| author | Florian Pose <fp@igh-essen.com> |
| Wed, 18 Jun 2008 11:16:30 +0000 | |
| changeset 1025 | ae175095f09a |
| parent 979 | 405cc2d033e0 |
| child 1039 | 2881a83d084f |
| permissions | -rw-r--r-- |
| 433 | 1 |
/****************************************************************************** |
2 |
* |
|
3 |
* $Id$ |
|
4 |
* |
|
5 |
* Copyright (C) 2006 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 |
|
10 |
* and/or modify it under the terms of the GNU General Public License |
|
11 |
* as published by the Free Software Foundation; either version 2 of the |
|
12 |
* License, or (at your option) any later version. |
|
13 |
* |
|
14 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
|
15 |
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
|
16 |
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
|
17 |
* GNU General Public License for more details. |
|
18 |
* |
|
19 |
* You should have received a copy of the GNU General Public License |
|
20 |
* along with the IgH EtherCAT Master; if not, write to the Free Software |
|
21 |
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
|
22 |
* |
|
23 |
* The right to use EtherCAT Technology is granted and comes free of |
|
24 |
* charge under condition of compatibility of product made by |
|
25 |
* Licensee. People intending to distribute/sell products based on the |
|
26 |
* code, have to sign an agreement to guarantee that products using |
|
27 |
* software based on IgH EtherCAT master stay compatible with the actual |
|
28 |
* EtherCAT specification (which are released themselves as an open |
|
29 |
* standard) as the (only) precondition to have the right to use EtherCAT |
|
30 |
* Technology, IP and trade marks. |
|
31 |
* |
|
32 |
*****************************************************************************/ |
|
33 |
||
34 |
/** |
|
35 |
\file |
|
36 |
EtherCAT slave information interface FSM structure. |
|
37 |
*/ |
|
38 |
||
39 |
/*****************************************************************************/ |
|
40 |
||
|
883
4963e22a267a
Equalized defines against duplicated header inclusion.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
41 |
#ifndef __EC_FSM_SII_H__ |
|
4963e22a267a
Equalized defines against duplicated header inclusion.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
42 |
#define __EC_FSM_SII_H__ |
| 433 | 43 |
|
44 |
#include "globals.h" |
|
45 |
#include "../include/ecrt.h" |
|
46 |
#include "datagram.h" |
|
47 |
#include "slave.h" |
|
48 |
||
49 |
/*****************************************************************************/ |
|
50 |
||
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
51 |
/** SII access addressing mode. |
|
758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
755
diff
changeset
|
52 |
*/ |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
53 |
typedef enum {
|
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
54 |
EC_FSM_SII_USE_INCREMENT_ADDRESS, /**< Use auto-increment addressing. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
55 |
EC_FSM_SII_USE_CONFIGURED_ADDRESS /**< Use configured addresses. */ |
|
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
758
diff
changeset
|
56 |
} ec_fsm_sii_addressing_t; |
| 433 | 57 |
|
58 |
/*****************************************************************************/ |
|
59 |
||
60 |
typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */ |
|
61 |
||
62 |
/** |
|
63 |
Slave information interface FSM. |
|
64 |
*/ |
|
65 |
||
66 |
struct ec_fsm_sii |
|
67 |
{
|
|
68 |
ec_slave_t *slave; /**< slave the FSM runs on */ |
|
69 |
ec_datagram_t *datagram; /**< datagram used in the state machine */ |
|
|
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
70 |
unsigned int retries; /**< retries upon datagram timeout */ |
| 433 | 71 |
|
72 |
void (*state)(ec_fsm_sii_t *); /**< SII state function */ |
|
|
755
178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
|
73 |
uint16_t word_offset; /**< input: word offset in SII */ |
| 433 | 74 |
ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */ |
75 |
uint8_t value[4]; /**< raw SII value (32bit) */ |
|
76 |
cycles_t cycles_start; /**< start timestamp */ |
|
77 |
uint8_t check_once_more; /**< one more try after timeout */ |
|
78 |
}; |
|
79 |
||
80 |
/*****************************************************************************/ |
|
81 |
||
82 |
void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *); |
|
83 |
void ec_fsm_sii_clear(ec_fsm_sii_t *); |
|
84 |
||
85 |
void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *, |
|
86 |
uint16_t, ec_fsm_sii_addressing_t); |
|
|
600
b0660152f710
Made data pointer in ec_fsm_sii_write() const.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
87 |
void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, |
|
979
405cc2d033e0
Renamed some fields in ec_sii_request_t to word addressing.
Florian Pose <fp@igh-essen.com>
parents:
883
diff
changeset
|
88 |
const uint16_t *, ec_fsm_sii_addressing_t); |
| 433 | 89 |
|
|
435
779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
|
90 |
int ec_fsm_sii_exec(ec_fsm_sii_t *); |
| 433 | 91 |
int ec_fsm_sii_success(ec_fsm_sii_t *); |
92 |
||
93 |
/*****************************************************************************/ |
|
94 |
||
95 |
#endif |