From 2d0c48dbcef283dc53f7bffddbf192a303b81168 Mon Sep 17 00:00:00 2001 From: Florian Pose Date: Tue, 19 Feb 2008 16:18:01 +0000 Subject: [PATCH] Renamed ec_fsm_mapping_t to ec_fsm_pdo_mapping_t. --- master/Kbuild.in | 4 +- master/Makefile.am | 2 +- master/{fsm_mapping.c => fsm_pdo_mapping.c} | 116 ++++++++++---------- master/{fsm_mapping.h => fsm_pdo_mapping.h} | 26 +++-- master/fsm_slave.c | 24 ++-- master/fsm_slave.h | 6 +- 6 files changed, 91 insertions(+), 87 deletions(-) rename master/{fsm_mapping.c => fsm_pdo_mapping.c} (74%) rename master/{fsm_mapping.h => fsm_pdo_mapping.h} (82%) diff --git a/master/Kbuild.in b/master/Kbuild.in index d733b506..e7d88fc3 100644 --- a/master/Kbuild.in +++ b/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 diff --git a/master/Makefile.am b/master/Makefile.am index b04e7902..fce80090 100644 --- a/master/Makefile.am +++ b/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 \ diff --git a/master/fsm_mapping.c b/master/fsm_pdo_mapping.c similarity index 74% rename from master/fsm_mapping.c rename to master/fsm_pdo_mapping.c index d493bae7..63efec79 100644 --- a/master/fsm_mapping.c +++ b/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 */ ) { } diff --git a/master/fsm_mapping.h b/master/fsm_pdo_mapping.h similarity index 82% rename from master/fsm_mapping.h rename to master/fsm_pdo_mapping.h index 0bc3ced0..50b42ed1 100644 --- a/master/fsm_mapping.h +++ b/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 "../include/ecrt.h" #include "globals.h" -#include "../include/ecrt.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 *); /*****************************************************************************/ diff --git a/master/fsm_slave.c b/master/fsm_slave.c index b953898b..c794ef9b 100644 --- a/master/fsm_slave.c +++ b/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; diff --git a/master/fsm_slave.h b/master/fsm_slave.h index a443f2ed..268efc44 100644 --- a/master/fsm_slave.h +++ b/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. */ }; /*****************************************************************************/