fp@830: /******************************************************************************
fp@830:  *
fp@830:  *  $Id$
fp@830:  *
fp@1326:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@830:  *
fp@830:  *  This file is part of the IgH EtherCAT Master.
fp@830:  *
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@830:  *
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@830:  *
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@830:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@830:  *
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@830:  *
fp@830:  *****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    \file
fp@830:    EtherCAT slave configuration state machine.
fp@830: */
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@883: #ifndef __EC_FSM_SLAVE_CONFIG_H__
fp@883: #define __EC_FSM_SLAVE_CONFIG_H__
fp@830: 
fp@830: #include "globals.h"
fp@830: #include "slave.h"
fp@830: #include "datagram.h"
fp@830: #include "fsm_change.h"
fp@830: #include "fsm_coe.h"
fp@1174: #include "fsm_pdo.h"
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** \see ec_fsm_slave_config */
fp@830: typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
fp@830: 
fp@830: /** Finite state machine to configure an EtherCAT slave.
fp@830:  */
fp@830: struct ec_fsm_slave_config
fp@830: {
fp@1174:     ec_datagram_t *datagram; /**< Datagram used in the state machine. */
fp@1174:     ec_fsm_change_t *fsm_change; /**< State change state machine. */
fp@1174:     ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
fp@1327:     ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
fp@1174: 
fp@830:     ec_slave_t *slave; /**< Slave the FSM runs on. */
fp@1174:     void (*state)(ec_fsm_slave_config_t *); /**< State function. */
fp@830:     unsigned int retries; /**< Retries on datagram timeout. */
fp@1327:     ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
fp@1327:     ec_sdo_request_t request_copy; /**< Copied SDO request. */
fp@1844:     ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */
fp@1844:     ec_soe_request_t soe_request_copy; /**< Copied SDO request. */
fp@1347:     unsigned long jiffies_start; /**< For timeout calculations. */
fp@1347:     unsigned int take_time; /**< Store jiffies after datagram reception. */
fp@830: };
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@1174: void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
fp@1174:         ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_pdo_t *);
fp@830: void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
fp@830: 
fp@830: void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
fp@830: 
fp@830: int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
fp@830: int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: #endif