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82 lines
2.8 KiB
C
82 lines
2.8 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* ---
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*
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* The license mentioned above concerns the source code only. Using the
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* EtherCAT technology and brand is only permitted in compliance with the
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* industrial property and similar rights of Beckhoff Automation GmbH.
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*
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*****************************************************************************/
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/** \file
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* EtherCAT PDO entry configuration state machine structures.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_PDO_ENTRY_H__
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#define __EC_FSM_PDO_ENTRY_H__
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#include "globals.h"
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#include "datagram.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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/**
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* \see ec_fsm_pdo_entry
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*/
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typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
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/** PDO configuration state machine.
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*/
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struct ec_fsm_pdo_entry
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{
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void (*state)(ec_fsm_pdo_entry_t *); /**< state function */
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ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
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ec_sdo_request_t request; /**< SDO request. */
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ec_slave_t *slave; /**< Slave the FSM runs on. */
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ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
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const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
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const ec_pdo_entry_t *entry; /**< Current entry. */
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unsigned int entry_count; /**< Number of entries. */
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unsigned int entry_pos; /**< Position in PDO mapping. */
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};
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/*****************************************************************************/
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void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
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void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
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void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
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ec_pdo_t *);
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void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
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const ec_pdo_t *);
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int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *);
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int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
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/*****************************************************************************/
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#endif
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