master/fsm_slave.h
author Florian Pose <fp@igh-essen.com>
Tue, 13 Feb 2007 14:18:29 +0000
branchstable-1.2
changeset 1742 9195107c9441
parent 1739 5fcbd29151d2
child 1744 7bc131b92039
permissions -rw-r--r--
Removed unwanted label.
1739
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT Master is free software; you can redistribute it
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  and/or modify it under the terms of the GNU General Public License
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
 *  as published by the Free Software Foundation; either version 2 of the
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *  License, or (at your option) any later version.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT Master is distributed in the hope that it will be
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU General Public License for more details.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU General Public License
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    23
 *  The right to use EtherCAT Technology is granted and comes free of
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *  charge under condition of compatibility of product made by
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *  Licensee. People intending to distribute/sell products based on the
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
 *  code, have to sign an agreement to guarantee that products using
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *  software based on IgH EtherCAT master stay compatible with the actual
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *  EtherCAT specification (which are released themselves as an open
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *  standard) as the (only) precondition to have the right to use EtherCAT
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
 *  Technology, IP and trade marks.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
 *
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
 *****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
/**
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
   \file
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
   EtherCAT finite state machines.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
*/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
/*****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#ifndef __EC_FSM_SLAVE__
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#define __EC_FSM_SLAVE__
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "globals.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
#include "../include/ecrt.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
#include "datagram.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
#include "slave.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
#include "fsm_sii.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
#include "fsm_change.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
#include "fsm_coe.h"
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
/*****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    55
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
/**
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
   Finite state machine of an EtherCAT slave.
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    58
*/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    59
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    60
struct ec_fsm_slave
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
{
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
    ec_slave_t *slave; /**< slave the FSM runs on */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
    ec_datagram_t *datagram; /**< datagram used in the state machine */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
    unsigned int retries; /**< retries on datagram timeout. */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
    void (*state)(ec_fsm_slave_t *); /**< state function */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
    ec_sdo_data_t *sdodata; /**< SDO configuration data */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
    uint16_t sii_offset; 
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
    ec_fsm_sii_t fsm_sii; /**< SII state machine */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    71
    ec_fsm_change_t fsm_change; /**< State change state machine */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    72
    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
};
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
/*****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
void ec_fsm_slave_clear(ec_fsm_slave_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    83
int ec_fsm_slave_exec(ec_fsm_slave_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
int ec_fsm_slave_success(const ec_fsm_slave_t *);
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    85
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    86
/*****************************************************************************/
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
5fcbd29151d2 MERGE -r688:759 trunk -> branches/stable-1.2 (release 1.2, part one).
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    88
#endif