author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:11:20 +0100 | |
changeset 2249 | 6dbd7594dd1d |
parent 2045 | ff2a13a4603c |
child 2589 | 2b9c78543663 |
permissions | -rw-r--r-- |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
1 |
/****************************************************************************** |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
2 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
3 |
* $Id$ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
4 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
5 |
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
6 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
7 |
* This file is part of the IgH EtherCAT Master. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
8 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
9 |
* The IgH EtherCAT Master is free software; you can redistribute it and/or |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
10 |
* modify it under the terms of the GNU General Public License version 2, as |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
11 |
* published by the Free Software Foundation. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
12 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
13 |
* The IgH EtherCAT Master is distributed in the hope that it will be useful, |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
14 |
* but WITHOUT ANY WARRANTY; without even the implied warranty of |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
15 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
16 |
* Public License for more details. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
17 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
18 |
* You should have received a copy of the GNU General Public License along |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
19 |
* with the IgH EtherCAT Master; if not, write to the Free Software |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
20 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
21 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
22 |
* --- |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
23 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
24 |
* The license mentioned above concerns the source code only. Using the |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
25 |
* EtherCAT technology and brand is only permitted in compliance with the |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
26 |
* industrial property and similar rights of Beckhoff Automation GmbH. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
27 |
* |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
28 |
*****************************************************************************/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
29 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
30 |
/** |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
31 |
\file |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
32 |
EtherCAT slave request (SDO) state machine. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
33 |
*/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
34 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
35 |
/*****************************************************************************/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
36 |
#ifndef __EC_FSM_SLAVE_H__ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
37 |
#define __EC_FSM_SLAVE_H__ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
38 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
39 |
#include "globals.h" |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
40 |
#include "datagram.h" |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
41 |
#include "sdo_request.h" |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
42 |
#include "fsm_coe.h" |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1583
diff
changeset
|
43 |
#include "fsm_foe.h" |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
1601
diff
changeset
|
44 |
#include "fsm_soe.h" |
2027
ac35f4d38a31
SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents:
2017
diff
changeset
|
45 |
#include "fsm_master.h" |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
46 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
47 |
typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
48 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
49 |
/** Finite state machine of an EtherCAT slave. |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
50 |
*/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
51 |
struct ec_fsm_slave { |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
52 |
ec_slave_t *slave; /**< slave the FSM runs on */ |
2045
ff2a13a4603c
Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents:
2032
diff
changeset
|
53 |
ec_mailbox_t *mbox; /**< mailbox used in the state machine */ |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
54 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
55 |
void (*state)(ec_fsm_slave_t *); /**< master state function */ |
2027
ac35f4d38a31
SDO wait_event() deadlock fixed: refcount ec_master_sdo_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents:
2017
diff
changeset
|
56 |
ec_master_sdo_request_t *sdo_request; /**< SDO request to process. */ |
2029
5ef6507fc77a
FoE wait_event() deadlock fixed: refcount ec_master_foe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents:
2027
diff
changeset
|
57 |
ec_master_foe_request_t *foe_request; /**< FoE request to process. */ |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1583
diff
changeset
|
58 |
off_t foe_index; /**< index to FoE write request data */ |
2032
57c618557912
SoE request wait_event() deadlock fixed: use wait_event_interruptible and refcount ec_master_soe_request_t objects with kref
Martin Troxler <ch1010277@ch10pc446>
parents:
2029
diff
changeset
|
59 |
ec_master_soe_request_t *soe_request; /**< SoE request to process. */ |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
60 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
61 |
ec_fsm_coe_t fsm_coe; /**< CoE state machine */ |
1597
491dea6f4fd7
Moved FOE request queue and fsm into slaves
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1583
diff
changeset
|
62 |
ec_fsm_foe_t fsm_foe; /**< FoE state machine */ |
1831
1875b9fea0ba
Implemented reading Sercos-over-EtherCAT services. To be continued...
Florian Pose <fp@igh-essen.com>
parents:
1601
diff
changeset
|
63 |
ec_fsm_soe_t fsm_soe; /**< SoE state machine */ |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
64 |
}; |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
65 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
66 |
/*****************************************************************************/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
67 |
|
2045
ff2a13a4603c
Reduced frame size when sending to mailbox, uses 2 datagrams. Enabled with configure option --enable-mboxframesize
Martin Troxler <ch1010277@ch10pc446>
parents:
2032
diff
changeset
|
68 |
void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_mailbox_t *); |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
69 |
void ec_fsm_slave_clear(ec_fsm_slave_t *); |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
70 |
|
2017
4b16e2dce5fb
Increment injection_seq on slave state changes
Martin Troxler <ch1010277@ch10pc446>
parents:
1831
diff
changeset
|
71 |
int ec_fsm_slave_exec(ec_fsm_slave_t *); |
1601
a784812c787f
master FSM enables slave FSM
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
1597
diff
changeset
|
72 |
void ec_fsm_slave_ready(ec_fsm_slave_t *); |
1583
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
73 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
74 |
/*****************************************************************************/ |
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
75 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
76 |
|
017fa8fd9ac1
Each slave got its own SDO state machine (faster handling of external SDO requests)
Martin Troxler <martin.troxler@komaxgroup.com>
parents:
diff
changeset
|
77 |
#endif // __EC_FSM_SLAVE_H__ |