fp@1619: /******************************************************************************
fp@1619:  *
fp@1619:  *  $Id$
fp@1619:  *
fp@1619:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1619:  *
fp@1619:  *  This file is part of the IgH EtherCAT Master.
fp@1619:  *
fp@1619:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1619:  *  and/or modify it under the terms of the GNU General Public License
fp@1619:  *  as published by the Free Software Foundation; either version 2 of the
fp@1619:  *  License, or (at your option) any later version.
fp@1619:  *
fp@1619:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1619:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1619:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1619:  *  GNU General Public License for more details.
fp@1619:  *
fp@1619:  *  You should have received a copy of the GNU General Public License
fp@1619:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1619:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1619:  *
fp@1619:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1619:  *  charge under condition of compatibility of product made by
fp@1619:  *  Licensee. People intending to distribute/sell products based on the
fp@1619:  *  code, have to sign an agreement to guarantee that products using
fp@1619:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1619:  *  EtherCAT specification (which are released themselves as an open
fp@1619:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1619:  *  Technology, IP and trade marks.
fp@1619:  *
fp@1619:  *****************************************************************************/
fp@1619: 
fp@1619: /**
fp@1619:    \file
fp@1619:    EtherCAT finite state machines.
fp@1619: */
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: #ifndef __EC_STATES__
fp@1619: #define __EC_STATES__
fp@1619: 
fp@1619: #include "../include/ecrt.h"
fp@1619: #include "command.h"
fp@1619: #include "slave.h"
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: typedef struct ec_fsm ec_fsm_t;
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: /**
fp@1619:    Finite state machine of an EtherCAT master.
fp@1619: */
fp@1619: 
fp@1619: struct ec_fsm
fp@1619: {
fp@1619:     ec_master_t *master; /**< master the FSM runs on */
fp@1619:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@1619:     ec_command_t command; /**< command used in the state machine */
fp@1619: 
fp@1619:     void (*master_state)(ec_fsm_t *); /**< master state function */
fp@1619:     unsigned int master_slaves_responding; /**< number of responding slaves */
fp@1619:     ec_slave_state_t master_slave_states; /**< states of responding slaves */
fp@1619:     unsigned int master_validation; /**< non-zero, if validation to do */
fp@1619: 
fp@1619:     void (*slave_state)(ec_fsm_t *); /**< slave state function */
fp@1619: 
fp@1619:     void (*sii_state)(ec_fsm_t *); /**< SII state function */
fp@1619:     uint16_t sii_offset; /**< input: offset in SII */
fp@1619:     unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
fp@1621:     uint8_t sii_value[4]; /**< raw SII value (32bit) */
fp@1619:     cycles_t sii_start; /**< sii start */
fp@1619: 
fp@1619:     void (*change_state)(ec_fsm_t *); /**< slave state change state function */
fp@1619:     uint8_t change_new; /**< input: new state */
fp@1619:     cycles_t change_start; /**< change start */
fp@1619: };
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: int ec_fsm_init(ec_fsm_t *, ec_master_t *);
fp@1619: void ec_fsm_clear(ec_fsm_t *);
fp@1619: void ec_fsm_reset(ec_fsm_t *);
fp@1619: void ec_fsm_execute(ec_fsm_t *);
fp@1619: 
fp@1619: /*****************************************************************************/
fp@1619: 
fp@1619: #endif