author | Florian Pose <fp@gh.de> |
Fri, 03 Mar 2017 13:55:01 +0100 | |
branch | stable-1.5 |
changeset 2668 | dd32f74ee76e |
parent 2482 | 06b53ebfa0c3 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006-2012 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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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 "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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} ec_sii_write_request_t; |
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/*****************************************************************************/ |
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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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unsigned int retries; /**< retries on datagram timeout. */ |
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|
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void (*state)(ec_fsm_master_t *); /**< master state function */ |
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ec_device_index_t dev_idx; /**< Current device index (for scanning etc.). |
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*/ |
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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[EC_MAX_NUM_DEVICES]; /**< Last link state for every |
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device. */ |
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unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; /**< Number of |
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responding slaves |
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for every device. */ |
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unsigned int rescan_required; /**< A bus rescan is required. */ |
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ec_slave_state_t slave_states[EC_MAX_NUM_DEVICES]; /**< AL states of |
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responding slaves for |
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every device. */ |
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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_fsm_coe_t fsm_coe; /**< CoE state machine */ |
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ec_fsm_soe_t fsm_soe; /**< SoE 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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Reset master state machine when going to orphaned phase.
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void ec_fsm_master_reset(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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Explicit use of slave configuration FSM in ecrt_master_activate() and ecrt_master_release().
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/*****************************************************************************/ |
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#endif |