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; version 2 of the License.

    12  *

    13  *  The IgH EtherCAT Master is distributed in the hope that it will be

    14  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

    15  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

    16  *  GNU General Public License for more details.

    17  *

    18  *  You should have received a copy of the GNU General Public License

    19  *  along with the IgH EtherCAT Master; if not, write to the Free Software

    20  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21  *

    22  *****************************************************************************/

    23 

    24 /**

    25    \file

    26    EtherCAT finite state machines.

    27 */

    28 

    29 /*****************************************************************************/

    30 

    31 #ifndef __EC_STATES__

    32 #define __EC_STATES__

    33 

    34 #include "../include/ecrt.h"

    35 #include "command.h"

    36 #include "slave.h"

    37 

    38 /*****************************************************************************/

    39 

    40 typedef struct ec_fsm ec_fsm_t;

    41 

    42 /*****************************************************************************/

    43 

    44 /**

    45    Finite state machine of an EtherCAT master.

    46 */

    47 

    48 struct ec_fsm

    49 {

    50     ec_master_t *master; /**< master the FSM runs on */

    51     ec_slave_t *slave; /**< slave the FSM runs on */

    52     ec_command_t command; /**< command used in the state machine */

    53 

    54     void (*master_state)(ec_fsm_t *); /**< master state function */

    55     unsigned int master_slaves_responding; /**< number of responding slaves */

    56     ec_slave_state_t master_slave_states; /**< states of responding slaves */

    57 

    58     void (*slave_state)(ec_fsm_t *); /**< slave state function */

    59     uint8_t slave_sii_num; /**< SII value iteration counter */

    60     uint8_t *slave_cat_data; /**< temporary memory for category data */

    61     uint16_t slave_cat_offset; /**< current category word offset in EEPROM */

    62     uint16_t slave_cat_data_offset; /**< current offset in category data */

    63     uint16_t slave_cat_type; /**< type of current category */

    64     uint16_t slave_cat_words; /**< number of words of current category */

    65 

    66     void (*sii_state)(ec_fsm_t *); /**< SII state function */

    67     uint16_t sii_offset; /**< input: offset in SII */

    68     uint32_t sii_result; /**< output: read SII value (32bit) */

    69 };

    70 

    71 /*****************************************************************************/

    72 

    73 int ec_fsm_init(ec_fsm_t *, ec_master_t *);

    74 void ec_fsm_clear(ec_fsm_t *);

    75 void ec_fsm_reset(ec_fsm_t *);

    76 void ec_fsm_execute(ec_fsm_t *);

    77 int ec_fsm_idle(const ec_fsm_t *);

    78 

    79 /*****************************************************************************/

    80 

    81 #endif