1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master state machine.

    33

*/

    34

    35

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

    36

    37

#ifndef __EC_FSM_MASTER_H__

    38

#define __EC_FSM_MASTER_H__

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "mailbox.h"

    43

#include "foe_request.h"

    44

#include "sdo_request.h"

    45

#include "soe_request.h"

    46

#include "fsm_slave_config.h"

    47

#include "fsm_slave_scan.h"

    48

#include "fsm_pdo.h"

    49

    50

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

    51

    52

/** SII write request.

    53

 */

    54

typedef struct {

    55

    struct list_head list; /**< List head. */

    56

    ec_slave_t *slave; /**< EtherCAT slave. */

    57

    uint16_t offset; /**< SII word offset. */

    58

    size_t nwords; /**< Number of words. */

    59

    const uint16_t *words; /**< Pointer to the data words. */

    60

    ec_internal_request_state_t state; /**< State of the request. */

    61

    struct kref refcount;

    62

} ec_sii_write_request_t;

    63

    64

void ec_master_sii_write_request_release(struct kref *);

    65

    66

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

    67

    68

/** Register request.

    69

 */

    70

typedef struct {

    71

    struct list_head list; /**< List head. */

    72

    ec_slave_t *slave; /**< EtherCAT slave. */

    73

    ec_direction_t dir; /**< Direction. */

    74

    uint16_t offset; /**< Register address. */

    75

    size_t length; /**< Number of bytes. */

    76

    uint8_t *data; /**< Data to write / memory for read data. */

    77

    ec_internal_request_state_t state; /**< State of the request. */

    78

    struct kref refcount;

    79

} ec_reg_request_t;

    80

    81

void ec_master_reg_request_release(struct kref *);

    82

    83

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

    84

    85

/** Slave/SDO request record for master's SDO request list.

    86

 */

    87

typedef struct {

    88

    struct list_head list; /**< List element. */

    89

    ec_slave_t *slave; /**< Slave. */

    90

    ec_sdo_request_t req; /**< SDO request. */

    91

    struct kref refcount;

    92

} ec_master_sdo_request_t;

    93

    94

void ec_master_sdo_request_release(struct kref *);

    95

    96

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

    97

    98

/** FoE request.

    99

 */

   100

typedef struct {

   101

    struct list_head list; /**< List head. */

   102

    ec_slave_t *slave; /**< EtherCAT slave. */

   103

    ec_foe_request_t req; /**< FoE request. */

   104

    struct kref refcount;

   105

} ec_master_foe_request_t;

   106

   107

void ec_master_foe_request_release(struct kref *);

   108

   109

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

   110

   111

/** SoE request.

   112

 */

   113

typedef struct {

   114

    struct list_head list; /**< List head. */

   115

    ec_slave_t *slave; /**< EtherCAT slave. */

   116

    ec_soe_request_t req; /**< SoE request. */

   117

    struct kref refcount;

   118

} ec_master_soe_request_t;

   119

   120

void ec_master_soe_request_release(struct kref *);

   121

   122

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

   123

   124

typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */

   125

   126

/** Finite state machine of an EtherCAT master.

   127

 */

   128

struct ec_fsm_master {

   129

    ec_master_t *master; /**< master the FSM runs on */

   130

    ec_datagram_t *datagram; /**< datagram used in the state machine */

   131

    ec_mailbox_t *mbox; /**< mailbox used in the state machine */

   132

    unsigned int retries; /**< retries on datagram timeout. */

   133

   134

    void (*state)(ec_fsm_master_t *); /**< master state function */

   135

    int idle; /**< state machine is in idle phase */

   136

    unsigned long scan_jiffies; /**< beginning of slave scanning */

   137

    uint8_t link_state; /**< Last main device link state. */

   138

    unsigned int slaves_responding; /**< number of responding slaves */

   139

    unsigned int rescan_required; /**< A bus rescan is required. */

   140

    ec_slave_state_t slave_states; /**< states of responding slaves */

   141

    ec_slave_t *slave; /**< current slave */

   142

    ec_sii_write_request_t *sii_request; /**< SII write request */

   143

    off_t sii_index; /**< index to SII write request data */

   144

    ec_sdo_request_t *sdo_request; /**< SDO request to process. */

   145

    ec_reg_request_t *reg_request; /**< Register request to process. */

   146

   147

    ec_fsm_coe_t fsm_coe; /**< CoE state machine */

   148

    ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */

   149

    ec_fsm_change_t fsm_change; /**< State change state machine */

   150

    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */

   151

    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

   152

    ec_fsm_sii_t fsm_sii; /**< SII state machine */

   153

};

   154

   155

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

   156

   157

void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);

   158

void ec_fsm_master_clear(ec_fsm_master_t *);

   159

   160

int ec_fsm_master_exec(ec_fsm_master_t *);

   161

int ec_fsm_master_idle(const ec_fsm_master_t *);

   162

   163

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

   164

   165

#endif