--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe_map.h Wed Oct 03 08:58:01 2007 +0000
@@ -0,0 +1,88 @@
+/******************************************************************************
+ *
+ * $Id: fsm_coe.h 702 2006-12-18 18:10:52Z fp $
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; either version 2 of the
+ * License, or (at your option) any later version.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ * The right to use EtherCAT Technology is granted and comes free of
+ * charge under condition of compatibility of product made by
+ * Licensee. People intending to distribute/sell products based on the
+ * code, have to sign an agreement to guarantee that products using
+ * software based on IgH EtherCAT master stay compatible with the actual
+ * EtherCAT specification (which are released themselves as an open
+ * standard) as the (only) precondition to have the right to use EtherCAT
+ * Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+ \file
+ EtherCAT CoE mapping state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_COE_MAP__
+#define __EC_FSM_COE_MAP__
+
+#include "globals.h"
+#include "datagram.h"
+#include "slave.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_coe_map ec_fsm_coe_map_t; /**< \see ec_fsm_coe_map */
+
+/**
+ */
+
+struct ec_fsm_coe_map
+{
+ void (*state)(ec_fsm_coe_map_t *); /**< CoE mapping state function */
+ ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
+
+ ec_slave_t *slave; /**< EtherCAT slave */
+ ec_sdo_request_t request; /**< SDO request */
+
+ unsigned int sync_index; /**< index of the current sync manager */
+ ec_sdo_t *sync_sdo; /**< pointer to the sync managers mapping SDO */
+ uint8_t sync_subindices; /**< number of mapped PDOs */
+ uint16_t sync_subindex; /**< current subindex in mapping SDO */
+
+ struct list_head pdos; /**< list of mapped PDOs */
+ ec_pdo_t *pdo; /**< current PDO */
+ ec_sdo_t *pdo_sdo; /**< current PDO SDO */
+ uint8_t pdo_subindices; /**< number of PDO entries */
+ uint16_t pdo_subindex; /**< current subindex in PDO SDO */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_coe_map_init(ec_fsm_coe_map_t *, ec_fsm_coe_t *);
+void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *);
+
+void ec_fsm_coe_map_start(ec_fsm_coe_map_t *, ec_slave_t *);
+
+int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *);
+int ec_fsm_coe_map_success(ec_fsm_coe_map_t *);
+
+/*****************************************************************************/
+
+#endif