fp@1174: /******************************************************************************
fp@1174:  *
fp@1174:  *  $Id$
fp@1174:  *
fp@1174:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1174:  *
fp@1174:  *  This file is part of the IgH EtherCAT Master.
fp@1174:  *
fp@1174:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1174:  *  and/or modify it under the terms of the GNU General Public License
fp@1174:  *  as published by the Free Software Foundation; either version 2 of the
fp@1174:  *  License, or (at your option) any later version.
fp@1174:  *
fp@1174:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1174:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1174:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1174:  *  GNU General Public License for more details.
fp@1174:  *
fp@1174:  *  You should have received a copy of the GNU General Public License
fp@1174:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1174:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1174:  *
fp@1174:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1174:  *  charge under condition of compatibility of product made by
fp@1174:  *  Licensee. People intending to distribute/sell products based on the
fp@1174:  *  code, have to sign an agreement to guarantee that products using
fp@1174:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1174:  *  EtherCAT specification (which are released themselves as an open
fp@1174:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1174:  *  Technology, IP and trade marks.
fp@1174:  *
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1174: /**
fp@1174:    \file
fp@1174:    EtherCAT Pdo configuration state machine structures.
fp@1174: */
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #ifndef __EC_FSM_PDO_H__
fp@1174: #define __EC_FSM_PDO_H__
fp@1174: 
fp@1174: #include "globals.h"
fp@1174: #include "datagram.h"
fp@1174: #include "fsm_coe.h"
fp@1174: #include "fsm_pdo_entry.h"
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /**
fp@1174:  * \see ec_fsm_pdo
fp@1174:  */
fp@1174: typedef struct ec_fsm_pdo ec_fsm_pdo_t;
fp@1174: 
fp@1174: /** Pdo configuration state machine.
fp@1174:  */
fp@1174: struct ec_fsm_pdo
fp@1174: {
fp@1174:     void (*state)(ec_fsm_pdo_t *); /**< State function. */
fp@1174:     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
fp@1174:     ec_fsm_pdo_entry_t fsm_pdo_entry; /**< Pdo entry state machine. */
fp@1174:     ec_pdo_list_t pdos; /**< Pdo configuration. */
fp@1174:     ec_sdo_request_t request; /**< Sdo request. */
fp@1174:     ec_pdo_t slave_pdo; /**< Pdo actually appearing in a slave. */
fp@1174: 
fp@1174:     ec_slave_t *slave; /**< Slave the FSM runs on. */
fp@1174:     uint8_t sync_index; /**< Current sync manager index. */
fp@1174:     ec_sync_t *sync; /**< Current sync manager. */
fp@1174:     ec_pdo_t *pdo; /**< Current Pdo. */
fp@1174:     unsigned int pdo_pos; /**< Assignment position of current Pdos. */
fp@1174:     unsigned int pdo_count; /**< Number of assigned Pdos. */
fp@1174: };
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: void ec_fsm_pdo_init(ec_fsm_pdo_t *, ec_fsm_coe_t *);
fp@1174: void ec_fsm_pdo_clear(ec_fsm_pdo_t *);
fp@1174: 
fp@1174: void ec_fsm_pdo_start_reading(ec_fsm_pdo_t *, ec_slave_t *);
fp@1174: void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *, ec_slave_t *);
fp@1174: 
fp@1174: int ec_fsm_pdo_exec(ec_fsm_pdo_t *);
fp@1174: int ec_fsm_pdo_success(const ec_fsm_pdo_t *);
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #endif