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79 lines
2.7 KiB
C
79 lines
2.7 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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\file
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EtherCAT PDO configuration state machine structures.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_PDO_H__
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#define __EC_FSM_PDO_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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#include "fsm_pdo_entry.h"
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/*****************************************************************************/
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/**
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* \see ec_fsm_pdo
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*/
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typedef struct ec_fsm_pdo ec_fsm_pdo_t;
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/** PDO configuration state machine.
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*/
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struct ec_fsm_pdo
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{
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void (*state)(ec_fsm_pdo_t *, ec_datagram_t *); /**< State function. */
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ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
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ec_fsm_pdo_entry_t fsm_pdo_entry; /**< PDO entry state machine. */
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ec_pdo_list_t pdos; /**< PDO configuration. */
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ec_sdo_request_t request; /**< SDO request. */
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ec_pdo_t slave_pdo; /**< PDO actually appearing in a slave. */
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ec_slave_t *slave; /**< Slave the FSM runs on. */
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uint8_t sync_index; /**< Current sync manager index. */
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ec_sync_t *sync; /**< Current sync manager. */
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ec_pdo_t *pdo; /**< Current PDO. */
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unsigned int pdo_pos; /**< Assignment position of current PDOs. */
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unsigned int pdo_count; /**< Number of assigned PDOs. */
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};
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/*****************************************************************************/
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void ec_fsm_pdo_init(ec_fsm_pdo_t *, ec_fsm_coe_t *);
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void ec_fsm_pdo_clear(ec_fsm_pdo_t *);
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void ec_fsm_pdo_start_reading(ec_fsm_pdo_t *, ec_slave_t *);
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void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *, ec_slave_t *);
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int ec_fsm_pdo_exec(ec_fsm_pdo_t *, ec_datagram_t *);
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int ec_fsm_pdo_success(const ec_fsm_pdo_t *);
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/*****************************************************************************/
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#endif
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