| author | Florian Pose <fp@igh-essen.com> |
| Thu, 03 Apr 2008 13:34:13 +0000 | |
| changeset 879 | 9b395c5646ab |
| parent 854 | master/fsm_pdo_config.h@f4f53be425ac |
| child 883 | 4963e22a267a |
| permissions | -rw-r--r-- |
| 799 | 1 |
/****************************************************************************** |
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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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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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/** \file |
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* EtherCAT Pdo configuration state machine structures. |
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6b1e2b0ed8bc
Cleaned up Pdo mapping and configuration state machines.
Florian Pose <fp@igh-essen.com>
parents:
800
diff
changeset
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*/ |
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/*****************************************************************************/ |
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9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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#ifndef __EC_FSM_PDO_MAPPING__ |
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9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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#define __EC_FSM_PDO_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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/** |
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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* \see ec_fsm_pdo_mapping |
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*/ |
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t; |
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/** Pdo configuration state machine. |
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*/ |
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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struct ec_fsm_pdo_mapping |
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{
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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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_pdo_t *pdo; /**< Current Pdo to configure. */ |
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const ec_pdo_entry_t *entry; /**< Current entry. */ |
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854
f4f53be425ac
Removed ec_sdodata_t; CoE state machines work on ec_sdo_request_t.
Florian Pose <fp@igh-essen.com>
parents:
814
diff
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ec_sdo_request_t request; /**< Sdo request. */ |
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unsigned int entry_count; /**< Number of configured entries. */ |
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}; |
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/*****************************************************************************/ |
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||
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *); |
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9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *); |
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879
9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *); |
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9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *); |
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9b395c5646ab
Changed terms "Pdo mapping" -> "Pdo assignment" and "Pdo configuration"
Florian Pose <fp@igh-essen.com>
parents:
854
diff
changeset
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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 |