1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/** \file

    31

 * EtherCAT PDO entry configuration state machine structures.

    32

 */

    33

    34

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

    35

    36

#ifndef __EC_FSM_PDO_ENTRY_H__

    37

#define __EC_FSM_PDO_ENTRY_H__

    38

    39

#include "globals.h"

    40

#include "datagram.h"

    41

#include "fsm_coe.h"

    42

    43

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

    44

    45

/**

    46

 * \see ec_fsm_pdo_entry

    47

 */

    48

typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;

    49

    50

/** PDO configuration state machine.

    51

 */

    52

struct ec_fsm_pdo_entry

    53

{

    54

    void (*state)(ec_fsm_pdo_entry_t *, ec_datagram_t *); /**< state function

    55

                                                           */

    56

    ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */

    57

    ec_sdo_request_t request; /**< SDO request. */

    58

    59

    ec_slave_t *slave; /**< Slave the FSM runs on. */

    60

    ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */

    61

    const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */

    62

    const ec_pdo_t *cur_pdo; /**< PDO with current mapping (display only). */

    63

    const ec_pdo_entry_t *entry; /**< Current entry. */

    64

    unsigned int entry_count; /**< Number of entries. */

    65

    unsigned int entry_pos; /**< Position in PDO mapping. */

    66

};

    67

    68

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

    69

    70

void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);

    71

void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);

    72

    73

void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,

    74

        ec_pdo_t *);

    75

void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,

    76

        const ec_pdo_t *, const ec_pdo_t *);

    77

    78

int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *, ec_datagram_t *);

    79

int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);

    80

    81

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

    82

    83

#endif