90 lines
3.2 KiB
C
90 lines
3.2 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 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
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General 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
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* along 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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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT CoE mapping state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_COE_MAP__
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#define __EC_FSM_COE_MAP__
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#include "globals.h"
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#include "datagram.h"
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#include "slave.h"
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#include "fsm_coe.h"
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/*****************************************************************************/
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typedef struct ec_fsm_coe_map ec_fsm_coe_map_t; /**< \see ec_fsm_coe_map */
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/**
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* \todo doc
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*/
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struct ec_fsm_coe_map
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{
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void (*state)(ec_fsm_coe_map_t *); /**< CoE mapping state function */
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ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
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ec_slave_t *slave; /**< EtherCAT slave */
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ec_sdo_request_t request; /**< Sdo request */
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ec_direction_t dir; /**< index of the current sync manager */
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ec_sync_t *sync; /**< Pdo sync manager. */
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uint16_t sync_sdo_index; /**< Index of the mapping Sdo. */
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uint8_t sync_subindices; /**< number of mapped Pdos */
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uint16_t sync_subindex; /**< current subindex in mapping Sdo */
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ec_pdo_list_t pdos; /**< List of read in Pdos. */
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ec_pdo_t *pdo; /**< Current Pdo. */
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ec_sdo_t *pdo_sdo; /**< Current Pdo Sdo. */
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uint8_t pdo_subindices; /**< Number of Pdo entries. */
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uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */
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};
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/*****************************************************************************/
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void ec_fsm_coe_map_init(ec_fsm_coe_map_t *, ec_fsm_coe_t *);
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void ec_fsm_coe_map_clear(ec_fsm_coe_map_t *);
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void ec_fsm_coe_map_start(ec_fsm_coe_map_t *, ec_slave_t *);
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int ec_fsm_coe_map_exec(ec_fsm_coe_map_t *);
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int ec_fsm_coe_map_success(ec_fsm_coe_map_t *);
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/*****************************************************************************/
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#endif
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