1

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

     2

 *

     3

 *  $Id$

     4

 *

     5

 *  Copyright (C) 2006  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

    10

 *  and/or modify it under the terms of the GNU General Public License

    11

 *  as published by the Free Software Foundation; either version 2 of the

    12

 *  License, or (at your option) any later version.

    13

 *

    14

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

    15

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

    16

 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    17

 *  GNU General Public License for more details.

    18

 *

    19

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

    20

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

    21

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

    22

 *

    23

 *  The right to use EtherCAT Technology is granted and comes free of

    24

 *  charge under condition of compatibility of product made by

    25

 *  Licensee. People intending to distribute/sell products based on the

    26

 *  code, have to sign an agreement to guarantee that products using

    27

 *  software based on IgH EtherCAT master stay compatible with the actual

    28

 *  EtherCAT specification (which are released themselves as an open

    29

 *  standard) as the (only) precondition to have the right to use EtherCAT

    30

 *  Technology, IP and trade marks.

    31

 *

    32

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

    33

    34

/**

    35

   \file

    36

   EtherCAT slave scanning state machine.

    37

*/

    38

    39

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

    40

    41

#ifndef __EC_FSM_SLAVE_SCAN__

    42

#define __EC_FSM_SLAVE_SCAN__

    43

    44

#include "../include/ecrt.h"

    45

    46

#include "globals.h"

    47

#include "datagram.h"

    48

#include "slave.h"

    49

#include "fsm_sii.h"

    50

#include "fsm_change.h"

    51

#include "fsm_coe.h"

    52

#include "fsm_coe_map.h"

    53

#include "fsm_pdo_mapping.h"

    54

#include "fsm_pdo_config.h"

    55

    56

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

    57

    58

/** \see ec_fsm_slave_scan */

    59

typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;

    60

    61

/** Finite state machine for scanning an EtherCAT slave.

    62

 */

    63

struct ec_fsm_slave_scan

    64

{

    65

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

    66

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

    67

    ec_fsm_slave_config_t *fsm_slave_config; /**< Slave configuration state

    68

                                               machine to use. */

    69

    ec_fsm_coe_map_t *fsm_coe_map; /**< Pdo mapping state machine to use. */

    70

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

    71

    72

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

    73

    uint16_t sii_offset; /**< SII offset in words. */

    74

    75

    ec_fsm_sii_t fsm_sii; /**< SII state machine. */

    76

};

    77

    78

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

    79

    80

void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *,

    81

        ec_fsm_slave_config_t *, ec_fsm_coe_map_t *);

    82

void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);

    83

    84

void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);

    85

    86

int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);

    87

int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);

    88

    89

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

    90

    91

#endif