178 } |
178 } |
179 |
179 |
180 /*****************************************************************************/ |
180 /*****************************************************************************/ |
181 |
181 |
182 /** |
182 /** |
183 Starts to download an Sdo to a slave. |
183 Starts to transfer an Sdo to/from a slave. |
184 */ |
184 */ |
185 |
185 |
186 void ec_fsm_coe_download( |
186 void ec_fsm_coe_transfer( |
187 ec_fsm_coe_t *fsm, /**< State machine. */ |
187 ec_fsm_coe_t *fsm, /**< State machine. */ |
188 ec_slave_t *slave, /**< EtherCAT slave. */ |
188 ec_slave_t *slave, /**< EtherCAT slave. */ |
189 ec_sdo_request_t *request /**< Sdo request. */ |
189 ec_sdo_request_t *request /**< Sdo request. */ |
190 ) |
190 ) |
191 { |
191 { |
192 fsm->slave = slave; |
192 fsm->slave = slave; |
193 fsm->request = request; |
193 fsm->request = request; |
194 fsm->state = ec_fsm_coe_down_start; |
194 if (request->dir == EC_DIR_OUTPUT) |
195 } |
195 fsm->state = ec_fsm_coe_down_start; |
196 |
196 else |
197 /*****************************************************************************/ |
197 fsm->state = ec_fsm_coe_up_start; |
198 |
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199 /** |
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200 Starts to upload an Sdo from a slave. |
|
201 */ |
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202 |
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203 void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */ |
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204 ec_slave_t *slave, /**< EtherCAT slave */ |
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205 ec_sdo_request_t *request /**< Sdo request */ |
|
206 ) |
|
207 { |
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208 fsm->slave = slave; |
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209 fsm->request = request; |
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210 fsm->state = ec_fsm_coe_up_start; |
|
211 } |
198 } |
212 |
199 |
213 /*****************************************************************************/ |
200 /*****************************************************************************/ |
214 |
201 |
215 /** |
202 /** |