master/fsm_coe.h
author Florian Pose <fp@igh-essen.com>
Thu, 09 Oct 2008 14:35:08 +0000
changeset 1256 45fe0af4340b
parent 1209 8be462afb7f4
child 1326 ef907b0b5125
permissions -rw-r--r--
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_COE_H__
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#define __EC_FSM_COE_H__
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#include "globals.h"
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#include "datagram.h"
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#include "slave.h"
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#include "sdo.h"
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#include "sdo_request.h"
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/*****************************************************************************/
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typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
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/** Finite state machines for the CANopen-over-EtherCAT protocol.
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 */
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struct ec_fsm_coe {
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    ec_slave_t *slave; /**< slave the FSM runs on */
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    ec_datagram_t *datagram; /**< datagram used in the state machine */
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    unsigned int retries; /**< retries upon datagram timeout */
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    void (*state)(ec_fsm_coe_t *); /**< CoE state function */
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    unsigned long jiffies_start; /**< CoE timestamp. */
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    ec_sdo_t *sdo; /**< current Sdo */
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    uint8_t subindex; /**< current subindex */
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    ec_sdo_request_t *request; /**< Sdo request */
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    uint8_t toggle; /**< toggle bit for segment commands */
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};
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/*****************************************************************************/
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void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
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void ec_fsm_coe_clear(ec_fsm_coe_t *);
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
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void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
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int ec_fsm_coe_exec(ec_fsm_coe_t *);
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int ec_fsm_coe_success(ec_fsm_coe_t *);
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/*****************************************************************************/
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#endif