1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  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 and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

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

    14

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

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

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

    19

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

    20

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

    21

 *

    22

 *  Using the EtherCAT technology and brand is permitted in compliance with

    23

 *  the industrial property and similar rights of Beckhoff Automation GmbH.

    24

 *

    25

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

    26

    27

/**

    28

   \file

    29

   EtherCAT slave configuration state machine.

    30

*/

    31

    32

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

    33

    34

#ifndef __EC_FSM_SLAVE_CONFIG_H__

    35

#define __EC_FSM_SLAVE_CONFIG_H__

    36

    37

#include "globals.h"

    38

#include "slave.h"

    39

#include "datagram.h"

    40

#include "fsm_change.h"

    41

#include "fsm_coe.h"

    42

#include "fsm_pdo.h"

    43

    44

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

    45

    46

/** \see ec_fsm_slave_config */

    47

typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;

    48

    49

/** Finite state machine to configure an EtherCAT slave.

    50

 */

    51

struct ec_fsm_slave_config

    52

{

    53

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

    54

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

    55

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

    56

    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */

    57

    58

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

    59

    void (*state)(ec_fsm_slave_config_t *); /**< State function. */

    60

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

    61

    ec_sdo_request_t *request; /**< SDO request for SDO configuration. */

    62

    ec_sdo_request_t request_copy; /**< Copied SDO request. */

    65

};

    66

    67

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

    68

    69

void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,

    70

        ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_pdo_t *);

    71

void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);

    72

    73

void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);

    74

    75

int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);

    76

int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);

    77

    78

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

    79

    80

#endif