1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT state change FSM.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_CHANGE__

    42

#define __EC_FSM_CHANGE__

    43

    44

#include "globals.h"

    45

#include "../include/ecrt.h"

    46

#include "datagram.h"

    47

#include "slave.h"

    48

    49

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

    50

    51

/**

    52

   Mode of the change state machine.

    53

*/

    54

    55

typedef enum {

    56

    EC_FSM_CHANGE_MODE_FULL, /**< full state change */

    57

    EC_FSM_CHANGE_MODE_ACK_ONLY /**< only state acknowledgement */

    58

}

    59

ec_fsm_change_mode_t;

    60

    61

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

    62

    63

typedef struct ec_fsm_change ec_fsm_change_t; /**< \see ec_fsm_change */

    64

    65

/**

    66

   EtherCAT state change FSM.

    67

*/

    68

    69

struct ec_fsm_change

    70

{

    71

    ec_slave_t *slave; /**< slave the FSM runs on */

    72

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

    73

    unsigned int retries; /**< retries upon datagram timeout */

    74

    75

    void (*state)(ec_fsm_change_t *); /**< slave state change state function */

    76

    ec_fsm_change_mode_t mode; /**< full state change, or ack only. */

    77

    ec_slave_state_t requested_state; /**< input: state */

    78

    ec_slave_state_t old_state; /**< prior slave state */

    79

    unsigned long jiffies_start; /**< change timer */

    80

    uint8_t take_time; /**< take sending timestamp */

    81

    uint8_t spontaneous_change; /**< spontaneous state change detected */

    82

};

    83

    84

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

    85

    86

void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *);

    87

void ec_fsm_change_clear(ec_fsm_change_t *);

    88

    89

void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);

    90

void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *);

    91

    92

int ec_fsm_change_exec(ec_fsm_change_t *);

    93

int ec_fsm_change_success(ec_fsm_change_t *);

    94

    95

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

    96

    97

#endif