fsm_pdo_entry.h

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/*****************************************************************************
 *
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  This file is part of the IgH EtherCAT Master.
 *
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
 *  modify it under the terms of the GNU General Public License version 2, as
 *  published by the Free Software Foundation.
 *
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
 *  Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License along
 *  with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 ****************************************************************************/

/****************************************************************************/

#ifndef __EC_FSM_PDO_ENTRY_H__
#define __EC_FSM_PDO_ENTRY_H__

#include "globals.h"
#include "datagram.h"
#include "fsm_coe.h"

/****************************************************************************/

typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;

struct ec_fsm_pdo_entry
{
    void (*state)(ec_fsm_pdo_entry_t *, ec_datagram_t *); 
    ec_fsm_coe_t *fsm_coe; 
    ec_sdo_request_t request; 
    ec_slave_t *slave; 
    ec_pdo_t *target_pdo; 
    const ec_pdo_t *source_pdo; 
    const ec_pdo_t *cur_pdo; 
    const ec_pdo_entry_t *entry; 
    unsigned int entry_count; 
    unsigned int entry_pos; 
};

/****************************************************************************/

void ec_fsm_pdo_entry_init(ec_fsm_pdo_entry_t *, ec_fsm_coe_t *);
void ec_fsm_pdo_entry_clear(ec_fsm_pdo_entry_t *);

void ec_fsm_pdo_entry_start_reading(ec_fsm_pdo_entry_t *, ec_slave_t *,
        ec_pdo_t *);
void ec_fsm_pdo_entry_start_configuration(ec_fsm_pdo_entry_t *, ec_slave_t *,
        const ec_pdo_t *, const ec_pdo_t *);

int ec_fsm_pdo_entry_exec(ec_fsm_pdo_entry_t *, ec_datagram_t *);
int ec_fsm_pdo_entry_success(const ec_fsm_pdo_entry_t *);

/****************************************************************************/

#endif