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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 finite state machines.

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*/

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

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#ifndef __EC_STATES__

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#define __EC_STATES__

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#include "globals.h"

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

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#include "datagram.h"

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#include "slave.h"

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#include "canopen.h"

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

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typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */

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/**

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   Finite state machine of an EtherCAT master.

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*/

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struct ec_fsm

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{

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

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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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    void (*master_state)(ec_fsm_t *); /**< master state function */

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    unsigned int master_slaves_responding; /**< number of responding slaves */

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    ec_slave_state_t master_slave_states; /**< states of responding slaves */

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    unsigned int master_validation; /**< non-zero, if validation to do */

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    void (*slave_state)(ec_fsm_t *); /**< slave state function */

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    void (*sii_state)(ec_fsm_t *); /**< SII state function */

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    uint16_t sii_offset; /**< input: offset in SII */

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    unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */

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

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    cycles_t sii_start; /**< sii start */

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

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    void (*change_state)(ec_fsm_t *); /**< slave state change state function */

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    ec_slave_state_t change_new; /**< input: new state */

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    unsigned long change_jiffies; /**< change timer */

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    uint8_t change_take_time; /**< take sending timestamp */

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    void (*coe_state)(ec_fsm_t *); /**< CoE state function */

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    ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */

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    cycles_t coe_start; /**< CoE timestamp */

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    ec_sdo_t *coe_sdo; /**< current SDO */

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    uint8_t coe_subindex; /**< current subindex */

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    ec_sdo_request_t *coe_request; /**< SDO request */

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    uint8_t coe_toggle; /**< toggle bit for segment commands */

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};

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

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int ec_fsm_init(ec_fsm_t *, ec_master_t *);

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void ec_fsm_clear(ec_fsm_t *);

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void ec_fsm_reset(ec_fsm_t *);

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void ec_fsm_execute(ec_fsm_t *);

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void ec_fsm_startup(ec_fsm_t *);

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int ec_fsm_startup_running(ec_fsm_t *);

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int ec_fsm_startup_success(ec_fsm_t *);

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void ec_fsm_configuration(ec_fsm_t *);

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int ec_fsm_configuration_running(ec_fsm_t *);

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int ec_fsm_configuration_success(ec_fsm_t *);

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

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#endif