master/fsm_pdo_entry.h
author Florian Pose <fp@igh-essen.com>
Mon, 29 Mar 2010 13:53:17 +0200
changeset 1886 a9fcecb8415c
parent 1823 2bf892fe8080
child 2498 9cdd7669dc0b
permissions -rw-r--r--
Included futher AL status code messages.
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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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/** \file
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 * EtherCAT PDO entry configuration state machine structures.
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 */
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/*****************************************************************************/
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#ifndef __EC_FSM_PDO_ENTRY_H__
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#define __EC_FSM_PDO_ENTRY_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_entry
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 */
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typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
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/** PDO configuration state machine.
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 */
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struct ec_fsm_pdo_entry
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{
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    void (*state)(ec_fsm_pdo_entry_t *); /**< state function */
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    ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
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    ec_sdo_request_t request; /**< SDO request. */
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    ec_slave_t *slave; /**< Slave the FSM runs on. */
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    ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
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    const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
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    const ec_pdo_t *cur_pdo; /**< PDO with current mapping (display only). */
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    const ec_pdo_entry_t *entry; /**< Current entry. */
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    unsigned int entry_count; /**< Number of entries. */
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    unsigned int entry_pos; /**< Position in PDO mapping. */
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};
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/*****************************************************************************/
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void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
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void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
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        ec_pdo_t *);
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void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
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        const ec_pdo_t *, const ec_pdo_t *);
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int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);
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int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
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/*****************************************************************************/
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#endif