master/fsm_mapping.h
author Florian Pose <fp@igh-essen.com>
Wed, 12 Sep 2007 14:07:28 +0000
changeset 720 9664a19978dd
parent 635 d304ef4af542
child 758 8fa6f825eb7d
permissions -rw-r--r--
Removed measure_bus_time().
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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_slave */
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/**
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 * Finite state machine of an EtherCAT slave.
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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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    ec_direction_t dir; /**< current PDO direction */
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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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    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;
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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