master/fsm_master.h
author Florian Pose <fp@igh-essen.com>
Mon, 05 Mar 2007 09:10:02 +0000
changeset 609 611d738a1392
parent 605 96a894895999
child 612 aede068f9a74
permissions -rw-r--r--
Moved state request on PDO registration to slave.c.
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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_FSM_MASTER__
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#define __EC_FSM_MASTER__
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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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#include "fsm_slave.h"
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/*****************************************************************************/
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/**
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 * EEPROM request state.
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 */
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typedef enum
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{
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    EC_EEPROM_REQ_QUEUED,
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    EC_EEPROM_REQ_BUSY,
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    EC_EEPROM_REQ_COMPLETED,
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    EC_EEPROM_REQ_ERROR
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}
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ec_eeprom_request_state_t;
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/*****************************************************************************/
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/**
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 * EEPROM write request.
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 */
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typedef struct
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{
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    struct list_head list;
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    ec_slave_t *slave;
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    off_t offset;
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    size_t size;
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    const uint16_t *words;
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    ec_eeprom_request_state_t state;
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}
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ec_eeprom_write_request_t;
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/*****************************************************************************/
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typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
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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_master
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{
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    ec_master_t *master; /**< master 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 on datagram timeout. */
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    void (*state)(ec_fsm_master_t *); /**< master state function */
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    unsigned int slaves_responding; /**< number of responding slaves */
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    unsigned int topology_change_pending; /**< bus topology changed */
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    ec_slave_state_t slave_states; /**< states of responding slaves */
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    unsigned int validate; /**< non-zero, if validation to do */
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    ec_slave_t *slave; /**< current slave */
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    ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */
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    off_t eeprom_index; /**< index to EEPROM write request data */
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    ec_sdo_request_t *sdo_request; /**< SDO request to process */
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    ec_fsm_slave_t fsm_slave; /**< slave state machine */
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    ec_fsm_sii_t fsm_sii; /**< SII state machine */
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    ec_fsm_change_t fsm_change; /**< State change state machine */
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    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
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};
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/*****************************************************************************/
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void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
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void ec_fsm_master_clear(ec_fsm_master_t *);
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int ec_fsm_master_exec(ec_fsm_master_t *);
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int ec_fsm_master_running(ec_fsm_master_t *);
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int ec_fsm_master_success(ec_fsm_master_t *);
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/*****************************************************************************/
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#endif