/******************************************************************************
*
* $Id$
*
* 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 master state machine.
*/
/*****************************************************************************/
#ifndef __EC_FSM_MASTER_H__
#define __EC_FSM_MASTER_H__
#include "globals.h"
#include "datagram.h"
#include "sdo_request.h"
#include "fsm_slave_config.h"
#include "fsm_slave_scan.h"
#include "fsm_pdo.h"
/*****************************************************************************/
/** SII write request.
*/
typedef struct {
struct list_head list; /**< List head. */
ec_slave_t *slave; /**< EtherCAT slave. */
uint16_t offset; /**< SII word offset. */
size_t nwords; /**< Number of words. */
const uint16_t *words; /**< Pointer to the data words. */
ec_internal_request_state_t state; /**< State of the request. */
} ec_sii_write_request_t;
/*****************************************************************************/
/** Physical memory request.
*/
typedef struct {
struct list_head list; /**< List head. */
ec_slave_t *slave; /**< EtherCAT slave. */
ec_direction_t dir; /**< Direction. */
uint16_t offset; /**< Physical memory offset. */
size_t length; /**< Number of bytes. */
uint8_t *data;
ec_internal_request_state_t state; /**< State of the request. */
} ec_phy_request_t;
/*****************************************************************************/
/** Slave/Sdo request record for master's Sdo request list.
*/
typedef struct {
struct list_head list; /**< List element. */
ec_slave_t *slave; /**< Slave. */
ec_sdo_request_t req; /**< Sdo request. */
} ec_master_sdo_request_t;
/*****************************************************************************/
typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
/** Finite state machine of an EtherCAT master.
*/
struct ec_fsm_master {
ec_master_t *master; /**< master the FSM runs on */
ec_datagram_t *datagram; /**< datagram used in the state machine */
unsigned int retries; /**< retries on datagram timeout. */
void (*state)(ec_fsm_master_t *); /**< master state function */
int idle; /**< state machine is in idle phase */
unsigned long scan_jiffies; /**< beginning of slave scanning */
unsigned int slaves_responding; /**< number of responding slaves */
unsigned int topology_change_pending; /**< bus topology changed */
ec_slave_state_t slave_states; /**< states of responding slaves */
ec_slave_t *slave; /**< current slave */
ec_sii_write_request_t *sii_request; /**< SII write request */
off_t sii_index; /**< index to SII write request data */
ec_sdo_request_t *sdo_request; /**< Sdo request to process. */
ec_phy_request_t *phy_request; /**< Physical memory request to process. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
ec_fsm_pdo_t fsm_pdo; /**< Pdo configuration state machine. */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
};
/*****************************************************************************/
void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);
void ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);
/*****************************************************************************/
#endif