master/fsm_slave.h
author Florian Pose <fp@igh-essen.com>
Mon, 29 Mar 2010 13:53:17 +0200
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Included futher AL status code messages.
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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 request (SDO) state machine.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_SLAVE_H__
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#define __EC_FSM_SLAVE_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_coe.h"
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#include "fsm_foe.h"
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#include "fsm_soe.h"
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typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
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/** Finite state machine of an EtherCAT slave.
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 */
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struct ec_fsm_slave {
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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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    void (*state)(ec_fsm_slave_t *); /**< master state function */
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    ec_sdo_request_t *sdo_request; /**< SDO request to process. */
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    ec_foe_request_t *foe_request; /**< FoE request to process. */
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    off_t foe_index; /**< index to FoE write request data */
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    ec_soe_request_t *soe_request; /**< SoE request to process. */
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    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
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    ec_fsm_foe_t fsm_foe; /**< FoE state machine */
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    ec_fsm_soe_t fsm_soe; /**< SoE state machine */
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};
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/*****************************************************************************/
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void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_clear(ec_fsm_slave_t *);
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void ec_fsm_slave_exec(ec_fsm_slave_t *);
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void ec_fsm_slave_ready(ec_fsm_slave_t *);
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/*****************************************************************************/
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#endif // __EC_FSM_SLAVE_H__