author | Florian Pose <fp@igh-essen.com> |
Wed, 09 Nov 2011 17:06:04 +0100 | |
branch | redundancy |
changeset 2159 | 72ac85ee3729 |
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 state change FSM. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_FSM_CHANGE_H__ |
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#define __EC_FSM_CHANGE_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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/*****************************************************************************/ |
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/** |
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Mode of the change state machine. |
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*/ |
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typedef enum { |
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EC_FSM_CHANGE_MODE_FULL, /**< full state change */ |
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EC_FSM_CHANGE_MODE_ACK_ONLY /**< only state acknowledgement */ |
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} |
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ec_fsm_change_mode_t; |
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/*****************************************************************************/ |
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typedef struct ec_fsm_change ec_fsm_change_t; /**< \see ec_fsm_change */ |
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/** |
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EtherCAT state change FSM. |
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*/ |
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struct ec_fsm_change |
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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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unsigned int retries; /**< retries upon datagram timeout */ |
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void (*state)(ec_fsm_change_t *); /**< slave state change state function */ |
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ec_fsm_change_mode_t mode; /**< full state change, or ack only. */ |
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ec_slave_state_t requested_state; /**< input: state */ |
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ec_slave_state_t old_state; /**< prior slave state */ |
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unsigned long jiffies_start; /**< change timer */ |
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uint8_t take_time; /**< take sending timestamp */ |
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uint8_t spontaneous_change; /**< spontaneous state change detected */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *); |
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void ec_fsm_change_clear(ec_fsm_change_t *); |
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void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t); |
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void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *); |
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int ec_fsm_change_exec(ec_fsm_change_t *); |
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int ec_fsm_change_success(ec_fsm_change_t *); |
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/*****************************************************************************/ |
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#endif |