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Commit bb51df10 authored by Florian Pose's avatar Florian Pose
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Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t.

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master/Kbuild.in
+ 2
− 2
View file @ bb51df10
...@@ -35,8 +35,8 @@ obj-m := ec_master.o ...@@ -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 \ 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 \ 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 \ canopen.o fsm_sii.o fsm_change.o fsm_coe.o fsm_coe_map.o \
fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o fsm_pdo_mapping.o fsm_pdo_config.o fsm_slave.o fsm_master.o xmldev.o
ifeq (@ENABLE_EOE@,1) ifeq (@ENABLE_EOE@,1)
ec_master-objs += ethernet.o ec_master-objs += ethernet.o
......
master/Makefile.am
+ 1
− 1
View file @ bb51df10
...@@ -47,7 +47,7 @@ EXTRA_DIST = \ ...@@ -47,7 +47,7 @@ EXTRA_DIST = \
fsm_change.c fsm_change.h \ fsm_change.c fsm_change.h \
fsm_coe.c fsm_coe.h \ fsm_coe.c fsm_coe.h \
fsm_coe_map.c fsm_coe_map.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_pdo_config.c fsm_pdo_config.h \
fsm_slave.c fsm_slave.h \ fsm_slave.c fsm_slave.h \
fsm_master.c fsm_master.h \ fsm_master.c fsm_master.h \
......
master/fsm_mapping.c → master/fsm_pdo_mapping.c
+ 58
− 58
View file @ bb51df10
...@@ -42,25 +42,25 @@ ...@@ -42,25 +42,25 @@
#include "mailbox.h" #include "mailbox.h"
#include "slave_config.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_pdo_mapping_state_start(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_state_zero_count(ec_fsm_mapping_t *); void ec_fsm_pdo_mapping_state_zero_count(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_state_add_pdo(ec_fsm_mapping_t *); void ec_fsm_pdo_mapping_state_add_pdo(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_state_pdo_count(ec_fsm_mapping_t *); void ec_fsm_pdo_mapping_state_pdo_count(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_state_end(ec_fsm_mapping_t *); void ec_fsm_pdo_mapping_state_end(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_state_error(ec_fsm_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. /** Constructor.
*/ */
void ec_fsm_mapping_init( void ec_fsm_pdo_mapping_init(
ec_fsm_mapping_t *fsm, /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */ ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
) )
{ {
...@@ -72,8 +72,8 @@ void ec_fsm_mapping_init( ...@@ -72,8 +72,8 @@ void ec_fsm_mapping_init(
/** Destructor. /** Destructor.
*/ */
void ec_fsm_mapping_clear( void ec_fsm_pdo_mapping_clear(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
} }
...@@ -82,13 +82,13 @@ void ec_fsm_mapping_clear( ...@@ -82,13 +82,13 @@ void ec_fsm_mapping_clear(
/** Start PDO mapping configuration state machine. /** Start PDO mapping configuration state machine.
*/ */
void ec_fsm_mapping_start( void ec_fsm_pdo_mapping_start(
ec_fsm_mapping_t *fsm, /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
ec_slave_t *slave /**< slave to configure */ ec_slave_t *slave /**< slave to configure */
) )
{ {
fsm->slave = slave; 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( ...@@ -97,12 +97,12 @@ void ec_fsm_mapping_start(
* *
* \return false, if state machine has terminated * \return false, if state machine has terminated
*/ */
int ec_fsm_mapping_running( int ec_fsm_pdo_mapping_running(
const ec_fsm_mapping_t *fsm /**< mapping state machine */ 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
&& fsm->state != ec_fsm_mapping_state_error; && fsm->state != ec_fsm_pdo_mapping_state_error;
} }
/*****************************************************************************/ /*****************************************************************************/
...@@ -114,12 +114,12 @@ int ec_fsm_mapping_running( ...@@ -114,12 +114,12 @@ int ec_fsm_mapping_running(
* *
* \return false, if state machine has terminated * \return false, if state machine has terminated
*/ */
int ec_fsm_mapping_exec( int ec_fsm_pdo_mapping_exec(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
fsm->state(fsm); 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( ...@@ -128,11 +128,11 @@ int ec_fsm_mapping_exec(
* *
* \return true, if the state machine terminated gracefully * \return true, if the state machine terminated gracefully
*/ */
int ec_fsm_mapping_success( int ec_fsm_pdo_mapping_success(
const ec_fsm_mapping_t *fsm /**< mapping state machine */ 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( ...@@ -141,25 +141,25 @@ int ec_fsm_mapping_success(
/** Start mapping configuration. /** Start mapping configuration.
