1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT master state machine.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#ifndef __EC_FSM_MASTER_H__

    38

#define __EC_FSM_MASTER_H__

    39

    40

#include "globals.h"

    41

#include "datagram.h"

    42

#include "foe_request.h"

    43

#include "sdo_request.h"

    44

#include "soe_request.h"

    45

#include "fsm_slave_config.h"

    46

#include "fsm_slave_scan.h"

    47

#include "fsm_pdo.h"

    48

    49

/*****************************************************************************/

    50

    51

/** SII write request.

    52

 */

    53

typedef struct {

    54

    struct list_head list; /**< List head. */

    55

    ec_slave_t *slave; /**< EtherCAT slave. */

    56

    uint16_t offset; /**< SII word offset. */

    57

    size_t nwords; /**< Number of words. */

    58

    const uint16_t *words; /**< Pointer to the data words. */

    59

    ec_internal_request_state_t state; /**< State of the request. */

    60

} ec_sii_write_request_t;

    61

    62

/*****************************************************************************/

    63

    64

/** Register request.

    65

 */

    66

typedef struct {

    67

    struct list_head list; /**< List head. */

    68

    ec_slave_t *slave; /**< EtherCAT slave. */

    69

    ec_direction_t dir; /**< Direction. */

    70

    uint16_t offset; /**< Register address. */

    71

    size_t length; /**< Number of bytes. */

    72

    uint8_t *data; /**< Data to write / memory for read data. */

    73

    ec_internal_request_state_t state; /**< State of the request. */

    74

} ec_reg_request_t;

    75

    76

/*****************************************************************************/

    77

    78

/** Slave/SDO request record for master's SDO request list.

    79

 */

    80

typedef struct {

    81

    struct list_head list; /**< List element. */

    82

    ec_slave_t *slave; /**< Slave. */

    83

    ec_sdo_request_t req; /**< SDO request. */

    84

} ec_master_sdo_request_t;

    85

    86

/*****************************************************************************/

    87

    88

/** FoE request.

    89

 */

    90

typedef struct {

    91

    struct list_head list; /**< List head. */

    92

    ec_slave_t *slave; /**< EtherCAT slave. */

    93

    ec_foe_request_t req; /**< FoE request. */

    94

} ec_master_foe_request_t;

    95

    96

/*****************************************************************************/

    97

    98

/** SoE request.

    99

 */

   100

typedef struct {

   101

    struct list_head list; /**< List head. */

   102

    ec_slave_t *slave; /**< EtherCAT slave. */

   103

    ec_soe_request_t req; /**< SoE request. */

   104

} ec_master_soe_request_t;

   105

   106

/*****************************************************************************/

   107

   108

typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */

   109

   110

/** Finite state machine of an EtherCAT master.

   111

 */

   112

struct ec_fsm_master {

   113

    ec_master_t *master; /**< master the FSM runs on */

   114

    ec_datagram_t *datagram; /**< datagram used in the state machine */

   115

    unsigned int retries; /**< retries on datagram timeout. */

   116

   117

    void (*state)(ec_fsm_master_t *); /**< master state function */

   118

    int idle; /**< state machine is in idle phase */

   119

    unsigned long scan_jiffies; /**< beginning of slave scanning */

   120

    uint8_t link_state; /**< Last main device link state. */

   121

    unsigned int slaves_responding; /**< number of responding slaves */

   122

    unsigned int rescan_required; /**< A bus rescan is required. */

   123

    ec_slave_state_t slave_states; /**< states of responding slaves */

   124

    ec_slave_t *slave; /**< current slave */

   125

    ec_sii_write_request_t *sii_request; /**< SII write request */

   126

    off_t sii_index; /**< index to SII write request data */

   127

    ec_sdo_request_t *sdo_request; /**< SDO request to process. */

   128

    ec_reg_request_t *reg_request; /**< Register request to process. */

   129

   130

    ec_fsm_coe_t fsm_coe; /**< CoE state machine */

   131

    ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */

   132

    ec_fsm_change_t fsm_change; /**< State change state machine */

   133

    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */

   134

    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

   135

    ec_fsm_sii_t fsm_sii; /**< SII state machine */

   136

};

   137

   138

/*****************************************************************************/

   139

   140

void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);

   141

void ec_fsm_master_clear(ec_fsm_master_t *);

   142

   143

int ec_fsm_master_exec(ec_fsm_master_t *);

   144

int ec_fsm_master_idle(const ec_fsm_master_t *);

   145

   146

/*****************************************************************************/

   147

   148

#endif