);
 }
 
 /******************************************************************************
@@ -351,8 +351,8 @@ void ec_fsm_mapping_state_pdo_count(
 
 /** State: ERROR.
  */
-void ec_fsm_mapping_state_error(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_state_error(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
 }
@@ -361,8 +361,8 @@ void ec_fsm_mapping_state_error(
 
 /** State: END.
  */
-void ec_fsm_mapping_state_end(
-        ec_fsm_mapping_t *fsm /**< mapping state machine */
+void ec_fsm_pdo_mapping_state_end(
+        ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
         )
 {
 }

master/fsm_mapping.h → master/fsm_pdo_mapping.h

@@ -38,23 +38,27 @@
 
 /*****************************************************************************/
 
-#ifndef __EC_FSM_MAPPING__
-#define __EC_FSM_MAPPING__
+#ifndef __EC_FSM_PDO_MAPPING__
+#define __EC_FSM_PDO_MAPPING__
 
-#include "globals.h"
 #include "../include/ecrt.h"
+
+#include "globals.h"
 #include "datagram.h"
 #include "fsm_coe.h"
 
 /*****************************************************************************/
 
-typedef struct ec_fsm_mapping ec_fsm_mapping_t; /**< \see ec_fsm_mapping */
+/**
+ * \see ec_fsm_pdo_mapping
+ */
+typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t;
 
 /** Pdo mapping state machine.
  */
-struct ec_fsm_mapping
+struct ec_fsm_pdo_mapping
 {
-    void (*state)(ec_fsm_mapping_t *); /**< State function. */
+    void (*state)(ec_fsm_pdo_mapping_t *); /**< State function. */
     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
     ec_slave_t *slave; /**< Slave the FSM runs on. */
 
@@ -69,12 +73,12 @@ struct ec_fsm_mapping
 
 /*****************************************************************************/
 
-void ec_fsm_mapping_init(ec_fsm_mapping_t *, ec_fsm_coe_t *);
-void ec_fsm_mapping_clear(ec_fsm_mapping_t *);
+void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *);
+void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *);
 
-void ec_fsm_mapping_start(ec_fsm_mapping_t *, ec_slave_t *);
-int ec_fsm_mapping_exec(ec_fsm_mapping_t *);
-int ec_fsm_mapping_success(const ec_fsm_mapping_t *);
+void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *);
+int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *);
+int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *);
 
 /*****************************************************************************/
 

master/fsm_slave.c

@@ -92,8 +92,8 @@ void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */
     ec_fsm_sii_init(&fsm->fsm_sii, fsm->datagram);
     ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
     ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
-    ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe);
-    ec_fsm_pdo_config_init(&fsm->fsm_pdo, &fsm->fsm_coe);
+    ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
+    ec_fsm_pdo_config_init(&fsm->fsm_pdo_conf, &fsm->fsm_coe);
 }
 
 /*****************************************************************************/
@@ -106,8 +106,8 @@ void ec_fsm_slave_clear(ec_fsm_slave_t *fsm /**< slave state machine */)
     ec_fsm_sii_clear(&fsm->fsm_sii);
     ec_fsm_change_clear(&fsm->fsm_change);
     ec_fsm_coe_clear(&fsm->fsm_coe);
-    ec_fsm_mapping_clear(&fsm->fsm_map);
-    ec_fsm_pdo_config_clear(&fsm->fsm_pdo);
+    ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
+    ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
 }
 
 /*****************************************************************************/
@@ -941,8 +941,8 @@ void ec_fsm_slave_conf_enter_mapping(
 {
     // start configuring PDO mapping
     fsm->state = ec_fsm_slave_conf_state_mapping;
-    ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave);
-    ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately
+    ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
+    ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
 }
 
 /*****************************************************************************/
@@ -955,9 +955,9 @@ void ec_fsm_slave_conf_state_mapping(
         ec_fsm_slave_t *fsm /**< slave state machine */
         )
 {
-    if (ec_fsm_mapping_exec(&fsm->fsm_map)) return;
+    if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
 
-    if (!ec_fsm_mapping_success(&fsm->fsm_map)) {
+    if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
         EC_ERR("PDO mapping configuration failed for slave %u.\n",
                 fsm->slave->ring_position);
         fsm->slave->error_flag = 1;
@@ -967,8 +967,8 @@ void ec_fsm_slave_conf_state_mapping(
 
     // Start Pdo configuration
     fsm->state = ec_fsm_slave_conf_state_pdo_conf;
-    ec_fsm_pdo_config_start(&fsm->fsm_pdo, fsm->slave);
-    ec_fsm_pdo_config_exec(&fsm->fsm_pdo); // execute immediately
+    ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
+    ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
 }
 
 /*****************************************************************************/
@@ -981,9 +981,9 @@ void ec_fsm_slave_conf_state_pdo_conf(
         ec_fsm_slave_t *fsm /**< slave state machine */
         )
 {
-    if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo)) return;
+    if (ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf)) return;
 
-    if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo)) {
+    if (!ec_fsm_pdo_config_success(&fsm->fsm_pdo_conf)) {
         EC_ERR("Pdo configuration failed for slave %u.\n",
                 fsm->slave->ring_position);
         fsm->slave->error_flag = 1;

master/fsm_slave.h

@@ -48,7 +48,7 @@
 #include "fsm_sii.h"
 #include "fsm_change.h"
 #include "fsm_coe.h"
-#include "fsm_mapping.h"
+#include "fsm_pdo_mapping.h"
 #include "fsm_pdo_config.h"
 
 /*****************************************************************************/
@@ -70,8 +70,8 @@ struct ec_fsm_slave
     ec_fsm_sii_t fsm_sii; /**< SII state machine. */
     ec_fsm_change_t fsm_change; /**< State change state machine. */
     ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
-    ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine. */
-    ec_fsm_pdo_config_t fsm_pdo; /**< PDO configuration state machine. */
+    ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
+    ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
 };
 
 /*****************************************************************************/