fp@434: /******************************************************************************
fp@434:  *
fp@434:  *  $Id$
fp@434:  *
fp@434:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@434:  *
fp@434:  *  This file is part of the IgH EtherCAT Master.
fp@434:  *
fp@434:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@434:  *  and/or modify it under the terms of the GNU General Public License
fp@434:  *  as published by the Free Software Foundation; either version 2 of the
fp@434:  *  License, or (at your option) any later version.
fp@434:  *
fp@434:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@434:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@434:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@434:  *  GNU General Public License for more details.
fp@434:  *
fp@434:  *  You should have received a copy of the GNU General Public License
fp@434:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@434:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@434:  *
fp@434:  *  The right to use EtherCAT Technology is granted and comes free of
fp@434:  *  charge under condition of compatibility of product made by
fp@434:  *  Licensee. People intending to distribute/sell products based on the
fp@434:  *  code, have to sign an agreement to guarantee that products using
fp@434:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@434:  *  EtherCAT specification (which are released themselves as an open
fp@434:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@434:  *  Technology, IP and trade marks.
fp@434:  *
fp@434:  *****************************************************************************/
fp@434: 
fp@434: /**
fp@434:    \file
fp@434:    EtherCAT state change FSM.
fp@434: */
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: #ifndef __EC_FSM_CHANGE__
fp@434: #define __EC_FSM_CHANGE__
fp@434: 
fp@434: #include "globals.h"
fp@434: #include "../include/ecrt.h"
fp@434: #include "datagram.h"
fp@434: #include "slave.h"
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@454: /**
fp@454:    Mode of the change state machine.
fp@454: */
fp@454: 
fp@454: typedef enum {
fp@454:     EC_FSM_CHANGE_MODE_FULL, /**< full state change */
fp@454:     EC_FSM_CHANGE_MODE_ACK_ONLY /**< only state acknowledgement */
fp@454: }
fp@454: ec_fsm_change_mode_t;
fp@454: 
fp@454: /*****************************************************************************/
fp@454: 
fp@434: typedef struct ec_fsm_change ec_fsm_change_t; /**< \see ec_fsm_change */
fp@434: 
fp@434: /**
fp@434:    EtherCAT state change FSM.
fp@434: */
fp@434: 
fp@434: struct ec_fsm_change
fp@434: {
fp@434:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@434:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@505:     unsigned int retries; /**< retries upon datagram timeout */
fp@434: 
fp@434:     void (*state)(ec_fsm_change_t *); /**< slave state change state function */
fp@454:     ec_fsm_change_mode_t mode; /**< full state change, or ack only. */
fp@434:     ec_slave_state_t requested_state; /**< input: state */
fp@454:     ec_slave_state_t old_state; /**< prior slave state */
fp@434:     unsigned long jiffies_start; /**< change timer */
fp@434:     uint8_t take_time; /**< take sending timestamp */
fp@434: };
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *);
fp@434: void ec_fsm_change_clear(ec_fsm_change_t *);
fp@434: 
fp@454: void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
fp@454: void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *);
fp@434: 
fp@435: int ec_fsm_change_exec(ec_fsm_change_t *);
fp@434: int ec_fsm_change_success(ec_fsm_change_t *);
fp@434: 
fp@434: /*****************************************************************************/
fp@434: 
fp@434: #endif