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50 #include "fsm_slave_scan.h" |
50 #include "fsm_slave_scan.h" |
51 #include "fsm_coe_map.h" |
51 #include "fsm_coe_map.h" |
52 |
52 |
53 /*****************************************************************************/ |
53 /*****************************************************************************/ |
54 |
54 |
55 /** EEPROM write request. |
55 /** SII write request. |
56 */ |
56 */ |
57 typedef struct { |
57 typedef struct { |
58 struct list_head list; /**< list head */ |
58 struct list_head list; /**< list head */ |
59 ec_slave_t *slave; /**< EtherCAT slave */ |
59 ec_slave_t *slave; /**< EtherCAT slave */ |
60 off_t word_offset; /**< SII address in words */ |
60 off_t word_offset; /**< SII address in words */ |
61 size_t word_size; /**< data size in words */ |
61 size_t word_size; /**< data size in words */ |
62 const uint8_t *data; /**< pointer to the data */ |
62 const uint8_t *data; /**< pointer to the data */ |
63 ec_request_state_t state; /**< state of the request */ |
63 ec_request_state_t state; /**< state of the request */ |
64 } ec_eeprom_write_request_t; |
64 } ec_sii_write_request_t; |
65 |
65 |
66 /*****************************************************************************/ |
66 /*****************************************************************************/ |
67 |
67 |
68 /** Slave/Sdo request record for master's Sdo request list. |
68 /** Slave/Sdo request record for master's Sdo request list. |
69 */ |
69 */ |
93 unsigned int validate; /**< non-zero, if validation to do */ |
93 unsigned int validate; /**< non-zero, if validation to do */ |
94 unsigned int tainted; /**< non-zero, if the current bus topology does |
94 unsigned int tainted; /**< non-zero, if the current bus topology does |
95 not meet the initial conditions */ |
95 not meet the initial conditions */ |
96 unsigned int config_error; /**< error during slave configuration */ |
96 unsigned int config_error; /**< error during slave configuration */ |
97 ec_slave_t *slave; /**< current slave */ |
97 ec_slave_t *slave; /**< current slave */ |
98 ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */ |
98 ec_sii_write_request_t *sii_request; /**< SII write request */ |
99 off_t eeprom_index; /**< index to EEPROM write request data */ |
99 off_t sii_index; /**< index to SII write request data */ |
100 ec_sdo_request_t *sdo_request; /**< Sdo request to process. */ |
100 ec_sdo_request_t *sdo_request; /**< Sdo request to process. */ |
101 |
101 |
102 ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */ |
102 ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */ |
103 ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */ |
103 ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */ |
104 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |
104 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |