master/fsm_sii.h
author Florian Pose <fp@igh-essen.com>
Mon, 05 Mar 2007 09:55:39 +0000
changeset 610 29489a43ecee
parent 600 b0660152f710
child 754 0b47b49c5976
permissions -rw-r--r--
Introduced ec_slave_online_state_t, ec_slave_set_online_state(), renamed
slave->online to ec_online_state and introduced
ec_slave_set_app_state().
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *  License, or (at your option) any later version.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU General Public License for more details.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *  charge under condition of compatibility of product made by
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
 *  Technology, IP and trade marks.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
 *
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
 *****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
   \file
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
   EtherCAT slave information interface FSM structure.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#ifndef __EC_FSM_SII__
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#define __EC_FSM_SII__
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "globals.h"
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
#include "../include/ecrt.h"
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
#include "datagram.h"
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
#include "slave.h"
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
typedef enum
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
    EC_FSM_SII_POSITION,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
    EC_FSM_SII_NODE
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    55
}
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
ec_fsm_sii_addressing_t;
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
/**
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
   Slave information interface FSM.
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
*/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
struct ec_fsm_sii
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
{
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
    ec_slave_t *slave; /**< slave the FSM runs on */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
    ec_datagram_t *datagram; /**< datagram used in the state machine */
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
    70
    unsigned int retries; /**< retries upon datagram timeout */
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
    void (*state)(ec_fsm_sii_t *); /**< SII state function */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
    uint16_t offset; /**< input: offset in SII */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
    ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
    uint8_t value[4]; /**< raw SII value (32bit) */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
    cycles_t cycles_start; /**< start timestamp */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
    uint8_t check_once_more; /**< one more try after timeout */
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
};
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
void ec_fsm_sii_clear(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
                     uint16_t, ec_fsm_sii_addressing_t);
600
b0660152f710 Made data pointer in ec_fsm_sii_write() const.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    87
void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,
b0660152f710 Made data pointer in ec_fsm_sii_write() const.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    88
        const uint16_t *, ec_fsm_sii_addressing_t);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    89
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
    90
int ec_fsm_sii_exec(ec_fsm_sii_t *);
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
int ec_fsm_sii_success(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    92
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    93
/*****************************************************************************/
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
#endif