*/ */
void ec_fsm_mapping_state_start( void ec_fsm_pdo_mapping_state_start(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
if (!fsm->slave->config) { if (!fsm->slave->config) {
fsm->state = ec_fsm_mapping_state_end; fsm->state = ec_fsm_pdo_mapping_state_end;
return; return;
} }
fsm->sync = NULL; fsm->sync = NULL;
ec_fsm_mapping_next_sync(fsm); ec_fsm_pdo_mapping_next_sync(fsm);
} }
/*****************************************************************************/ /*****************************************************************************/
/** Process mapping of next sync manager. /** Process mapping of next sync manager.
*/ */
void ec_fsm_mapping_next_sync( void ec_fsm_pdo_mapping_next_sync(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
ec_direction_t dir; ec_direction_t dir;
...@@ -190,7 +190,7 @@ void ec_fsm_mapping_next_sync( ...@@ -190,7 +190,7 @@ void ec_fsm_mapping_next_sync(
if (fsm->slave->master->debug_level) if (fsm->slave->master->debug_level)
EC_DBG("Pdo mapping finished for slave %u.\n", EC_DBG("Pdo mapping finished for slave %u.\n",
fsm->slave->ring_position); fsm->slave->ring_position);
fsm->state = ec_fsm_mapping_state_end; fsm->state = ec_fsm_pdo_mapping_state_end;
return; return;
} }
...@@ -207,7 +207,7 @@ void ec_fsm_mapping_next_sync( ...@@ -207,7 +207,7 @@ void ec_fsm_mapping_next_sync(
if (fsm->slave->master->debug_level) if (fsm->slave->master->debug_level)
EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index); 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_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
} }
...@@ -216,8 +216,8 @@ void ec_fsm_mapping_next_sync( ...@@ -216,8 +216,8 @@ void ec_fsm_mapping_next_sync(
/** Process mapping of next PDO. /** Process mapping of next PDO.
*/ */
ec_pdo_t *ec_fsm_mapping_next_pdo( ec_pdo_t *ec_fsm_pdo_mapping_next_pdo(
const ec_fsm_mapping_t *fsm, /**< mapping state machine */ const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
const struct list_head *list /**< current PDO list item */ const struct list_head *list /**< current PDO list item */
) )
{ {
...@@ -231,8 +231,8 @@ ec_pdo_t *ec_fsm_mapping_next_pdo( ...@@ -231,8 +231,8 @@ ec_pdo_t *ec_fsm_mapping_next_pdo(
/** Add a Pdo to the mapping. /** Add a Pdo to the mapping.
*/ */
void ec_fsm_mapping_add_pdo( void ec_fsm_pdo_mapping_add_pdo(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
fsm->sdodata.subindex = fsm->pdo_count; fsm->sdodata.subindex = fsm->pdo_count;
...@@ -243,7 +243,7 @@ void ec_fsm_mapping_add_pdo( ...@@ -243,7 +243,7 @@ void ec_fsm_mapping_add_pdo(
EC_DBG("Mapping PDO 0x%04X at position %u.\n", EC_DBG("Mapping PDO 0x%04X at position %u.\n",
fsm->pdo->index, fsm->sdodata.subindex); 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_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
} }
...@@ -252,8 +252,8 @@ void ec_fsm_mapping_add_pdo( ...@@ -252,8 +252,8 @@ void ec_fsm_mapping_add_pdo(
/** Set the number of mapped PDOs to zero. /** Set the number of mapped PDOs to zero.
