|
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_FSM_MASTER__ |
|
42 #define __EC_FSM_MASTER__ |
|
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_slave.h" |
|
51 |
|
52 /*****************************************************************************/ |
|
53 |
|
54 typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */ |
|
55 |
|
56 /** |
|
57 Finite state machine of an EtherCAT master. |
|
58 */ |
|
59 |
|
60 struct ec_fsm_master |
|
61 { |
|
62 ec_master_t *master; /**< master the FSM runs on */ |
|
63 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
|
64 unsigned int retries; /**< retries on datagram timeout. */ |
|
65 |
|
66 void (*state)(ec_fsm_master_t *); /**< master state function */ |
|
67 unsigned int slaves_responding; /**< number of responding slaves */ |
|
68 ec_slave_state_t slave_states; /**< states of responding slaves */ |
|
69 unsigned int validate; /**< non-zero, if validation to do */ |
|
70 ec_slave_t *slave; /**< current slave */ |
|
71 ec_sdo_request_t *sdo_request; /**< SDO request to process */ |
|
72 uint16_t sii_offset; |
|
73 |
|
74 ec_fsm_slave_t fsm_slave; /**< slave state machine */ |
|
75 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |
|
76 ec_fsm_change_t fsm_change; /**< State change state machine */ |
|
77 ec_fsm_coe_t fsm_coe; /**< CoE state machine */ |
|
78 }; |
|
79 |
|
80 /*****************************************************************************/ |
|
81 |
|
82 void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *); |
|
83 void ec_fsm_master_clear(ec_fsm_master_t *); |
|
84 |
|
85 int ec_fsm_master_exec(ec_fsm_master_t *); |
|
86 int ec_fsm_master_running(ec_fsm_master_t *); |
|
87 int ec_fsm_master_success(ec_fsm_master_t *); |
|
88 |
|
89 /*****************************************************************************/ |
|
90 |
|
91 #endif |