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/******************************************************************************

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006-2008  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 and/or

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 *  modify it under the terms of the GNU General Public License version 2, as

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 *  published by the Free Software Foundation.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

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 *  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 along

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 *  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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 *  Using the EtherCAT technology and brand is permitted in compliance with

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 *  the industrial property and similar rights of Beckhoff Automation GmbH.

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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_H__

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#define __EC_FSM_PDO_H__

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "datagram.h"

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#include "fsm_coe.h"

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#include "fsm_pdo_entry.h"

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/*****************************************************************************/

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/**

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 * \see ec_fsm_pdo

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 */

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typedef struct ec_fsm_pdo ec_fsm_pdo_t;

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/** PDO configuration state machine.

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 */

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struct ec_fsm_pdo

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{

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    void (*state)(ec_fsm_pdo_t *); /**< State function. */

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    ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */

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    ec_fsm_pdo_entry_t fsm_pdo_entry; /**< PDO entry state machine. */

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    ec_pdo_list_t pdos; /**< PDO configuration. */

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    ec_sdo_request_t request; /**< SDO request. */

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    ec_pdo_t slave_pdo; /**< PDO actually appearing in a slave. */

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    ec_slave_t *slave; /**< Slave the FSM runs on. */

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    uint8_t sync_index; /**< Current sync manager index. */

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    ec_sync_t *sync; /**< Current sync manager. */

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    ec_pdo_t *pdo; /**< Current PDO. */

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    unsigned int pdo_pos; /**< Assignment position of current PDOs. */

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    unsigned int pdo_count; /**< Number of assigned PDOs. */

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};

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/*****************************************************************************/

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void ec_fsm_pdo_init(ec_fsm_pdo_t *, ec_fsm_coe_t *);

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void ec_fsm_pdo_clear(ec_fsm_pdo_t *);

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void ec_fsm_pdo_start_reading(ec_fsm_pdo_t *, ec_slave_t *);

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void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *, ec_slave_t *);

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int ec_fsm_pdo_exec(ec_fsm_pdo_t *);

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int ec_fsm_pdo_success(const ec_fsm_pdo_t *);

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/*****************************************************************************/

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#endif