*/ */
void ec_fsm_mapping_state_zero_count( void ec_fsm_pdo_mapping_state_zero_count(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
...@@ -261,32 +261,32 @@ void ec_fsm_mapping_state_zero_count( ...@@ -261,32 +261,32 @@ void ec_fsm_mapping_state_zero_count(
if (!ec_fsm_coe_success(fsm->fsm_coe)) { if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to clear PDO mapping for slave %u.\n", EC_ERR("Failed to clear PDO mapping for slave %u.\n",
fsm->slave->ring_position); fsm->slave->ring_position);
fsm->state = ec_fsm_mapping_state_error; fsm->state = ec_fsm_pdo_mapping_state_error;
return; return;
} }
// map all PDOs belonging to the current sync manager // map all PDOs belonging to the current sync manager
// find first PDO // 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) if (fsm->slave->master->debug_level)
EC_DBG("No PDOs to map for SM%u of slave %u.\n", EC_DBG("No PDOs to map for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position); fsm->sync->index, fsm->slave->ring_position);
ec_fsm_mapping_next_sync(fsm); ec_fsm_pdo_mapping_next_sync(fsm);
return; return;
} }
// add first PDO to mapping // add first PDO to mapping
fsm->pdo_count = 1; 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. /** Add a PDO to the sync managers mapping.
*/ */
void ec_fsm_mapping_state_add_pdo( void ec_fsm_pdo_mapping_state_add_pdo(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
...@@ -294,12 +294,12 @@ void ec_fsm_mapping_state_add_pdo( ...@@ -294,12 +294,12 @@ void ec_fsm_mapping_state_add_pdo(
if (!ec_fsm_coe_success(fsm->fsm_coe)) { if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n", 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->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; return;
} }
// find next PDO // 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 // no more PDOs to map. write PDO count
fsm->sdodata.subindex = 0; fsm->sdodata.subindex = 0;
EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count); EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
...@@ -309,7 +309,7 @@ void ec_fsm_mapping_state_add_pdo( ...@@ -309,7 +309,7 @@ void ec_fsm_mapping_state_add_pdo(
EC_DBG("Setting number of mapped PDOs to %u.\n", EC_DBG("Setting number of mapped PDOs to %u.\n",
fsm->pdo_count); 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_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
return; return;
...@@ -317,15 +317,15 @@ void ec_fsm_mapping_state_add_pdo( ...@@ -317,15 +317,15 @@ void ec_fsm_mapping_state_add_pdo(
// add next PDO to mapping // add next PDO to mapping
fsm->pdo_count++; fsm->pdo_count++;
ec_fsm_mapping_add_pdo(fsm); ec_fsm_pdo_mapping_add_pdo(fsm);
} }
/*****************************************************************************/ /*****************************************************************************/
/** Set the number of mapped PDOs. /** Set the number of mapped PDOs.
*/ */
void ec_fsm_mapping_state_pdo_count( void ec_fsm_pdo_mapping_state_pdo_count(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
if (ec_fsm_coe_exec(fsm->fsm_coe)) return; if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
...@@ -333,7 +333,7 @@ void ec_fsm_mapping_state_pdo_count( ...@@ -333,7 +333,7 @@ void ec_fsm_mapping_state_pdo_count(
if (!ec_fsm_coe_success(fsm->fsm_coe)) { if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to set number of mapped PDOs for slave %u.\n", EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
fsm->slave->ring_position); fsm->slave->ring_position);
fsm->state = ec_fsm_mapping_state_error; fsm->state = ec_fsm_pdo_mapping_state_error;
return; return;
} }
...@@ -342,7 +342,7 @@ void ec_fsm_mapping_state_pdo_count( ...@@ -342,7 +342,7 @@ void ec_fsm_mapping_state_pdo_count(
fsm->sync->index, fsm->slave->ring_position); fsm->sync->index, fsm->slave->ring_position);
// mapping configuration for this sync manager complete. // 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( ...@@ -351,8 +351,8 @@ void ec_fsm_mapping_state_pdo_count(
/** State: ERROR. /** State: ERROR.
