IgH EtherCAT Master: fsm_pdo_entry.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 
00034 /*****************************************************************************/
00035 
00036 #ifndef __EC_FSM_PDO_ENTRY_H__
00037 #define __EC_FSM_PDO_ENTRY_H__
00038 
00039 #include "globals.h"
00040 #include "datagram.h"
00041 #include "fsm_coe.h"
00042 
00043 /*****************************************************************************/
00044 
00048 typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
00049 
00052 struct ec_fsm_pdo_entry
00053 {
00054     void (*state)(ec_fsm_pdo_entry_t *, ec_datagram_t *); 
00056     ec_fsm_coe_t *fsm_coe; 
00057     ec_sdo_request_t request; 
00059     ec_slave_t *slave; 
00060     ec_pdo_t *target_pdo; 
00061     const ec_pdo_t *source_pdo; 
00062     const ec_pdo_t *cur_pdo; 
00063     const ec_pdo_entry_t *entry; 
00064     unsigned int entry_count; 
00065     unsigned int entry_pos; 
00066 };
00067 
00068 /*****************************************************************************/
00069 
00070 void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
00071 void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);
00072 
00073 void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
00074         ec_pdo_t *);
00075 void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
00076         const ec_pdo_t *, const ec_pdo_t *);
00077 
00078 int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *, ec_datagram_t *);
00079 int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);
00080 
00081 /*****************************************************************************/
00082 
00083 #endif