fp@799: /******************************************************************************
fp@799:  *
fp@799:  *  $Id$
fp@799:  *
fp@799:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@799:  *
fp@799:  *  This file is part of the IgH EtherCAT Master.
fp@799:  *
fp@799:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@799:  *  and/or modify it under the terms of the GNU General Public License
fp@799:  *  as published by the Free Software Foundation; either version 2 of the
fp@799:  *  License, or (at your option) any later version.
fp@799:  *
fp@799:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@799:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@799:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@799:  *  GNU General Public License for more details.
fp@799:  *
fp@799:  *  You should have received a copy of the GNU General Public License
fp@799:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@799:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@799:  *
fp@799:  *  The right to use EtherCAT Technology is granted and comes free of
fp@799:  *  charge under condition of compatibility of product made by
fp@799:  *  Licensee. People intending to distribute/sell products based on the
fp@799:  *  code, have to sign an agreement to guarantee that products using
fp@799:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@799:  *  EtherCAT specification (which are released themselves as an open
fp@799:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@799:  *  Technology, IP and trade marks.
fp@799:  *
fp@799:  *****************************************************************************/
fp@799: 
fp@801: /** \file
fp@801:  * EtherCAT PDO configuration state machine structures.
fp@801:  */
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: #ifndef __EC_FSM_PDO_CONFIG__
fp@799: #define __EC_FSM_PDO_CONFIG__
fp@799: 
fp@799: #include "globals.h"
fp@799: #include "../include/ecrt.h"
fp@799: #include "datagram.h"
fp@799: #include "fsm_coe.h"
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: /**
fp@799:  * \see ec_fsm_pdo_config
fp@799:  */
fp@799: typedef struct ec_fsm_pdo_config ec_fsm_pdo_config_t;
fp@799: 
fp@799: /** Pdo configuration state machine.
fp@799:  */
fp@799: struct ec_fsm_pdo_config
fp@799: {
fp@799:     void (*state)(ec_fsm_pdo_config_t *); /**< state function */
fp@799:     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
fp@799:     ec_slave_t *slave; /**< Slave the FSM runs on. */
fp@799: 
fp@799:     const ec_pdo_t *pdo; /**< Current PDO to configure. */
fp@800:     const ec_pdo_entry_t *entry; /**< Current entry. */
fp@799: 
fp@799:     ec_sdo_data_t sdodata; /**< SDO configuration data. */
fp@799:     uint16_t sdo_value; /**< SDO value. */
fp@799:     unsigned int entry_count; /**< Number of configured entries. */
fp@799: };
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: void ec_fsm_pdo_config_init(ec_fsm_pdo_config_t *, ec_fsm_coe_t *);
fp@799: void ec_fsm_pdo_config_clear(ec_fsm_pdo_config_t *);
fp@799: 
fp@799: void ec_fsm_pdo_config_start(ec_fsm_pdo_config_t *, ec_slave_t *);
fp@799: int ec_fsm_pdo_config_exec(ec_fsm_pdo_config_t *);
fp@799: int ec_fsm_pdo_config_success(const ec_fsm_pdo_config_t *);
fp@799: 
fp@799: /*****************************************************************************/
fp@799: 
fp@799: #endif