*/ */
void ec_fsm_mapping_state_error( void ec_fsm_pdo_mapping_state_error(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
} }
...@@ -361,8 +361,8 @@ void ec_fsm_mapping_state_error( ...@@ -361,8 +361,8 @@ void ec_fsm_mapping_state_error(
/** State: END. /** State: END.
*/ */
void ec_fsm_mapping_state_end( void ec_fsm_pdo_mapping_state_end(
ec_fsm_mapping_t *fsm /**< mapping state machine */ ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
) )
{ {
} }
......
master/fsm_mapping.h → master/fsm_pdo_mapping.h
+ 15
− 11
View file @ bb51df10
...@@ -38,23 +38,27 @@ ...@@ -38,23 +38,27 @@
/*****************************************************************************/ /*****************************************************************************/
#ifndef __EC_FSM_MAPPING__ #ifndef __EC_FSM_PDO_MAPPING__
#define __EC_FSM_MAPPING__ #define __EC_FSM_PDO_MAPPING__
#include "globals.h"
#include "../include/ecrt.h" #include "../include/ecrt.h"
#include "globals.h"
#include "datagram.h" #include "datagram.h"
#include "fsm_coe.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. /** 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_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
ec_slave_t *slave; /**< Slave the FSM runs on. */ ec_slave_t *slave; /**< Slave the FSM runs on. */
...@@ -69,12 +73,12 @@ struct ec_fsm_mapping ...@@ -69,12 +73,12 @@ struct ec_fsm_mapping
/*****************************************************************************/ /*****************************************************************************/
void ec_fsm_mapping_init(ec_fsm_mapping_t *, ec_fsm_coe_t *); void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *);
void ec_fsm_mapping_clear(ec_fsm_mapping_t *); void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *);
void ec_fsm_mapping_start(ec_fsm_mapping_t *, ec_slave_t *); void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *);
int ec_fsm_mapping_exec(ec_fsm_mapping_t *); int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *);
int ec_fsm_mapping_success(const ec_fsm_mapping_t *); int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *);
/*****************************************************************************/ /*****************************************************************************/
......
master/fsm_slave.c
+ 12
− 12
View file @ bb51df10
...@@ -92,8 +92,8 @@ void ec_fsm_slave_init(ec_fsm_slave_t *fsm, /**< slave state machine */ ...@@ -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_sii_init(&fsm->fsm_sii, fsm->datagram);
ec_fsm_change_init(&fsm->fsm_change, fsm->datagram); ec_fsm_change_init(&fsm->fsm_change, fsm->datagram);
ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram); ec_fsm_coe_init(&fsm->fsm_coe, fsm->datagram);
ec_fsm_mapping_init(&fsm->fsm_map, &fsm->fsm_coe); ec_fsm_pdo_mapping_init(&fsm->fsm_pdo_map, &fsm->fsm_coe);
ec_fsm_pdo_config_init(&fsm->fsm_pdo, &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 */) ...@@ -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_sii_clear(&fsm->fsm_sii);
ec_fsm_change_clear(&fsm->fsm_change); ec_fsm_change_clear(&fsm->fsm_change);
ec_fsm_coe_clear(&fsm->fsm_coe); ec_fsm_coe_clear(&fsm->fsm_coe);
ec_fsm_mapping_clear(&fsm->fsm_map); ec_fsm_pdo_mapping_clear(&fsm->fsm_pdo_map);
ec_fsm_pdo_config_clear(&fsm->fsm_pdo); ec_fsm_pdo_config_clear(&fsm->fsm_pdo_conf);
} }
/*****************************************************************************/ /*****************************************************************************/
