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

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

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

    68 

    69     ec_sdo_data_t sdodata; /**< SDO configuration data. */

    70     uint16_t sdo_value; /**< SDO value. */

    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