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 CoE state machines.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_COE__

    42

#define __EC_FSM_COE__

    43

    44

#include "globals.h"

    45

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

    46

#include "datagram.h"

    47

#include "slave.h"

    48

#include "canopen.h"

    49

    50

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

    51

    52

typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */

    53

    54

/**

    55

   Finite state machine of an EtherCAT master.

    56

*/

    57

    58

struct ec_fsm_coe

    59

{

    60

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

    61

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

    62

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

    63

    64

    void (*state)(ec_fsm_coe_t *); /**< CoE state function */

    65

    ec_sdo_data_t *sdodata; /**< input/output: SDO data object */

    66

    cycles_t cycles_start; /**< CoE timestamp */

    67

    ec_sdo_t *sdo; /**< current SDO */

    68

    uint8_t subindex; /**< current subindex */

    69

    ec_sdo_request_t *request; /**< SDO request */

    70

    uint8_t toggle; /**< toggle bit for segment commands */

    71

};

    72

    73

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

    74

    75

void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);

    76

void ec_fsm_coe_clear(ec_fsm_coe_t *);

    77

    78

void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);

    79

void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);

    80

void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);

    81

    82

int ec_fsm_coe_exec(ec_fsm_coe_t *);

    83

int ec_fsm_coe_success(ec_fsm_coe_t *);

    84

    85

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

    86

    87

#endif