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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 finite state machines.

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*/

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

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#ifndef __EC_FSM_MASTER__

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#define __EC_FSM_MASTER__

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#include "globals.h"

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

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#include "datagram.h"

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//#include "slave.h"

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#include "canopen.h"

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#include "fsm_slave.h"

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#include "fsm_coe_map.h"

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

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/**

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 * EEPROM write request.

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 */

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typedef struct

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{

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

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

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    off_t word_offset; /**< SII address in words */

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    size_t word_size; /**< data size in words */

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    const uint8_t *data; /**< pointer to the data */

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

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}

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ec_eeprom_write_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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/**

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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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{

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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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    unsigned int validate; /**< non-zero, if validation to do */

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    unsigned int tainted; /**< non-zero, if the current bus topology does

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                            not meet the initial conditions */

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    unsigned int config_error; /**< error during slave configuration */

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

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    ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */

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    off_t eeprom_index; /**< index to EEPROM write request data */

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

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    ec_fsm_slave_t fsm_slave; /**< slave state machine */

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

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

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

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    ec_fsm_coe_map_t fsm_coe_map; /**< CoE mapping 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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int ec_fsm_master_exec(ec_fsm_master_t *);

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int ec_fsm_master_running(const 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