fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@2443:  *  Copyright (C) 2006-2012  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@1326:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1326:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1326:  *  published by the Free Software Foundation.
fp@238:  *
fp@1326:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1326:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1326:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1326:  *  Public License for more details.
fp@238:  *
fp@1326:  *  You should have received a copy of the GNU General Public License along
fp@1326:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@238:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@238:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    \file
fp@830:    EtherCAT master state machine.
fp@238: */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@883: #ifndef __EC_FSM_MASTER_H__
fp@883: #define __EC_FSM_MASTER_H__
fp@238: 
fp@325: #include "globals.h"
fp@293: #include "datagram.h"
fp@1335: #include "foe_request.h"
fp@847: #include "sdo_request.h"
fp@1831: #include "soe_request.h"
fp@830: #include "fsm_slave_config.h"
fp@830: #include "fsm_slave_scan.h"
fp@1174: #include "fsm_pdo.h"
fp@433: 
fp@238: /*****************************************************************************/
fp@238: 
fp@872: /** SII write request.
fp@601:  */
fp@830: typedef struct {
fp@979:     struct list_head list; /**< List head. */
fp@979:     ec_slave_t *slave; /**< EtherCAT slave. */
fp@979:     uint16_t offset; /**< SII word offset. */
fp@979:     size_t nwords; /**< Number of words. */
fp@979:     const uint16_t *words; /**< Pointer to the data words. */
fp@1209:     ec_internal_request_state_t state; /**< State of the request. */
fp@872: } ec_sii_write_request_t;
fp@601: 
fp@601: /*****************************************************************************/
fp@601: 
fp@528: typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
fp@238: 
fp@830: /** Finite state machine of an EtherCAT master.
fp@830:  */
fp@830: struct ec_fsm_master {
fp@238:     ec_master_t *master; /**< master the FSM runs on */
fp@528:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@505:     unsigned int retries; /**< retries on datagram timeout. */
fp@238: 
fp@528:     void (*state)(ec_fsm_master_t *); /**< master state function */
fp@2374:     ec_device_index_t dev_idx; /**< Current device index (for scanning etc.).
fp@2374:                                 */
fp@650:     int idle; /**< state machine is in idle phase */
fp@652:     unsigned long scan_jiffies; /**< beginning of slave scanning */
fp@2453:     uint8_t link_state[EC_MAX_NUM_DEVICES]; /**< Last link state for every
fp@2453:                                               device. */
fp@2453:     unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; /**< Number of
fp@2453:                                                           responding slaves
fp@2453:                                                           for every device. */
fp@1961:     unsigned int rescan_required; /**< A bus rescan is required. */
fp@2453:     ec_slave_state_t slave_states[EC_MAX_NUM_DEVICES]; /**< AL states of
fp@2453:                                                          responding slaves for
fp@2453:                                                          every device. */
fp@528:     ec_slave_t *slave; /**< current slave */
fp@872:     ec_sii_write_request_t *sii_request; /**< SII write request */
fp@872:     off_t sii_index; /**< index to SII write request data */
fp@1327:     ec_sdo_request_t *sdo_request; /**< SDO request to process. */
fp@238: 
fp@1174:     ec_fsm_coe_t fsm_coe; /**< CoE state machine */
fp@2482:     ec_fsm_soe_t fsm_soe; /**< SoE state machine */
fp@1327:     ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
fp@1174:     ec_fsm_change_t fsm_change; /**< State change state machine */
fp@830:     ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
fp@830:     ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
fp@433:     ec_fsm_sii_t fsm_sii; /**< SII state machine */
fp@238: };
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@528: void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
fp@528: void ec_fsm_master_clear(ec_fsm_master_t *);
fp@446: 
fp@2456: void ec_fsm_master_reset(ec_fsm_master_t *);
fp@2456: 
martin@1583: int ec_fsm_master_exec(ec_fsm_master_t *);
fp@650: int ec_fsm_master_idle(const ec_fsm_master_t *);
fp@456: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #endif