Compiler flag -DSVNREV only for module.c to avoid unnecessary recompiling.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it
* and/or modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* The IgH EtherCAT Master is distributed in the hope that it will be
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* The right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT finite state machines.
*/
/*****************************************************************************/
#ifndef __EC_STATES__
#define __EC_STATES__
#include "globals.h"
#include "../include/ecrt.h"
#include "datagram.h"
#include "slave.h"
#include "canopen.h"
#include "fsm_sii.h"
#include "fsm_change.h"
#include "fsm_coe.h"
/*****************************************************************************/
typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
/**
Finite state machine of an EtherCAT master.
*/
struct ec_fsm
{
ec_master_t *master; /**< master the FSM runs on */
ec_slave_t *slave; /**< slave the FSM runs on */
ec_datagram_t datagram; /**< datagram used in the state machine */
void (*master_state)(ec_fsm_t *); /**< master state function */
unsigned int master_slaves_responding; /**< number of responding slaves */
ec_slave_state_t master_slave_states; /**< states of responding slaves */
unsigned int master_validation; /**< non-zero, if validation to do */
uint16_t sii_offset; /**< current offset for SII access */
ec_sdo_request_t *sdo_request;
void (*slave_state)(ec_fsm_t *); /**< slave state function */
ec_sdo_data_t *sdodata; /**< SDO configuration data */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
};
/*****************************************************************************/
int ec_fsm_init(ec_fsm_t *, ec_master_t *);
void ec_fsm_clear(ec_fsm_t *);
void ec_fsm_reset(ec_fsm_t *);
int ec_fsm_exec(ec_fsm_t *);
void ec_fsm_startup(ec_fsm_t *);
int ec_fsm_startup_success(ec_fsm_t *);
void ec_fsm_configuration(ec_fsm_t *);
int ec_fsm_configuration_success(ec_fsm_t *);
/*****************************************************************************/
#endif