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1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT slave information interface FSM structure. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #ifndef __EC_FSM_SII__ |
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42 #define __EC_FSM_SII__ |
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43 |
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44 #include "globals.h" |
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45 #include "../include/ecrt.h" |
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46 #include "datagram.h" |
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47 #include "slave.h" |
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48 |
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49 /*****************************************************************************/ |
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50 |
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51 typedef enum |
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52 { |
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53 EC_FSM_SII_POSITION, |
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54 EC_FSM_SII_NODE |
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55 } |
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56 ec_fsm_sii_addressing_t; |
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57 |
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58 /*****************************************************************************/ |
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59 |
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60 typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */ |
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61 |
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62 /** |
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63 Slave information interface FSM. |
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64 */ |
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65 |
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66 struct ec_fsm_sii |
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67 { |
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68 ec_slave_t *slave; /**< slave the FSM runs on */ |
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69 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
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70 |
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71 void (*state)(ec_fsm_sii_t *); /**< SII state function */ |
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72 uint16_t offset; /**< input: offset in SII */ |
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73 ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */ |
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74 uint8_t value[4]; /**< raw SII value (32bit) */ |
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75 cycles_t cycles_start; /**< start timestamp */ |
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76 uint8_t check_once_more; /**< one more try after timeout */ |
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77 }; |
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78 |
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79 /*****************************************************************************/ |
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80 |
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81 void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *); |
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82 void ec_fsm_sii_clear(ec_fsm_sii_t *); |
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83 |
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84 void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *, |
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85 uint16_t, ec_fsm_sii_addressing_t); |
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86 void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, uint16_t *, |
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87 ec_fsm_sii_addressing_t); |
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88 |
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89 void ec_fsm_sii_exec(ec_fsm_sii_t *); |
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90 int ec_fsm_sii_running(ec_fsm_sii_t *); |
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91 int ec_fsm_sii_success(ec_fsm_sii_t *); |
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92 |
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93 /*****************************************************************************/ |
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94 |
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95 #endif |