master/fsm_slave_scan.h
author Florian Pose <fp@igh-essen.com>
Wed, 13 Jan 2010 00:04:47 +0100
branchstable-1.4
changeset 1769 5c317e78a5ef
parent 1686 e206f4485f60
permissions -rw-r--r--
merge
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
d83d92e1a919 Separated slave state machines.
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: 1174
diff changeset
     5
 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT Master.
d83d92e1a919 Separated slave state machines.
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: 1174
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: 1174
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: 1174
diff changeset
    11
 *  published by the Free Software Foundation.
830
d83d92e1a919 Separated slave state machines.
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: 1174
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: 1174
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: 1174
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: 1174
diff changeset
    16
 *  Public License for more details.
830
d83d92e1a919 Separated slave state machines.
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: 1174
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: 1174
diff changeset
    19
 *  with the IgH EtherCAT Master; if not, write to the Free Software
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
d83d92e1a919 Separated slave state machines.
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: 1174
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: 1174
diff changeset
    23
 *  the industrial property and similar rights of Beckhoff Automation GmbH.
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
/**
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
   \file
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
   EtherCAT slave scanning state machine.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
*/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
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: 879
diff changeset
    34
#ifndef __EC_FSM_SLAVE_SCAN_H__
4963e22a267a Equalized defines against duplicated header inclusion.
Florian Pose <fp@igh-essen.com>
parents: 879
diff changeset
    35
#define __EC_FSM_SLAVE_SCAN_H__
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
#include "../include/ecrt.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
#include "globals.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
#include "datagram.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
#include "slave.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
#include "fsm_sii.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
#include "fsm_change.h"
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
#include "fsm_coe.h"
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 883
diff changeset
    45
#include "fsm_pdo.h"
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    49
/** \see ec_fsm_slave_scan */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    51
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    52
/** Finite state machine for scanning an EtherCAT slave.
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    53
 */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    54
struct ec_fsm_slave_scan
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    55
{
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    56
    ec_slave_t *slave; /**< Slave the FSM runs on. */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
    ec_datagram_t *datagram; /**< Datagram used in the state machine. */
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
    58
    ec_fsm_slave_config_t *fsm_slave_config; /**< Slave configuration state
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
    59
                                               machine to use. */
1686
e206f4485f60 Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1685
diff changeset
    60
    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine to use. */
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    61
    unsigned int retries; /**< Retries on datagram timeout. */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    63
    void (*state)(ec_fsm_slave_scan_t *); /**< State function. */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    64
    uint16_t sii_offset; /**< SII offset in words. */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    65
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    66
    ec_fsm_sii_t fsm_sii; /**< SII state machine. */
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    67
};
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    68
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    69
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
831
ded9519c8d6e Reading of Pdo mapping via CoE during scan.
Florian Pose <fp@igh-essen.com>
parents: 830
diff changeset
    71
void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *,
1174
235f34ca50e2 Major Pdo configuration change: Read mapping of unknown Pdos during
Florian Pose <fp@igh-essen.com>
parents: 883
diff changeset
    72
        ec_fsm_slave_config_t *, ec_fsm_pdo_t *);
830
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    73
void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    74
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    76
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    77
int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    79
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    80
/*****************************************************************************/
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    81
d83d92e1a919 Separated slave state machines.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    82
#endif