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 slave information interface FSM structure.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_SII_H__

    42

#define __EC_FSM_SII_H__

    43

    44

#include "globals.h"

    45

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

    46

#include "datagram.h"

    47

#include "slave.h"

    48

    49

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

    50

    51

/** SII access addressing mode.

    52

 */

    53

typedef enum {

    54

    EC_FSM_SII_USE_INCREMENT_ADDRESS, /**< Use auto-increment addressing. */

    55

    EC_FSM_SII_USE_CONFIGURED_ADDRESS /**< Use configured addresses. */

    56

} ec_fsm_sii_addressing_t;

    57

    58

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

    59

    60

typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */

    61

    62

/**

    63

   Slave information interface FSM.

    64

*/

    65

    66

struct ec_fsm_sii

    67

{

    68

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

    69

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

    70

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

    71

    72

    void (*state)(ec_fsm_sii_t *); /**< SII state function */

    73

    uint16_t word_offset; /**< input: word offset in SII */

    74

    ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */

    75

    uint8_t value[4]; /**< raw SII value (32bit) */

    76

    unsigned long jiffies_start; /**< Start timestamp. */

    77

    uint8_t check_once_more; /**< one more try after timeout */

    78

};

    79

    80

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

    81

    82

void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);

    83

void ec_fsm_sii_clear(ec_fsm_sii_t *);

    84

    85

void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,

    86

                     uint16_t, ec_fsm_sii_addressing_t);

    87

void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,

    88

        const uint16_t *, ec_fsm_sii_addressing_t);

    89

    90

int ec_fsm_sii_exec(ec_fsm_sii_t *);

    91

int ec_fsm_sii_success(ec_fsm_sii_t *);

    92

    93

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

    94

    95

#endif