master/fsm_coe.h
changeset 436 63214beb641d
child 505 bc443ca0077f
equal deleted inserted replaced
435:779a18d12e6c 436:63214beb641d
       
     1 /******************************************************************************
       
     2  *
       
     3  *  $Id$
       
     4  *
       
     5  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
       
     6  *
       
     7  *  This file is part of the IgH EtherCAT Master.
       
     8  *
       
     9  *  The IgH EtherCAT Master is free software; you can redistribute it
       
    10  *  and/or modify it under the terms of the GNU General Public License
       
    11  *  as published by the Free Software Foundation; either version 2 of the
       
    12  *  License, or (at your option) any later version.
       
    13  *
       
    14  *  The IgH EtherCAT Master is distributed in the hope that it will be
       
    15  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
       
    16  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
       
    17  *  GNU General Public License for more details.
       
    18  *
       
    19  *  You should have received a copy of the GNU General Public License
       
    20  *  along with the IgH EtherCAT Master; if not, write to the Free Software
       
    21  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
       
    22  *
       
    23  *  The right to use EtherCAT Technology is granted and comes free of
       
    24  *  charge under condition of compatibility of product made by
       
    25  *  Licensee. People intending to distribute/sell products based on the
       
    26  *  code, have to sign an agreement to guarantee that products using
       
    27  *  software based on IgH EtherCAT master stay compatible with the actual
       
    28  *  EtherCAT specification (which are released themselves as an open
       
    29  *  standard) as the (only) precondition to have the right to use EtherCAT
       
    30  *  Technology, IP and trade marks.
       
    31  *
       
    32  *****************************************************************************/
       
    33 
       
    34 /**
       
    35    \file
       
    36    EtherCAT CoE state machines.
       
    37 */
       
    38 
       
    39 /*****************************************************************************/
       
    40 
       
    41 #ifndef __EC_FSM_COE__
       
    42 #define __EC_FSM_COE__
       
    43 
       
    44 #include "globals.h"
       
    45 #include "../include/ecrt.h"
       
    46 #include "datagram.h"
       
    47 #include "slave.h"
       
    48 #include "canopen.h"
       
    49 
       
    50 /*****************************************************************************/
       
    51 
       
    52 typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
       
    53 
       
    54 /**
       
    55    Finite state machine of an EtherCAT master.
       
    56 */
       
    57 
       
    58 struct ec_fsm_coe
       
    59 {
       
    60     ec_slave_t *slave; /**< slave the FSM runs on */
       
    61     ec_datagram_t *datagram; /**< datagram used in the state machine */
       
    62 
       
    63     void (*state)(ec_fsm_coe_t *); /**< CoE state function */
       
    64     ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
       
    65     cycles_t cycles_start; /**< CoE timestamp */
       
    66     ec_sdo_t *sdo; /**< current SDO */
       
    67     uint8_t subindex; /**< current subindex */
       
    68     ec_sdo_request_t *request; /**< SDO request */
       
    69     uint8_t toggle; /**< toggle bit for segment commands */
       
    70 };
       
    71 
       
    72 /*****************************************************************************/
       
    73 
       
    74 void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
       
    75 void ec_fsm_coe_clear(ec_fsm_coe_t *);
       
    76 
       
    77 void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
       
    78 void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
       
    79 void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
       
    80 
       
    81 int ec_fsm_coe_exec(ec_fsm_coe_t *);
       
    82 int ec_fsm_coe_success(ec_fsm_coe_t *);
       
    83 
       
    84 /*****************************************************************************/
       
    85 
       
    86 #endif