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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** \file |
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35 * EtherCAT Pdo entry configuration state machine structures. |
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36 */ |
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37 |
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38 /*****************************************************************************/ |
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39 |
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40 #ifndef __EC_FSM_PDO_ENTRY_H__ |
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41 #define __EC_FSM_PDO_ENTRY_H__ |
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42 |
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43 #include "globals.h" |
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44 #include "../include/ecrt.h" |
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45 #include "datagram.h" |
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46 #include "fsm_coe.h" |
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47 |
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48 /*****************************************************************************/ |
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49 |
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50 /** |
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51 * \see ec_fsm_pdo_entry |
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52 */ |
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53 typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t; |
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54 |
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55 /** Pdo configuration state machine. |
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56 */ |
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57 struct ec_fsm_pdo_entry |
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58 { |
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59 void (*state)(ec_fsm_pdo_entry_t *); /**< state function */ |
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60 ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */ |
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61 ec_sdo_request_t request; /**< Sdo request. */ |
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62 |
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63 ec_slave_t *slave; /**< Slave the FSM runs on. */ |
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64 ec_pdo_t *target_pdo; /**< Pdo to read the mapping for. */ |
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65 const ec_pdo_t *source_pdo; /**< Pdo with desired mapping. */ |
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66 const ec_pdo_entry_t *entry; /**< Current entry. */ |
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67 unsigned int entry_count; /**< Number of entries. */ |
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68 unsigned int entry_pos; /**< Position in Pdo mapping. */ |
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69 }; |
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70 |
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71 /*****************************************************************************/ |
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72 |
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73 void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *); |
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74 void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *); |
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75 |
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76 void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *, |
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77 ec_pdo_t *); |
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78 void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *, |
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79 const ec_pdo_t *); |
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80 |
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81 int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *); |
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82 int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *); |
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83 |
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84 /*****************************************************************************/ |
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85 |
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86 #endif |