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 /** \file

    35  * EtherCAT Pdo entry configuration state machine structures.

    36  */

    37 

    38 /*****************************************************************************/

    39 

    40 #ifndef __EC_FSM_PDO_ENTRY_H__

    41 #define __EC_FSM_PDO_ENTRY_H__

    42 

    43 #include "globals.h"

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

    45 #include "datagram.h"

    46 #include "fsm_coe.h"

    47 

    48 /*****************************************************************************/

    49 

    50 /**

    51  * \see ec_fsm_pdo_entry

    52  */

    53 typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;

    54 

    55 /** Pdo configuration state machine.

    56  */

    57 struct ec_fsm_pdo_entry

    58 {

    59     void (*state)(ec_fsm_pdo_entry_t *); /**< state function */

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

    61     ec_sdo_request_t request; /**< Sdo request. */

    62 

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

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

    65     const ec_pdo_t *source_pdo; /**< Pdo with desired mapping. */

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

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

    68     unsigned int entry_pos; /**< Position in Pdo mapping. */

    69 };

    70 

    71 /*****************************************************************************/

    72 

    73 void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);

    74 void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);

    75 

    76 void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,

    77         ec_pdo_t *);

    78 void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,

    79         const ec_pdo_t *);

    80 

    81 int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);

    82 int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);

    83 

    84 /*****************************************************************************/

    85 

    86 #endif