...@@ -941,8 +941,8 @@ void ec_fsm_slave_conf_enter_mapping( ...@@ -941,8 +941,8 @@ void ec_fsm_slave_conf_enter_mapping(
{ {
// start configuring PDO mapping // start configuring PDO mapping
fsm->state = ec_fsm_slave_conf_state_mapping; fsm->state = ec_fsm_slave_conf_state_mapping;
ec_fsm_mapping_start(&fsm->fsm_map, fsm->slave); ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
ec_fsm_mapping_exec(&fsm->fsm_map); // execute immediately ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
} }
/*****************************************************************************/ /*****************************************************************************/
...@@ -955,9 +955,9 @@ void ec_fsm_slave_conf_state_mapping( ...@@ -955,9 +955,9 @@ void ec_fsm_slave_conf_state_mapping(
ec_fsm_slave_t *fsm /**< slave state machine */ 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", EC_ERR("PDO mapping configuration failed for slave %u.\n",
fsm->slave->ring_position); fsm->slave->ring_position);
fsm->slave->error_flag = 1; fsm->slave->error_flag = 1;
...@@ -967,8 +967,8 @@ void ec_fsm_slave_conf_state_mapping( ...@@ -967,8 +967,8 @@ void ec_fsm_slave_conf_state_mapping(
// Start Pdo configuration // Start Pdo configuration
fsm->state = ec_fsm_slave_conf_state_pdo_conf; fsm->state = ec_fsm_slave_conf_state_pdo_conf;
ec_fsm_pdo_config_start(&fsm->fsm_pdo, fsm->slave); ec_fsm_pdo_config_start(&fsm->fsm_pdo_conf, fsm->slave);
ec_fsm_pdo_config_exec(&fsm->fsm_pdo); // execute immediately ec_fsm_pdo_config_exec(&fsm->fsm_pdo_conf); // execute immediately
} }
/*****************************************************************************/ /*****************************************************************************/
...@@ -981,9 +981,9 @@ void ec_fsm_slave_conf_state_pdo_conf( ...@@ -981,9 +981,9 @@ void ec_fsm_slave_conf_state_pdo_conf(
ec_fsm_slave_t *fsm /**< slave state machine */ 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", EC_ERR("Pdo configuration failed for slave %u.\n",
fsm->slave->ring_position); fsm->slave->ring_position);
fsm->slave->error_flag = 1; fsm->slave->error_flag = 1;
......
master/fsm_slave.h
+ 3
− 3
View file @ bb51df10
...@@ -48,7 +48,7 @@ ...@@ -48,7 +48,7 @@
#include "fsm_sii.h" #include "fsm_sii.h"
#include "fsm_change.h" #include "fsm_change.h"
#include "fsm_coe.h" #include "fsm_coe.h"
#include "fsm_mapping.h" #include "fsm_pdo_mapping.h"
#include "fsm_pdo_config.h" #include "fsm_pdo_config.h"
/*****************************************************************************/ /*****************************************************************************/
...@@ -70,8 +70,8 @@ struct ec_fsm_slave ...@@ -70,8 +70,8 @@ struct ec_fsm_slave
ec_fsm_sii_t fsm_sii; /**< SII state machine. */ ec_fsm_sii_t fsm_sii; /**< SII state machine. */
ec_fsm_change_t fsm_change; /**< State change state machine. */ ec_fsm_change_t fsm_change; /**< State change state machine. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine. */ ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine. */ ec_fsm_pdo_mapping_t fsm_pdo_map; /**< Pdo mapping state machine. */
ec_fsm_pdo_config_t fsm_pdo; /**< PDO configuration state machine. */ ec_fsm_pdo_config_t fsm_pdo_conf; /**< Pdo configuration state machine. */
}; };
/*****************************************************************************/ /*****************************************************************************/
......
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