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Fixed warning about missing sync managers during Pdo mapping.

This commit is contained in:
Florian Pose 2008-02-22 17:49:28 +00:00
parent 8532abfc91
commit 06705a51cb
2 changed files with 37 additions and 45 deletions
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81
master/fsm_pdo_mapping.c
View File

@ -53,7 +53,7 @@ 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_pdo_mapping_next_sync(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_next_dir(ec_fsm_pdo_mapping_t *);
/*****************************************************************************/
@ -150,66 +150,57 @@ void ec_fsm_pdo_mapping_state_start(
return;
}
fsm->sync = NULL;
ec_fsm_pdo_mapping_next_sync(fsm);
fsm->dir = (ec_direction_t) -1; // next is EC_DIR_OUTPUT
ec_fsm_pdo_mapping_next_dir(fsm);
}
/*****************************************************************************/
/** Process mapping of next sync manager.
/** Process mapping of next direction.
*/
void ec_fsm_pdo_mapping_next_sync(
void ec_fsm_pdo_mapping_next_dir(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
)
{
ec_direction_t dir;
const ec_sync_t *sync;
const ec_pdo_mapping_t *map;
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++) {
if (!(sync = ec_slave_get_pdo_sync(fsm->slave, dir))) {
EC_WARN("No sync manager for direction %u!\n", dir);
for (; fsm->dir <= EC_DIR_INPUT; fsm->dir++) {
fsm->mapping = &fsm->slave->config->mapping[fsm->dir];
if (!(fsm->sync = ec_slave_get_pdo_sync(fsm->slave, fsm->dir))) {
if (!list_empty(&fsm->mapping->pdos)) {
EC_ERR("No sync manager for direction %u!\n", fsm->dir);
fsm->state = ec_fsm_pdo_mapping_state_end;
return;
}
continue;
}
if (fsm->sync) { // there is a last SM
if (sync == fsm->sync) // this is the last SM
fsm->sync = NULL; // take the next one
} else {
map = &fsm->slave->config->mapping[dir];
if (ec_pdo_mapping_equal(&sync->mapping, map))
continue;
// check if mapping has to be altered
if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping))
continue;
fsm->sync = sync;
fsm->mapping = map;
break;
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
}
}
if (!fsm->sync) {
// set mapped Pdo count to zero
fsm->sdodata.index = 0x1C10 + fsm->sync->index;
fsm->sdodata.subindex = 0; // mapped Pdo count
EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped
fsm->sdodata.size = 1;
if (fsm->slave->master->debug_level)
EC_DBG("Pdo mapping finished for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_end;
EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
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
return;
}
if (fsm->slave->master->debug_level) {
EC_DBG("Configuring Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
}
// set mapped Pdo count to zero
fsm->sdodata.index = 0x1C10 + fsm->sync->index;
fsm->sdodata.subindex = 0; // mapped Pdo count
EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped
fsm->sdodata.size = 1;
if (fsm->slave->master->debug_level)
EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
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
EC_DBG("Pdo mapping finished for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_end;
}
/*****************************************************************************/
@ -272,7 +263,7 @@ void ec_fsm_pdo_mapping_state_zero_count(
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_pdo_mapping_next_sync(fsm);
ec_fsm_pdo_mapping_next_dir(fsm);
return;
}
@ -341,8 +332,8 @@ void ec_fsm_pdo_mapping_state_pdo_count(
EC_DBG("Successfully set Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
// mapping configuration for this sync manager complete.
ec_fsm_pdo_mapping_next_sync(fsm);
// mapping configuration for this direction finished
ec_fsm_pdo_mapping_next_dir(fsm);
}
/******************************************************************************

1
master/fsm_pdo_mapping.h
View File

@ -62,6 +62,7 @@ struct ec_fsm_pdo_mapping
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
ec_direction_t dir; /**< Current direction. */
const ec_sync_t *sync; /**< Current sync manager. */
const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */
const ec_pdo_t *pdo; /**< Current Pdo. */