1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2012  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

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

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

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

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

    29

    30

/**

    31

   \file

    32

   EtherCAT master state machine.

    33

*/

    34

    35

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

    36

    37

#ifndef __EC_FSM_MASTER_H__

    38

#define __EC_FSM_MASTER_H__

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "foe_request.h"

    43

#include "sdo_request.h"

    44

#include "soe_request.h"

    45

#include "fsm_slave_config.h"

    46

#include "fsm_slave_scan.h"

    47

#include "fsm_pdo.h"

    48

    49

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

    50

    51

/** SII write request.

    52

 */

    53

typedef struct {

    54

    struct list_head list; /**< List head. */

    55

    ec_slave_t *slave; /**< EtherCAT slave. */

    56

    uint16_t offset; /**< SII word offset. */

    57

    size_t nwords; /**< Number of words. */

    58

    const uint16_t *words; /**< Pointer to the data words. */

    59

    ec_internal_request_state_t state; /**< State of the request. */

    60

} ec_sii_write_request_t;

    61

    62

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

    63

    64

typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */

    65

    66

/** Finite state machine of an EtherCAT master.

    67

 */

    68

struct ec_fsm_master {

    69

    ec_master_t *master; /**< master the FSM runs on */

    70

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

    71

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

    72

    73

    void (*state)(ec_fsm_master_t *); /**< master state function */

    74

    ec_device_index_t dev_idx; /**< Current device index (for scanning etc.).

    75

                                */

    76

    int idle; /**< state machine is in idle phase */

    77

    unsigned long scan_jiffies; /**< beginning of slave scanning */

    78

    uint8_t link_state[EC_MAX_NUM_DEVICES]; /**< Last link state for every

    79

                                              device. */

    80

    unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; /**< Number of

    81

                                                          responding slaves

    82

                                                          for every device. */

    83

    unsigned int rescan_required; /**< A bus rescan is required. */

    84

    ec_slave_state_t slave_states[EC_MAX_NUM_DEVICES]; /**< AL states of

    85

                                                         responding slaves for

    86

                                                         every device. */

    87

    ec_slave_t *slave; /**< current slave */

    88

    ec_sii_write_request_t *sii_request; /**< SII write request */

    89

    off_t sii_index; /**< index to SII write request data */

    90

    ec_sdo_request_t *sdo_request; /**< SDO request to process. */

    91

    92

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

    93

    ec_fsm_soe_t fsm_soe; /**< SoE state machine */

    94

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

    95

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

    96

    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */

    97

    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

    98

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

    99

};

   100

   101

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

   102

   103

void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);

   104

void ec_fsm_master_clear(ec_fsm_master_t *);

   105

   106

void ec_fsm_master_reset(ec_fsm_master_t *);

   107

   108

int ec_fsm_master_exec(ec_fsm_master_t *);

   109

int ec_fsm_master_idle(const ec_fsm_master_t *);

   110

   111

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

   112

   113

#endif