master/fsm_master.h
author Florian Pose <fp@igh-essen.com>
Wed, 04 Jan 2012 13:57:48 +0100
changeset 2185 bc08b092238d
parent 2094 83e9160319ec
child 2589 2b9c78543663
permissions -rw-r--r--
Minor changes.
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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 master state machine.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_MASTER_H__
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#define __EC_FSM_MASTER_H__
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7833cf70c4f2 VERSION 1.1: New realtime interface, only state machines.
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#include "globals.h"
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#include "datagram.h"
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#include "mailbox.h"
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#include "foe_request.h"
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#include "sdo_request.h"
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#include "soe_request.h"
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#include "fsm_slave_config.h"
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#include "fsm_slave_scan.h"
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#include "fsm_pdo.h"
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/*****************************************************************************/
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/** SII write request.
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 */
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typedef struct {
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    struct list_head list; /**< List head. */
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    ec_slave_t *slave; /**< EtherCAT slave. */
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    uint16_t offset; /**< SII word offset. */
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    size_t nwords; /**< Number of words. */
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    const uint16_t *words; /**< Pointer to the data words. */
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    ec_internal_request_state_t state; /**< State of the request. */
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    struct kref refcount;
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} ec_sii_write_request_t;
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void ec_master_sii_write_request_release(struct kref *);
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/*****************************************************************************/
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/** Register request.
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 */
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typedef struct {
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    struct list_head list; /**< List head. */
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    ec_slave_t *slave; /**< EtherCAT slave. */
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    ec_direction_t dir; /**< Direction. */
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    uint16_t offset; /**< Register address. */
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    size_t length; /**< Number of bytes. */
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    uint8_t *data; /**< Data to write / memory for read data. */
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    ec_internal_request_state_t state; /**< State of the request. */
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    struct kref refcount;
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} ec_reg_request_t;
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void ec_master_reg_request_release(struct kref *);
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/*****************************************************************************/
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/** Slave/SDO request record for master's SDO request list.
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 */
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typedef struct {
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    struct list_head list; /**< List element. */
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    ec_slave_t *slave; /**< Slave. */
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    ec_sdo_request_t req; /**< SDO request. */
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    struct kref refcount;
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} ec_master_sdo_request_t;
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void ec_master_sdo_request_release(struct kref *);
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/*****************************************************************************/
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/** FoE request.
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 */
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typedef struct {
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    struct list_head list; /**< List head. */
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    ec_slave_t *slave; /**< EtherCAT slave. */
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    ec_foe_request_t req; /**< FoE request. */
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    struct kref refcount;
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} ec_master_foe_request_t;
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void ec_master_foe_request_release(struct kref *);
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/*****************************************************************************/
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/** SoE request.
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 */
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typedef struct {
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    struct list_head list; /**< List head. */
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    ec_slave_t *slave; /**< EtherCAT slave. */
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    ec_soe_request_t req; /**< SoE request. */
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    struct kref refcount;
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} ec_master_soe_request_t;
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void ec_master_soe_request_release(struct kref *);
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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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/** Finite state machine of an EtherCAT master.
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 */
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struct ec_fsm_master {
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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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    ec_mailbox_t *mbox; /**< mailbox 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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    uint8_t link_state; /**< Last main device link state. */
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    unsigned int slaves_responding; /**< number of responding slaves */
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    unsigned int rescan_required; /**< A bus rescan is required. */
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    ec_slave_state_t slave_states; /**< states of responding slaves */
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    ec_slave_t *slave; /**< current slave */
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    ec_sii_write_request_t *sii_request; /**< SII write request */
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    off_t sii_index; /**< index to SII write request data */
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    ec_sdo_request_t *sdo_request; /**< SDO request to process. */
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    ec_reg_request_t *reg_request; /**< Register request to process. */
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    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
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    ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
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    ec_fsm_change_t fsm_change; /**< State change state machine */
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    ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
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    ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
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    ec_fsm_sii_t fsm_sii; /**< SII 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_idle(const ec_fsm_master_t *);
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/*****************************************************************************/
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#endif