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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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

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

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT master state machine.

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*/

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

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#ifndef __EC_FSM_MASTER_H__

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#define __EC_FSM_MASTER_H__

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#include "../include/ecrt.h"

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#include "globals.h"

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#include "datagram.h"

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#include "sdo_request.h"

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#include "fsm_slave_config.h"

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#include "fsm_slave_scan.h"

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#include "fsm_pdo.h"

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

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/** SII write request.

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 */

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typedef struct {

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

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

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

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

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

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

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} ec_sii_write_request_t;

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

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

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 */

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typedef struct {

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

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

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

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} ec_master_sdo_request_t;

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

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

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/** Finite state machine of an EtherCAT master.

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 */

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struct ec_fsm_master {

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    ec_master_t *master; /**< master 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 on datagram timeout. */

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

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

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

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

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    unsigned int topology_change_pending; /**< bus topology changed */

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

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

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

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

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

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

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

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

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

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

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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_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);

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void ec_fsm_master_clear(ec_fsm_master_t *);

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void ec_fsm_master_exec(ec_fsm_master_t *);

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int ec_fsm_master_idle(const ec_fsm_master_t *);

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

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#endif