Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 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 version 2, as
* published by the Free Software Foundation.
*
* 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 license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/** \file
* EtherCAT PDO entry configuration state machine structures.
*/
/*****************************************************************************/
#ifndef __EC_FSM_PDO_ENTRY_H__
#define __EC_FSM_PDO_ENTRY_H__
#include "globals.h"
#include "datagram.h"
#include "fsm_coe.h"
/*****************************************************************************/
/**
* \see ec_fsm_pdo_entry
*/
typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
/** PDO configuration state machine.
*/
struct ec_fsm_pdo_entry
{
void (*state)(ec_fsm_pdo_entry_t *, ec_datagram_t *); /**< state function
*/
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
ec_sdo_request_t request; /**< SDO request. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
const ec_pdo_t *cur_pdo; /**< PDO with current mapping (display only). */
const ec_pdo_entry_t *entry; /**< Current entry. */
unsigned int entry_count; /**< Number of entries. */
unsigned int entry_pos; /**< Position in PDO mapping. */
};
/*****************************************************************************/
void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
ec_pdo_t *);
void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
const ec_pdo_t *, const ec_pdo_t *);
int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *, ec_datagram_t *);
int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
/*****************************************************************************/
#endif