Started to re-write the documentation.
/******************************************************************************
*
* $Id$
*
* 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 CoE mapping state machines.
*/
/*****************************************************************************/
#ifndef __EC_FSM_COE_MAP_H__
#define __EC_FSM_COE_MAP_H__
#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 */
/**
* \todo doc
*/
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 */
uint8_t sync_index; /**< Index of the current sync manager. */
ec_sync_t *sync; /**< Pdo sync manager. */
uint16_t sync_sdo_index; /**< Index of the mapping Sdo. */
uint8_t sync_subindices; /**< number of mapped Pdos */
uint16_t sync_subindex; /**< current subindex in mapping Sdo */
ec_pdo_list_t pdos; /**< List of read in 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