Added slave scan state machine graph.
/******************************************************************************
*
* $Id$
*
* 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 Pdo mapping state machine structures.
*/
/*****************************************************************************/
#ifndef __EC_FSM_PDO_MAPPING__
#define __EC_FSM_PDO_MAPPING__
#include "../include/ecrt.h"
#include "globals.h"
#include "datagram.h"
#include "fsm_coe.h"
/*****************************************************************************/
/**
* \see ec_fsm_pdo_mapping
*/
typedef struct ec_fsm_pdo_mapping ec_fsm_pdo_mapping_t;
/** Pdo mapping state machine.
*/
struct ec_fsm_pdo_mapping
{
void (*state)(ec_fsm_pdo_mapping_t *); /**< State function. */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
ec_direction_t dir; /**< Current direction. */
const ec_sync_t *sync; /**< Current sync manager. */
const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */
const ec_pdo_t *pdo; /**< Current Pdo. */
ec_sdo_data_t sdodata; /**< Sdo configuration data. */
uint16_t sdo_value; /**< Sdo value. */
unsigned int pdo_count; /**< Number of mapped Pdos. */
};
/*****************************************************************************/
void ec_fsm_pdo_mapping_init(ec_fsm_pdo_mapping_t *, ec_fsm_coe_t *);
void ec_fsm_pdo_mapping_clear(ec_fsm_pdo_mapping_t *);
void ec_fsm_pdo_mapping_start(ec_fsm_pdo_mapping_t *, ec_slave_t *);
int ec_fsm_pdo_mapping_exec(ec_fsm_pdo_mapping_t *);
int ec_fsm_pdo_mapping_success(const ec_fsm_pdo_mapping_t *);
/*****************************************************************************/
#endif