1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT Pdo mapping state machine structures.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_PDO_MAPPING__

    42

#define __EC_FSM_PDO_MAPPING__

    43

    44

#include "../include/ecrt.h"

    45

    46

#include "globals.h"

    47

#include "datagram.h"

    48

#include "fsm_coe.h"

    49

    50

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

    51

    52

/**

    53

 * \see ec_fsm_pdo_mapping

    54

 */

    55

typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t;

    56

    57

/** Pdo mapping state machine.

    58

 */

    59

struct ec_fsm_pdo_mapping

    60

{

    61

    void (*state)(ec_fsm_pdo_mapping_t *); /**< State function. */

    62

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

    63

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

    64

    65

    ec_direction_t dir; /**< Current direction. */

    66

    const ec_sync_t *sync; /**< Current sync manager. */

    67

    const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */

    68

    const ec_pdo_t *pdo; /**< Current Pdo. */

    69

    71

    unsigned int pdo_count; /**< Number of mapped Pdos. */

    72

};

    73

    74

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

    75

    76

void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *);

    77

void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *);

    78

    79

void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *);

    80

int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *);

    81

int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *);

    82

    83

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

    84

    85

#endif