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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT PDO configuration state machine structures.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_PDO_CONFIG__
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#define __EC_FSM_PDO_CONFIG__
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#include "globals.h"
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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/**
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* \see ec_fsm_pdo_config
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*/
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typedef struct ec_fsm_pdo_config ec_fsm_pdo_config_t;
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/** Pdo configuration state machine.
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*/
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struct ec_fsm_pdo_config
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{
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void (*state)(ec_fsm_pdo_config_t *); /**< state function */
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ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
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ec_slave_t *slave; /**< Slave the FSM runs on. */
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const ec_pdo_t *pdo; /**< Current PDO to configure. */
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const ec_pdo_entry_t *entry; /**< Current entry. */
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ec_sdo_data_t sdodata; /**< SDO configuration data. */
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uint16_t sdo_value; /**< SDO value. */
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unsigned int entry_count; /**< Number of configured entries. */
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};
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/*****************************************************************************/
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void ec_fsm_pdo_config_init(ec_fsm_pdo_config_t *, ec_fsm_coe_t *);
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void ec_fsm_pdo_config_clear(ec_fsm_pdo_config_t *);
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void ec_fsm_pdo_config_start(ec_fsm_pdo_config_t *, ec_slave_t *);
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int ec_fsm_pdo_config_exec(ec_fsm_pdo_config_t *);
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int ec_fsm_pdo_config_success(const ec_fsm_pdo_config_t *);
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/*****************************************************************************/
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#endif
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