fp@741: /******************************************************************************
fp@741:  *
fp@741:  *  $Id: fsm_coe.h 702 2006-12-18 18:10:52Z fp $
fp@741:  *
fp@741:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@741:  *
fp@741:  *  This file is part of the IgH EtherCAT Master.
fp@741:  *
fp@741:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@741:  *  and/or modify it under the terms of the GNU General Public License
fp@741:  *  as published by the Free Software Foundation; either version 2 of the
fp@741:  *  License, or (at your option) any later version.
fp@741:  *
fp@741:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@741:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@741:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@741:  *  GNU General Public License for more details.
fp@741:  *
fp@741:  *  You should have received a copy of the GNU General Public License
fp@741:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@741:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@741:  *
fp@741:  *  The right to use EtherCAT Technology is granted and comes free of
fp@741:  *  charge under condition of compatibility of product made by
fp@741:  *  Licensee. People intending to distribute/sell products based on the
fp@741:  *  code, have to sign an agreement to guarantee that products using
fp@741:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@741:  *  EtherCAT specification (which are released themselves as an open
fp@741:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@741:  *  Technology, IP and trade marks.
fp@741:  *
fp@741:  *****************************************************************************/
fp@741: 
fp@741: /**
fp@741:    \file
fp@741:    EtherCAT CoE mapping state machines.
fp@741: */
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: #ifndef __EC_FSM_COE_MAP__
fp@741: #define __EC_FSM_COE_MAP__
fp@741: 
fp@741: #include "globals.h"
fp@741: #include "datagram.h"
fp@741: #include "slave.h"
fp@741: #include "fsm_coe.h"
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: typedef struct ec_fsm_coe_map ec_fsm_coe_map_t; /**< \see ec_fsm_coe_map */
fp@741: 
fp@741: /**
fp@741:  */
fp@741: 
fp@741: struct ec_fsm_coe_map
fp@741: {
fp@741:     void (*state)(ec_fsm_coe_map_t *); /**< CoE mapping state function */
fp@741:     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
fp@741: 
fp@741:     ec_slave_t *slave; /**< EtherCAT slave */
fp@758:     ec_sdo_request_t request; /**< SDO request */
fp@741: 
fp@758:     unsigned int sync_index; /**< index of the current sync manager */
fp@758:     ec_sdo_t *sync_sdo; /**< pointer to the sync managers mapping SDO */
fp@758:     uint8_t sync_subindices; /**< number of mapped PDOs */
fp@758:     uint16_t sync_subindex; /**< current subindex in mapping SDO */
fp@741: 
fp@758:     struct list_head pdos; /**< list of mapped PDOs */
fp@758:     ec_pdo_t *pdo; /**< current PDO */
fp@758:     ec_sdo_t *pdo_sdo; /**< current PDO SDO */
fp@758:     uint8_t pdo_subindices; /**< number of PDO entries */
fp@758:     uint16_t pdo_subindex; /**< current subindex in PDO SDO */
fp@741: };
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: void ec_fsm_coe_map_init(ec_fsm_coe_map_t *, ec_fsm_coe_t *);
fp@741: void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *);
fp@741: 
fp@741: void ec_fsm_coe_map_start(ec_fsm_coe_map_t *, ec_slave_t *);
fp@741: 
fp@741: int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *);
fp@741: int ec_fsm_coe_map_success(ec_fsm_coe_map_t *);
fp@741: 
fp@741: /*****************************************************************************/
fp@741: 
fp@741: #endif