etherlabmaster: master/fsm_sii.h@df6cdc79ea56 (annotated)

433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	11	* published by the Free Software Foundation.
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	16	* Public License for more details.
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	18	* You should have received a copy of the GNU General Public License along
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	*
1685 399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	22	* Using the EtherCAT technology and brand is permitted in compliance with
399ef727bf62 Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1039 diff changeset	23	* the industrial property and similar rights of Beckhoff Automation GmbH.
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	*
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	\file
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	EtherCAT slave information interface FSM structure.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
883 4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	34	#ifndef __EC_FSM_SII_H__
4963e22a267a Equalized defines against duplicated header inclusion. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	35	#define __EC_FSM_SII_H__
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "globals.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "../include/ecrt.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "datagram.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	#include "slave.h"
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	44	/** SII access addressing mode.
758 8fa6f825eb7d Updated Doxygen documentation. Florian Pose <fp@igh-essen.com> parents: 755 diff changeset	45	*/
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	46	typedef enum {
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	47	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	48	EC_FSM_SII_USE_CONFIGURED_ADDRESS /*< Use configured addresses. /
002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 758 diff changeset	49	} ec_fsm_sii_addressing_t;
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	50
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	52
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	typedef struct ec_fsm_sii ec_fsm_sii_t; /*< \see ec_fsm_sii /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	/**
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	Slave information interface FSM.
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	*/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	struct ec_fsm_sii
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	{
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	ec_slave_t slave; /< slave the FSM runs on /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62	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	63	unsigned int retries; /*< retries upon datagram timeout /
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	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	66	uint16_t word_offset; /*< input: word offset in SII /
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	ec_fsm_sii_addressing_t mode; /*< reading via APRD or NPRD /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	uint8_t value[4]; /*< raw SII value (32bit) /
1039 2881a83d084f Use jiffies instead of cycles in SII state machine. Florian Pose <fp@igh-essen.com> parents: 979 diff changeset	69	unsigned long jiffies_start; /*< Start timestamp. /
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	uint8_t check_once_more; /*< one more try after timeout /
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	};
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	void ec_fsm_sii_init(ec_fsm_sii_t , ec_datagram_t );
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	void ec_fsm_sii_clear(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_sii_read(ec_fsm_sii_t , ec_slave_t ,
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	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	80	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	81	const uint16_t *, ec_fsm_sii_addressing_t);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 433 diff changeset	83	int ec_fsm_sii_exec(ec_fsm_sii_t *);
433 100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	int ec_fsm_sii_success(ec_fsm_sii_t *);
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	/*****************************************************************************/
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
100f51f28cf2 Layed out SII state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	#endif

author	Florian Pose <fp@igh-essen.com>
	Mon, 26 Jan 2009 12:04:49 +0000
branch	1.4-foe
changeset 1713	df6cdc79ea56
parent 1685	399ef727bf62
permissions	-rw-r--r--