author | Florian Pose <fp@igh-essen.com> |
Fri, 05 Mar 2010 17:23:05 +0100 | |
changeset 1846 | 656957b7ad5c |
parent 1363 | 11c0b2caa253 |
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) 2006-2008 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 and/or |
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* modify it under the terms of the GNU General Public License version 2, as |
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* published by the Free Software Foundation. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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* but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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* 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 along |
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* 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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* --- |
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* |
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* The license mentioned above concerns the source code only. Using the |
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* EtherCAT technology and brand is only permitted in compliance with the |
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* industrial property and similar rights of Beckhoff Automation GmbH. |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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EtherCAT slave scanning state machine. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_FSM_SLAVE_SCAN_H__ |
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#define __EC_FSM_SLAVE_SCAN_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 "fsm_sii.h" |
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#include "fsm_change.h" |
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#include "fsm_coe.h" |
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#include "fsm_pdo.h" |
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/*****************************************************************************/ |
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/** \see ec_fsm_slave_scan */ |
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typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t; |
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/** Finite state machine for scanning an EtherCAT slave. |
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*/ |
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struct ec_fsm_slave_scan |
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{ |
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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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ec_fsm_slave_config_t *fsm_slave_config; /**< Slave configuration state |
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machine to use. */ |
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ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine to use. */ |
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unsigned int retries; /**< Retries on datagram timeout. */ |
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void (*state)(ec_fsm_slave_scan_t *); /**< State function. */ |
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uint16_t sii_offset; /**< SII offset in words. */ |
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ec_fsm_sii_t fsm_sii; /**< SII state machine. */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *, |
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ec_fsm_slave_config_t *, ec_fsm_pdo_t *); |
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void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *); |
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void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *); |
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int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *); |
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int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *); |
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/*****************************************************************************/ |
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#endif |