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