etherlabmaster: master/fsm_coe.h@5c317e78a5ef (annotated)

436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	11	* published by the Free Software Foundation.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	16	* Public License for more details.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	18	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	22	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1038 diff changeset	23	* the industrial property and similar rights of Beckhoff Automation GmbH.
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	*
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	/**
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	\file
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	EtherCAT CoE state machines.
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	*/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
883 4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	34	#ifndef __EC_FSM_COE_H__
4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 859 diff changeset	35	#define __EC_FSM_COE_H__
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "globals.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "../include/ecrt.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "datagram.h"
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "slave.h"
847 92266462d411 Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	41	#include "sdo.h"
92266462d411 Saparated ec_sdo_t, ec_sdo_entry_t and ec_sdo_request_t. Florian Pose <fp@igh-essen.com> parents: 825 diff changeset	42	#include "sdo_request.h"
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46	typedef struct ec_fsm_coe ec_fsm_coe_t; /*< \see ec_fsm_coe /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	48	/** Finite state machines for the CANopen over EtherCAT protocol.
825 3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	49	*/
3771f5a0ed90 CoE state machines raising error, if the slave does not support CoE. Florian Pose <fp@igh-essen.com> parents: 814 diff changeset	50	struct ec_fsm_coe {
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	ec_slave_t slave; /< slave the FSM runs on /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	ec_datagram_t datagram; /< datagram used in the state machine /
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 436 diff changeset	53	unsigned int retries; /*< retries upon datagram timeout /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	void (state)(ec_fsm_coe_t ); /*< CoE state function /
1038 7ca4103ba170 Use jiffies instead of cycles in CoE state machine. Florian Pose <fp@igh-essen.com> parents: 883 diff changeset	56	unsigned long jiffies_start; /*< CoE timestamp. /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	57	ec_sdo_t sdo; /< current SDO /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	uint8_t subindex; /*< current subindex /
1686 e206f4485f60 Fixed spelling of EtherCAT terms. Florian Pose <fp@igh-essen.com> parents: 1685 diff changeset	59	ec_sdo_request_t request; /< SDO request /
1696 c9bfe98e00d5 merge -c1622 branches/1.4-foe: Fixed seg_size parameter when processing an CoE Upload Segment Response. Florian Pose <fp@igh-essen.com> parents: 1686 diff changeset	60	uint32_t complete_size; /*< Used when segmenting. /
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	uint8_t toggle; /*< toggle bit for segment commands /
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	};
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	void ec_fsm_coe_init(ec_fsm_coe_t , ec_datagram_t );
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	void ec_fsm_coe_clear(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	void ec_fsm_coe_dictionary(ec_fsm_coe_t , ec_slave_t );
859 233e32f428e1 Replaced ec_fsm_coe_$upload\\|download$() with ec_fsm_coe_transfer(); Florian Pose <fp@igh-essen.com> parents: 854 diff changeset	70	void ec_fsm_coe_transfer(ec_fsm_coe_t , ec_slave_t , ec_sdo_request_t *);
436 63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	int ec_fsm_coe_exec(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	int ec_fsm_coe_success(ec_fsm_coe_t *);
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	/*****************************************************************************/
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76
63214beb641d Layed out CoE state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	#endif

author	Florian Pose <fp@igh-essen.com>
	Wed, 13 Jan 2010 00:04:47 +0100
branch	stable-1.4
changeset 1769	5c317e78a5ef
parent 1696	c9bfe98e00d5
permissions	-rw-r--r--