fp@1174: /******************************************************************************
fp@1174:  *
fp@1174:  *  $Id$
fp@1174:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1174:  *
fp@1174:  *  This file is part of the IgH EtherCAT Master.
fp@1174:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@1174:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@1174:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  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@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@1174:  *
fp@1174:  *****************************************************************************/
fp@1174: 
fp@1174: /** \file
fp@1686:  * EtherCAT PDO entry configuration state machine structures.
fp@1174:  */
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #ifndef __EC_FSM_PDO_ENTRY_H__
fp@1174: #define __EC_FSM_PDO_ENTRY_H__
fp@1174: 
fp@1174: #include "globals.h"
fp@1174: #include "../include/ecrt.h"
fp@1174: #include "datagram.h"
fp@1174: #include "fsm_coe.h"
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: /**
fp@1174:  * \see ec_fsm_pdo_entry
fp@1174:  */
fp@1174: typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
fp@1174: 
fp@1686: /** PDO configuration state machine.
fp@1174:  */
fp@1174: struct ec_fsm_pdo_entry
fp@1174: {
fp@1174:     void (*state)(ec_fsm_pdo_entry_t *); /**< state function */
fp@1174:     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
fp@1686:     ec_sdo_request_t request; /**< SDO request. */
fp@1174: 
fp@1174:     ec_slave_t *slave; /**< Slave the FSM runs on. */
fp@1686:     ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
fp@1686:     const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
fp@1174:     const ec_pdo_entry_t *entry; /**< Current entry. */
fp@1174:     unsigned int entry_count; /**< Number of entries. */
fp@1686:     unsigned int entry_pos; /**< Position in PDO mapping. */
fp@1174: };
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
fp@1174: void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
fp@1174: 
fp@1174: void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
fp@1174:         ec_pdo_t *);
fp@1174: void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
fp@1174:         const ec_pdo_t *);
fp@1174: 
fp@1174: int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);
fp@1174: int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
fp@1174: 
fp@1174: /*****************************************************************************/
fp@1174: 
fp@1174: #endif