master/fsm_master.h
author Florian Pose <fp@igh-essen.com>
Mon, 24 Sep 2007 10:35:00 +0000
changeset 757 6210c4260899
parent 754 0b47b49c5976
child 758 8fa6f825eb7d
permissions -rw-r--r--
Added Doxyfile to configuration files.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    12
 *  License, or (at your option) any later version.
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU General Public License for more details.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
246
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    24
 *  charge under condition of compatibility of product made by
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    30
 *  Technology, IP and trade marks.
0bf7c769de06 Changed license headers and added EtherCAT license notice.
Florian Pose <fp@igh-essen.com>
parents: 238
diff changeset
    31
 *
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
 *****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
/**
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
   \file
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
   EtherCAT finite state machines.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    41
#ifndef __EC_FSM_MASTER__
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    42
#define __EC_FSM_MASTER__
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
325
7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
Florian Pose <fp@igh-essen.com>
parents: 293
diff changeset
    44
#include "globals.h"
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
#include "../include/ecrt.h"
293
14aeb79aa992 Renamed command structure to datagram.
Florian Pose <fp@igh-essen.com>
parents: 286
diff changeset
    46
#include "datagram.h"
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
#include "slave.h"
409
bc4c852e1b93 Implemented fetching of SDO dictionary.
Florian Pose <fp@igh-essen.com>
parents: 405
diff changeset
    48
#include "canopen.h"
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    50
#include "fsm_slave.h"
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
    51
#include "fsm_coe_map.h"
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
    52
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    55
/**
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    56
 * EEPROM write request.
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    57
 */
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    58
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    59
typedef struct
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    60
{
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    61
    struct list_head list;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    62
    ec_slave_t *slave;
754
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
    63
    off_t word_offset;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
    64
    size_t word_size;
0b47b49c5976 Changed unit of ec_eeprom_write_request_t from word to byte.
Florian Pose <fp@igh-essen.com>
parents: 741
diff changeset
    65
    const uint8_t *data;
645
473ec2246ec1 Renamed ec_eeprom_request_state_t enum to ec_request_state_t and made it
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
    66
    ec_request_state_t state;
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    67
}
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    68
ec_eeprom_write_request_t;
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    69
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    70
/*****************************************************************************/
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    71
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    72
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
/**
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
   Finite state machine of an EtherCAT master.
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
*/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    78
struct ec_fsm_master
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
{
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
    ec_master_t *master; /**< master the FSM runs on */
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    81
    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: 489
diff changeset
    82
    unsigned int retries; /**< retries on datagram timeout. */
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    84
    void (*state)(ec_fsm_master_t *); /**< master state function */
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
    85
    int idle; /**< state machine is in idle phase */
652
15cff76b66c7 Added scan time output.
Florian Pose <fp@igh-essen.com>
parents: 650
diff changeset
    86
    unsigned long scan_jiffies; /**< beginning of slave scanning */
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    87
    unsigned int slaves_responding; /**< number of responding slaves */
553
a4e0267825e3 Introduced topology_change_pending to delay bus scanning until IDLE mode
Florian Pose <fp@igh-essen.com>
parents: 528
diff changeset
    88
    unsigned int topology_change_pending; /**< bus topology changed */
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    89
    ec_slave_state_t slave_states; /**< states of responding slaves */
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    90
    unsigned int validate; /**< non-zero, if validation to do */
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
    91
    unsigned int tainted; /**< non-zero, if the current bus topology does
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 605
diff changeset
    92
                            not meet the initial conditions */
656
370aa8c2d1b1 Slave configuration exclusively from master thread; removed
Florian Pose <fp@igh-essen.com>
parents: 652
diff changeset
    93
    unsigned int config_error; /**< error during slave configuration */
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    94
    ec_slave_t *slave; /**< current slave */
601
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    95
    ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */
d6d951b766e3 Introduced EEPROM write requests: EEPROM write operations from user
Florian Pose <fp@igh-essen.com>
parents: 553
diff changeset
    96
    off_t eeprom_index; /**< index to EEPROM write request data */
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    97
    ec_sdo_request_t *sdo_request; /**< SDO request to process */
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    98
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
    99
    ec_fsm_slave_t fsm_slave; /**< slave state machine */
433
100f51f28cf2 Layed out SII state machine.
Florian Pose <fp@igh-essen.com>
parents: 430
diff changeset
   100
    ec_fsm_sii_t fsm_sii; /**< SII state machine */
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents: 433
diff changeset
   101
    ec_fsm_change_t fsm_change; /**< State change state machine */
436
63214beb641d Layed out CoE state machine.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   102
    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
741
aece53f82df3 Read PDO mapping from SDO dictionary (working, not finished yet).
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   103
    ec_fsm_coe_map_t fsm_coe_map; /**< CoE mapping state machine */
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   104
};
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   105
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   106
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   107
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   108
void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   109
void ec_fsm_master_clear(ec_fsm_master_t *);
446
8fede404c01f Persistent slave lists.
Florian Pose <fp@igh-essen.com>
parents: 436
diff changeset
   110
528
f789bdd78b54 Layed out slave state machines in own files fsm_slave.[ch]; renamed fsm.[ch] to fsm_master.[ch]
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   111
int ec_fsm_master_exec(ec_fsm_master_t *);
650
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   112
int ec_fsm_master_running(const ec_fsm_master_t *);
c68995623e94 Introduced idle flag in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 645
diff changeset
   113
int ec_fsm_master_idle(const ec_fsm_master_t *);
456
dea14706efc2 Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
Florian Pose <fp@igh-essen.com>
parents: 446
diff changeset
   114
238
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   115
/*****************************************************************************/
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   116
b4960499098f Added finite state machine (FSM) processing.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   117
#endif