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 finite state machines.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_SLAVE__

    42

#define __EC_FSM_SLAVE__

    43

    44

#include "globals.h"

    45

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

    46

#include "datagram.h"

    47

#include "slave.h"

    48

#include "fsm_sii.h"

    49

#include "fsm_change.h"

    50

#include "fsm_coe.h"

    51

#include "fsm_mapping.h"

    52

    53

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

    54

    55

typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */

    56

    57

/**

    58

   Finite state machine of an EtherCAT slave.

    59

*/

    60

    61

struct ec_fsm_slave

    62

{

    63

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

    64

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

    65

    unsigned int retries; /**< retries on datagram timeout. */

    66

    67

    void (*state)(ec_fsm_slave_t *); /**< state function */

    68

    ec_sdo_data_t *sdodata; /**< SDO configuration data */

    69

    uint16_t sii_offset; 

    70

    71

    ec_fsm_sii_t fsm_sii; /**< SII state machine */

    72

    ec_fsm_change_t fsm_change; /**< State change state machine */

    73

    ec_fsm_coe_t fsm_coe; /**< CoE state machine */

    74

    ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine */

    75

};

    76

    77

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

    78

    79

void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);

    80

void ec_fsm_slave_clear(ec_fsm_slave_t *);

    81

    82

void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);

    83

void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);

    84

    85

int ec_fsm_slave_exec(ec_fsm_slave_t *);

    86

int ec_fsm_slave_success(const ec_fsm_slave_t *);

    87

    88

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

    89

    90

#endif