master/fsm_slave.h
author Florian Pose <fp@igh-essen.com>
Tue, 05 Jan 2010 13:44:46 +0100
changeset 1592 0f070a230401
parent 1583 017fa8fd9ac1
child 1597 491dea6f4fd7
permissions -rw-r--r--
Removed 'Preliminary'.
1583
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     1
/******************************************************************************
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     2
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     3
 *  $Id$
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     4
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     6
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     8
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    10
 *  modify it under the terms of the GNU General Public License version 2, as
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    11
 *  published by the Free Software Foundation.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    12
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    13
 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    14
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    15
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    16
 *  Public License for more details.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    17
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    18
 *  You should have received a copy of the GNU General Public License along
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    21
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    22
 *  ---
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    23
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    24
 *  The license mentioned above concerns the source code only. Using the
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    25
 *  EtherCAT technology and brand is only permitted in compliance with the
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    26
 *  industrial property and similar rights of Beckhoff Automation GmbH.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    27
 *
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    28
 *****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    29
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    30
/**
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    31
   \file
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    32
   EtherCAT slave request (SDO) state machine.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    33
*/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    34
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    35
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    36
#ifndef __EC_FSM_SLAVE_H__
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    37
#define __EC_FSM_SLAVE_H__
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    38
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    39
#include "globals.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    40
#include "datagram.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    41
#include "sdo_request.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    42
#include "fsm_coe.h"
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    43
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    44
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    45
typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    46
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    47
/** Finite state machine of an EtherCAT slave.
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    48
 */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    49
struct ec_fsm_slave {
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    50
    ec_slave_t *slave; /**< slave the FSM runs on */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    51
    ec_datagram_t *datagram; /**< datagram used in the state machine */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    52
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    53
    void (*state)(ec_fsm_slave_t *); /**< master state function */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    54
    ec_sdo_request_t *sdo_request; /**< SDO request to process. */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    55
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    56
    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    57
};
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    58
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    59
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    60
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    61
void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    62
void ec_fsm_slave_clear(ec_fsm_slave_t *);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    63
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    64
void ec_fsm_slave_exec(ec_fsm_slave_t *);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    65
int ec_fsm_slave_idle(const ec_fsm_slave_t *);
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    66
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    67
/*****************************************************************************/
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    68
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    69
017fa8fd9ac1 Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff changeset
    70
#endif // __EC_FSM_SLAVE_H__