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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_COE__
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#define __EC_FSM_COE__
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#include "globals.h"
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "slave.h"
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#include "canopen.h"
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/*****************************************************************************/
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typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
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/**
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Finite state machine of an EtherCAT master.
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*/
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struct ec_fsm_coe
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{
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ec_slave_t *slave; /**< slave the FSM runs on */
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ec_datagram_t *datagram; /**< datagram used in the state machine */
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void (*state)(ec_fsm_coe_t *); /**< CoE state function */
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ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
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cycles_t cycles_start; /**< CoE timestamp */
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ec_sdo_t *sdo; /**< current SDO */
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uint8_t subindex; /**< current subindex */
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ec_sdo_request_t *request; /**< SDO request */
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uint8_t toggle; /**< toggle bit for segment commands */
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};
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/*****************************************************************************/
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void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_clear(ec_fsm_coe_t *);
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
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void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
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void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
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int ec_fsm_coe_exec(ec_fsm_coe_t *);
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int ec_fsm_coe_success(ec_fsm_coe_t *);
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/*****************************************************************************/
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#endif
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