fp@436: /******************************************************************************
fp@436:  *
fp@436:  *  $Id$
fp@436:  *
fp@436:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@436:  *
fp@436:  *  This file is part of the IgH EtherCAT Master.
fp@436:  *
fp@436:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@436:  *  and/or modify it under the terms of the GNU General Public License
fp@436:  *  as published by the Free Software Foundation; either version 2 of the
fp@436:  *  License, or (at your option) any later version.
fp@436:  *
fp@436:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@436:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@436:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@436:  *  GNU General Public License for more details.
fp@436:  *
fp@436:  *  You should have received a copy of the GNU General Public License
fp@436:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@436:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@436:  *
fp@436:  *  The right to use EtherCAT Technology is granted and comes free of
fp@436:  *  charge under condition of compatibility of product made by
fp@436:  *  Licensee. People intending to distribute/sell products based on the
fp@436:  *  code, have to sign an agreement to guarantee that products using
fp@436:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@436:  *  EtherCAT specification (which are released themselves as an open
fp@436:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@436:  *  Technology, IP and trade marks.
fp@436:  *
fp@436:  *****************************************************************************/
fp@436: 
fp@436: /**
fp@436:    \file
fp@436:    EtherCAT CoE state machines.
fp@436: */
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: #ifndef __EC_FSM_COE__
fp@436: #define __EC_FSM_COE__
fp@436: 
fp@436: #include "globals.h"
fp@436: #include "../include/ecrt.h"
fp@436: #include "datagram.h"
fp@436: #include "slave.h"
fp@847: #include "sdo.h"
fp@847: #include "sdo_request.h"
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
fp@436: 
fp@825: /** Finite state machines for the CANopen-over-EtherCAT protocol.
fp@825:  */
fp@825: struct ec_fsm_coe {
fp@436:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@436:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@505:     unsigned int retries; /**< retries upon datagram timeout */
fp@436: 
fp@436:     void (*state)(ec_fsm_coe_t *); /**< CoE state function */
fp@814:     ec_sdo_data_t *sdodata; /**< input/output: Sdo data object */
fp@436:     cycles_t cycles_start; /**< CoE timestamp */
fp@814:     ec_sdo_t *sdo; /**< current Sdo */
fp@436:     uint8_t subindex; /**< current subindex */
fp@814:     ec_sdo_request_t *request; /**< Sdo request */
fp@436:     uint8_t toggle; /**< toggle bit for segment commands */
fp@436: };
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
fp@436: void ec_fsm_coe_clear(ec_fsm_coe_t *);
fp@436: 
fp@436: void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
fp@436: void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
fp@436: void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
fp@436: 
fp@436: int ec_fsm_coe_exec(ec_fsm_coe_t *);
fp@436: int ec_fsm_coe_success(ec_fsm_coe_t *);
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: #endif