etherlabmaster: master/fsm_coe.h@0383b71b88e4 (annotated)

436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	11	* published by the Free Software Foundation.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	16	* Public License for more details.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1209 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1339 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
883 4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	37	#ifndef __EC_FSM_COE_H__
4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	38	#define __EC_FSM_COE_H__
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "globals.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "datagram.h"
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1562 diff changeset	42	#include "mailbox.h"
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "slave.h"
847 92266462d411 Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	44	#include "sdo.h"
92266462d411 Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	45	#include "sdo_request.h"
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	48
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	typedef struct ec_fsm_coe ec_fsm_coe_t; /*< \see ec_fsm_coe /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	51	/** Finite state machines for the CANopen over EtherCAT protocol.
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	52	*/
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	53	struct ec_fsm_coe {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	ec_slave_t slave; /< slave the FSM runs on /
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1562 diff changeset	55	ec_mailbox_t mbox; /< mailbox used in the state machine /
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	56	unsigned int retries; /*< retries upon datagram timeout /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	void (state)(ec_fsm_coe_t ); /*< CoE state function /
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	59	unsigned long jiffies_start; /*< CoE timestamp. /
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	60	ec_sdo_t sdo; /< current SDO /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	uint8_t subindex; /*< current subindex /
1327 4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	62	ec_sdo_request_t request; /< SDO request /
1339 3483999e1aba merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1327 diff changeset	63	uint32_t complete_size; /*< Used when segmenting. /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	uint8_t toggle; /*< toggle bit for segment commands /
1562 5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	65	uint32_t offset; /*< Data offset during segmented download. /
5c249f469b81 SDO segmented download. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	66	uint32_t remaining; /*< Remaining bytes during segmented download. /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	};
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70
2045 ff2a13a4603c Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize Martin Troxler <ch1010277@ch10pc446> parents: 1562 diff changeset	71	void ec_fsm_coe_init(ec_fsm_coe_t , ec_mailbox_t );
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	void ec_fsm_coe_clear(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	void ec_fsm_coe_dictionary(ec_fsm_coe_t , ec_slave_t );
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	75	void ec_fsm_coe_transfer(ec_fsm_coe_t , ec_slave_t , ec_sdo_request_t *);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	int ec_fsm_coe_exec(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	int ec_fsm_coe_success(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	#endif

author	Florian Pose <fp@igh-essen.com>
	Fri, 28 Oct 2011 11:31:54 +0200
changeset 2126	0383b71b88e4
parent 2045	ff2a13a4603c
child 2589	2b9c78543663
permissions	-rw-r--r--