| author | Florian Pose <fp@igh-essen.com> |
| Fri, 01 Feb 2008 20:26:26 +0000 | |
| changeset 779 | b39a6a4d3671 |
| parent 758 | 8fa6f825eb7d |
| child 815 | 002fe9ec778f |
| permissions | -rw-r--r-- |
| 433 | 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 slave information interface FSM structure. |
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*/ |
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/*****************************************************************************/ |
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#ifndef __EC_FSM_SII__ |
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#define __EC_FSM_SII__ |
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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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/*****************************************************************************/ |
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758
8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
755
diff
changeset
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/** |
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8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
755
diff
changeset
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* SII access addressing mode. |
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8fa6f825eb7d
Updated Doxygen documentation.
Florian Pose <fp@igh-essen.com>
parents:
755
diff
changeset
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*/ |
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typedef enum |
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{
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EC_FSM_SII_POSITION, |
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EC_FSM_SII_NODE |
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} |
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ec_fsm_sii_addressing_t; |
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/*****************************************************************************/ |
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typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */ |
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/** |
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Slave information interface FSM. |
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*/ |
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struct ec_fsm_sii |
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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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505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
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unsigned int retries; /**< retries upon datagram timeout */ |
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void (*state)(ec_fsm_sii_t *); /**< SII state function */ |
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178353fc47e5
SII writing workaround for some slaves, that don't respond correctly;
Florian Pose <fp@igh-essen.com>
parents:
754
diff
changeset
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uint16_t word_offset; /**< input: word offset in SII */ |
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ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */ |
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uint8_t value[4]; /**< raw SII value (32bit) */ |
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cycles_t cycles_start; /**< start timestamp */ |
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uint8_t check_once_more; /**< one more try after timeout */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *); |
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void ec_fsm_sii_clear(ec_fsm_sii_t *); |
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void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *, |
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uint16_t, ec_fsm_sii_addressing_t); |
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b0660152f710
Made data pointer in ec_fsm_sii_write() const.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
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void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, |
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0b47b49c5976
Changed unit of ec_eeprom_write_request_t from word to byte.
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600
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changeset
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const uint8_t *, ec_fsm_sii_addressing_t); |
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779a18d12e6c
Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents:
433
diff
changeset
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int ec_fsm_sii_exec(ec_fsm_sii_t *); |
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int ec_fsm_sii_success(ec_fsm_sii_t *); |
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/*****************************************************************************/ |
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#endif |