fp@238: /******************************************************************************
fp@238:  *
fp@238:  *  $Id$
fp@238:  *
fp@238:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@238:  *
fp@238:  *  This file is part of the IgH EtherCAT Master.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@238:  *  and/or modify it under the terms of the GNU General Public License
fp@246:  *  as published by the Free Software Foundation; either version 2 of the
fp@246:  *  License, or (at your option) any later version.
fp@238:  *
fp@238:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@238:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@238:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@238:  *  GNU General Public License for more details.
fp@238:  *
fp@238:  *  You should have received a copy of the GNU General Public License
fp@238:  *  along 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@246:  *  The right to use EtherCAT Technology is granted and comes free of
fp@246:  *  charge under condition of compatibility of product made by
fp@246:  *  Licensee. People intending to distribute/sell products based on the
fp@246:  *  code, have to sign an agreement to guarantee that products using
fp@246:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@246:  *  EtherCAT specification (which are released themselves as an open
fp@246:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@246:  *  Technology, IP and trade marks.
fp@246:  *
fp@238:  *****************************************************************************/
fp@238: 
fp@238: /**
fp@238:    \file
fp@238:    EtherCAT finite state machines.
fp@238: */
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #ifndef __EC_STATES__
fp@238: #define __EC_STATES__
fp@238: 
fp@1715: #include "globals.h"
fp@238: #include "../include/ecrt.h"
fp@293: #include "datagram.h"
fp@238: #include "slave.h"
fp@1732: #include "canopen.h"
fp@1732: 
fp@1732: #include "fsm_sii.h"
fp@1732: #include "fsm_change.h"
fp@1732: #include "fsm_coe.h"
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@286: typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
fp@238: 
fp@238: /**
fp@238:    Finite state machine of an EtherCAT master.
fp@238: */
fp@238: 
fp@238: struct ec_fsm
fp@238: {
fp@238:     ec_master_t *master; /**< master the FSM runs on */
fp@238:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@293:     ec_datagram_t datagram; /**< datagram used in the state machine */
fp@238: 
fp@238:     void (*master_state)(ec_fsm_t *); /**< master state function */
fp@238:     unsigned int master_slaves_responding; /**< number of responding slaves */
fp@238:     ec_slave_state_t master_slave_states; /**< states of responding slaves */
fp@260:     unsigned int master_validation; /**< non-zero, if validation to do */
fp@1732:     uint16_t sii_offset; /**< current offset for SII access */
fp@1732:     ec_sdo_request_t *sdo_request;
fp@238: 
fp@238:     void (*slave_state)(ec_fsm_t *); /**< slave state function */
fp@1732:     ec_sdo_data_t *sdodata; /**< SDO configuration data */
fp@238: 
fp@1732:     ec_fsm_sii_t fsm_sii; /**< SII state machine */
fp@1732:     ec_fsm_change_t fsm_change; /**< State change state machine */
fp@1732:     ec_fsm_coe_t fsm_coe; /**< CoE state machine */
fp@238: };
fp@238: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: int ec_fsm_init(ec_fsm_t *, ec_master_t *);
fp@238: void ec_fsm_clear(ec_fsm_t *);
fp@238: 
fp@1732: int ec_fsm_exec(ec_fsm_t *);
fp@1732: int ec_fsm_running(ec_fsm_t *);
fp@1732: int ec_fsm_success(ec_fsm_t *);
fp@1715: 
fp@1732: // TODO: layout slave state machines
fp@1733: 
fp@1733: /** \cond */
fp@1732: void ec_fsm_slaveconf_state_start(ec_fsm_t *);
fp@1732: void ec_fsm_slave_state_end(ec_fsm_t *);
fp@1732: void ec_fsm_slave_state_error(ec_fsm_t *);
fp@1733: /** \endcond */
fp@1715: 
fp@238: /*****************************************************************************/
fp@238: 
fp@238: #endif