author | Florian Pose <fp@igh-essen.com> |
Fri, 01 Feb 2008 20:26:26 +0000 | |
changeset 779 | b39a6a4d3671 |
parent 505 | bc443ca0077f |
child 814 | a51f857b1b2d |
permissions | -rw-r--r-- |
436 | 1 |
/****************************************************************************** |
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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 CoE state machines. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_FSM_COE__ |
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#define __EC_FSM_COE__ |
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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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/*****************************************************************************/ |
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typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */ |
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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_coe |
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{ |
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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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bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
436
diff
changeset
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unsigned int retries; /**< retries upon datagram timeout */ |
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void (*state)(ec_fsm_coe_t *); /**< CoE state function */ |
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ec_sdo_data_t *sdodata; /**< input/output: SDO data object */ |
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cycles_t cycles_start; /**< CoE timestamp */ |
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ec_sdo_t *sdo; /**< current SDO */ |
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uint8_t subindex; /**< current subindex */ |
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ec_sdo_request_t *request; /**< SDO request */ |
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uint8_t toggle; /**< toggle bit for segment commands */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *); |
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void ec_fsm_coe_clear(ec_fsm_coe_t *); |
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *); |
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void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *); |
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void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *); |
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int ec_fsm_coe_exec(ec_fsm_coe_t *); |
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int ec_fsm_coe_success(ec_fsm_coe_t *); |
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/*****************************************************************************/ |
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#endif |