1

/******************************************************************************

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6

 *

     7

 *  This file is part of the IgH EtherCAT Master.

     8

 *

     9

 *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10

 *  modify it under the terms of the GNU General Public License version 2, as

    11

 *  published by the Free Software Foundation.

    12

 *

    13

 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,

    14

 *  but WITHOUT ANY WARRANTY; without even the implied warranty of

    15

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16

 *  Public License for more details.

    17

 *

    18

 *  You should have received a copy of the GNU General Public License along

    19

 *  with the IgH EtherCAT Master; if not, write to the Free Software

    20

 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21

 *

    22

 *  ---

    23

 *

    24

 *  The license mentioned above concerns the source code only. Using the

    25

 *  EtherCAT technology and brand is only permitted in compliance with the

    26

 *  industrial property and similar rights of Beckhoff Automation GmbH.

    27

 *

    28

 *****************************************************************************/

    29

    30

/**

    31

   \file

    32

   EtherCAT slave configuration state machine.

    33

*/

    34

    35

/*****************************************************************************/

    36

    37

#ifndef __EC_FSM_SLAVE_CONFIG_H__

    38

#define __EC_FSM_SLAVE_CONFIG_H__

    39

    40

#include "globals.h"

    41

#include "slave.h"

    42

#include "datagram.h"

    43

#include "fsm_change.h"

    44

#include "fsm_coe.h"

    45

#include "fsm_pdo.h"

    46

    47

/*****************************************************************************/

    48

    49

/** \see ec_fsm_slave_config */

    50

typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;

    51

    52

/** Finite state machine to configure an EtherCAT slave.

    53

 */

    54

struct ec_fsm_slave_config

    55

{

    56

    ec_datagram_t *datagram; /**< Datagram used in the state machine. */

    57

    ec_fsm_change_t *fsm_change; /**< State change state machine. */

    58

    ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */

    59

    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */

    60

    61

    ec_slave_t *slave; /**< Slave the FSM runs on. */

    62

    void (*state)(ec_fsm_slave_config_t *); /**< State function. */

    63

    unsigned int retries; /**< Retries on datagram timeout. */

    64

    ec_sdo_request_t *request; /**< SDO request for SDO configuration. */

    65

    ec_sdo_request_t request_copy; /**< Copied SDO request. */

    66

    ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */

    67

    ec_soe_request_t soe_request_copy; /**< Copied SDO request. */

    68

    unsigned long jiffies_start; /**< For timeout calculations. */

    69

    unsigned int take_time; /**< Store jiffies after datagram reception. */

    70

};

    71

    72

/*****************************************************************************/

    73

    74

void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,

    75

        ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_pdo_t *);

    76

void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);

    77

    78

void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);

    79

    80

int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);

    81

int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);

    82

    83

/*****************************************************************************/

    84

    85

#endif