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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) 2006-2008 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 and/or |
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10 * modify it under the terms of the GNU General Public License version 2, as |
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11 * published by the Free Software Foundation. |
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12 * |
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13 * The IgH EtherCAT Master is distributed in the hope that it will be useful, |
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14 * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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15 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General |
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16 * Public License for more details. |
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17 * |
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18 * You should have received a copy of the GNU General Public License along |
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19 * with the IgH EtherCAT Master; if not, write to the Free Software |
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20 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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21 * |
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22 * --- |
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23 * |
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24 * The license mentioned above concerns the source code only. Using the |
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25 * EtherCAT technology and brand is only permitted in compliance with the |
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26 * industrial property and similar rights of Beckhoff Automation GmbH. |
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27 * |
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28 *****************************************************************************/ |
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29 |
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30 /** |
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31 \file |
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32 EtherCAT CoE state machines. |
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33 */ |
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34 |
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35 /*****************************************************************************/ |
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36 |
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37 #ifndef __EC_FSM_SOE_H__ |
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38 #define __EC_FSM_SOE_H__ |
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39 |
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40 #include "globals.h" |
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41 #include "datagram.h" |
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42 #include "slave.h" |
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43 #include "soe_request.h" |
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44 |
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45 /*****************************************************************************/ |
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46 |
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47 typedef struct ec_fsm_soe ec_fsm_soe_t; /**< \see ec_fsm_soe */ |
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48 |
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49 /** Finite state machines for the Sercos over EtherCAT protocol. |
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50 */ |
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51 struct ec_fsm_soe { |
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52 ec_slave_t *slave; /**< slave the FSM runs on */ |
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53 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
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54 unsigned int retries; /**< retries upon datagram timeout */ |
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55 |
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56 void (*state)(ec_fsm_soe_t *); /**< CoE state function */ |
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57 unsigned long jiffies_start; /**< CoE timestamp. */ |
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58 ec_soe_request_t *request; /**< SoE request */ |
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59 }; |
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60 |
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61 /*****************************************************************************/ |
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62 |
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63 void ec_fsm_soe_init(ec_fsm_soe_t *, ec_datagram_t *); |
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64 void ec_fsm_soe_clear(ec_fsm_soe_t *); |
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65 |
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66 void ec_fsm_soe_transfer(ec_fsm_soe_t *, ec_slave_t *, ec_soe_request_t *); |
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67 |
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68 int ec_fsm_soe_exec(ec_fsm_soe_t *); |
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69 int ec_fsm_soe_success(ec_fsm_soe_t *); |
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70 |
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71 /*****************************************************************************/ |
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72 |
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73 #endif |