| author | Florian Pose <fp@igh-essen.com> |
| Tue, 19 Feb 2008 16:09:58 +0000 | |
| changeset 801 | 6b1e2b0ed8bc |
| parent 796 | 329daf6ad28c |
| permissions | -rw-r--r-- |
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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 mapping state machine structures. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_FSM_MAPPING__ |
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#define __EC_FSM_MAPPING__ |
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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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typedef struct ec_fsm_mapping ec_fsm_mapping_t; /**< \see ec_fsm_mapping */ |
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/** Pdo mapping state machine. |
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*/ |
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struct ec_fsm_mapping |
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{
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void (*state)(ec_fsm_mapping_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_sync_t *sync; /**< Current sync manager. */ |
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const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */ |
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const ec_pdo_t *pdo; /**< Current Pdo. */ |
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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 pdo_count; /**< Number of mapped Pdos. */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_mapping_init(ec_fsm_mapping_t *, ec_fsm_coe_t *); |
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void ec_fsm_mapping_clear(ec_fsm_mapping_t *); |
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void ec_fsm_mapping_start(ec_fsm_mapping_t *, ec_slave_t *); |
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int ec_fsm_mapping_exec(ec_fsm_mapping_t *); |
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int ec_fsm_mapping_success(const ec_fsm_mapping_t *); |
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/*****************************************************************************/ |
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#endif |