IgH EtherCAT Master: fsm_pdo.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_FSM_PDO_H__
00038 #define __EC_FSM_PDO_H__
00039 
00040 #include "globals.h"
00041 #include "datagram.h"
00042 #include "fsm_coe.h"
00043 #include "fsm_pdo_entry.h"
00044 
00045 /*****************************************************************************/
00046 
00050 typedef struct ec_fsm_pdo ec_fsm_pdo_t;
00051 
00054 struct ec_fsm_pdo
00055 {
00056     void (*state)(ec_fsm_pdo_t *, ec_datagram_t *); 
00057     ec_fsm_coe_t *fsm_coe; 
00058     ec_fsm_pdo_entry_t fsm_pdo_entry; 
00059     ec_pdo_list_t pdos; 
00060     ec_sdo_request_t request; 
00061     ec_pdo_t slave_pdo; 
00063     ec_slave_t *slave; 
00064     uint8_t sync_index; 
00065     ec_sync_t *sync; 
00066     ec_pdo_t *pdo; 
00067     unsigned int pdo_pos; 
00068     unsigned int pdo_count; 
00069 };
00070 
00071 /*****************************************************************************/
00072 
00073 void ec_fsm_pdo_init(ec_fsm_pdo_t *, ec_fsm_coe_t *);
00074 void ec_fsm_pdo_clear(ec_fsm_pdo_t *);
00075 
00076 void ec_fsm_pdo_start_reading(ec_fsm_pdo_t *, ec_slave_t *);
00077 void ec_fsm_pdo_start_configuration(ec_fsm_pdo_t *, ec_slave_t *);
00078 
00079 int ec_fsm_pdo_exec(ec_fsm_pdo_t *, ec_datagram_t *);
00080 int ec_fsm_pdo_success(const ec_fsm_pdo_t *);
00081 
00082 /*****************************************************************************/
00083 
00084 #endif