author | Florian Pose <fp@igh-essen.com> |
Fri, 10 Jul 2009 09:36:50 +0000 | |
changeset 1494 | 6c632c8f45cc |
parent 1363 | 11c0b2caa253 |
child 2498 | 9cdd7669dc0b |
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) 2006-2008 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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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* 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 "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 |