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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 finite state machines. |
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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_SLAVE__ |
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42 #define __EC_FSM_SLAVE__ |
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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 #include "fsm_sii.h" |
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49 #include "fsm_change.h" |
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50 #include "fsm_coe.h" |
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51 |
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52 /*****************************************************************************/ |
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53 |
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54 typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */ |
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55 |
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56 /** |
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57 Finite state machine of an EtherCAT slave. |
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58 */ |
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59 |
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60 struct ec_fsm_slave |
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61 { |
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62 ec_slave_t *slave; /**< slave the FSM runs on */ |
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63 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
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64 unsigned int retries; /**< retries on datagram timeout. */ |
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65 |
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66 void (*state)(ec_fsm_slave_t *); /**< state function */ |
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67 ec_sdo_data_t *sdodata; /**< SDO configuration data */ |
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68 uint16_t sii_offset; |
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69 |
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70 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |
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71 ec_fsm_change_t fsm_change; /**< State change state machine */ |
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72 ec_fsm_coe_t fsm_coe; /**< CoE state machine */ |
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73 }; |
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74 |
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75 /*****************************************************************************/ |
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76 |
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77 void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *); |
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78 void ec_fsm_slave_clear(ec_fsm_slave_t *); |
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79 |
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80 void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *); |
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81 void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *); |
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82 |
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83 int ec_fsm_slave_exec(ec_fsm_slave_t *); |
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84 int ec_fsm_slave_success(const ec_fsm_slave_t *); |
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85 |
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86 /*****************************************************************************/ |
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87 |
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88 #endif |