master/fsm_slave_config.h
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 10:12:55 -0400
changeset 2625 e25af8bd3957
parent 2589 2b9c78543663
permissions -rw-r--r--
Eoe mac address now derived from unique mac.
The EoE MAC address is now derived from the NIC part of the first global
unique MAC address of the linked list of available network interfaces or
otherwise the MAC address used by the EtherCAT master. The EoE MAC address
will get the format 02:NIC:NIC:NIC:RP:RP where NIC comes from the unique MAC
address (if available) and RP is the ring position of the EoE slave.
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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 slave configuration state machine.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_SLAVE_CONFIG_H__
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#define __EC_FSM_SLAVE_CONFIG_H__
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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#include "fsm_change.h"
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#include "fsm_coe.h"
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#include "fsm_pdo.h"
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/*****************************************************************************/
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/** \see ec_fsm_slave_config */
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typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
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/** Finite state machine to configure an EtherCAT slave.
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 */
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struct ec_fsm_slave_config
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{
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    ec_datagram_t *datagram; /**< Datagram used in the state machine. */
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    ec_fsm_change_t *fsm_change; /**< State change state machine. */
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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_slave_t *slave; /**< Slave the FSM runs on. */
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    void (*state)(ec_fsm_slave_config_t *); /**< State function. */
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    unsigned int retries; /**< Retries on datagram timeout. */
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    ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
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    ec_sdo_request_t request_copy; /**< Copied SDO request. */
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    ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */
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    ec_soe_request_t soe_request_copy; /**< Copied SDO request. */
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    unsigned long jiffies_start; /**< For timeout calculations. */
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    unsigned int take_time; /**< Store jiffies after datagram reception. */
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};
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/*****************************************************************************/
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void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
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        ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);
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void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
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int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
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int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
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/*****************************************************************************/
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#endif