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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_PDO_MAPPING__

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#define __EC_FSM_PDO_MAPPING__

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

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/**

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 * \see ec_fsm_pdo_mapping

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 */

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typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t;

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/** Pdo mapping state machine.

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 */

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struct ec_fsm_pdo_mapping

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{

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    void (*state)(ec_fsm_pdo_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_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *);

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void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *);

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void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *);

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int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *);

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int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *);

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

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#endif