etherlabmaster: master/fsm_pdo_entry.h@e206f4485f60 (annotated)

1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	11	* published by the Free Software Foundation.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	16	* Public License for more details.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	18	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	22	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1174 diff changeset	23	* the industrial property and similar rights of Beckhoff Automation GmbH.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	24	*
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	26
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	27	/** \file
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	28	* EtherCAT PDO entry configuration state machine structures.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	29	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	30
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	31	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	32
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	33	#ifndef __EC_FSM_PDO_ENTRY_H__
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	34	#define __EC_FSM_PDO_ENTRY_H__
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	35
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	36	#include "globals.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "../include/ecrt.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "datagram.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "fsm_coe.h"
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	40
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	41	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	42
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	43	/**
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	44	* \see ec_fsm_pdo_entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	45	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	46	typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	48	/** PDO configuration state machine.
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	49	*/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	50	struct ec_fsm_pdo_entry
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	51	{
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void (state)(ec_fsm_pdo_entry_t ); /*< state function /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	53	ec_fsm_coe_t fsm_coe; /< CoE state machine to use /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	54	ec_sdo_request_t request; /*< SDO request. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	55
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	56	ec_slave_t slave; /< Slave the FSM runs on. /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	57	ec_pdo_t target_pdo; /< PDO to read the mapping for. /
e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	58	const ec_pdo_t source_pdo; /< PDO with desired mapping. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	59	const ec_pdo_entry_t entry; /< Current entry. /
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	60	unsigned int entry_count; /*< Number of entries. /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	61	unsigned int entry_pos; /*< Position in PDO mapping. /
1174 235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	62	};
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	63
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	64	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	65
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t , ec_fsm_coe_t );
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	68
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	69	void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t , ec_slave_t ,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	70	ec_pdo_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	71	void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t , ec_slave_t ,
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	72	const ec_pdo_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	73
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	74	int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	75	int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	76
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	77	/*****************************************************************************/
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	78
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during Florian Pose <fp@igh-essen.com> parents: diff changeset	79	#endif

author	Florian Pose <fp@igh-essen.com>
	Mon, 29 Dec 2008 15:19:16 +0000
branch	stable-1.4
changeset 1686	e206f4485f60
parent 1685	399ef727bf62
permissions	-rw-r--r--