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 finite state machines.

    37 */

    38 

    39 /*****************************************************************************/

    40 

    41 #ifndef __EC_STATES__

    42 #define __EC_STATES__

    43 

    44 #include "globals.h"

    45 #include "../include/ecrt.h"

    46 #include "datagram.h"

    47 #include "slave.h"

    48 #include "canopen.h"

    49 

    50 #include "fsm_sii.h"

    51 #include "fsm_change.h"

    52 #include "fsm_coe.h"

    53 

    54 /*****************************************************************************/

    55 

    56 typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */

    57 

    58 /**

    59    Finite state machine of an EtherCAT master.

    60 */

    61 

    62 struct ec_fsm

    63 {

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

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

    66     ec_datagram_t datagram; /**< datagram used in the state machine */

    67     unsigned int retries; /**< retries on datagram timeout. */

    68 

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

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

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

    72     unsigned int master_validation; /**< non-zero, if validation to do */

    73     uint16_t sii_offset; /**< current offset for SII access */

    74     ec_sdo_request_t *sdo_request;

    75 

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

    77     ec_sdo_data_t *sdodata; /**< SDO configuration data */

    78 

    79     ec_fsm_sii_t fsm_sii; /**< SII state machine */

    80     ec_fsm_change_t fsm_change; /**< State change state machine */

    81     ec_fsm_coe_t fsm_coe; /**< CoE state machine */

    82 };

    83 

    84 /*****************************************************************************/

    85 

    86 int ec_fsm_init(ec_fsm_t *, ec_master_t *);

    87 void ec_fsm_clear(ec_fsm_t *);

    88 

    89 int ec_fsm_exec(ec_fsm_t *);

    90 int ec_fsm_running(ec_fsm_t *);

    91 int ec_fsm_success(ec_fsm_t *);

    92 

    93 // TODO: layout slave state machines

    94 

    95 /** \cond */

    96 void ec_fsm_slaveconf_state_start(ec_fsm_t *);

    97 void ec_fsm_slave_state_end(ec_fsm_t *);

    98 void ec_fsm_slave_state_error(ec_fsm_t *);

    99 /** \endcond */

   100 

   101 /*****************************************************************************/

   102 

   103 #endif