fp@830: /******************************************************************************
fp@830:  *
fp@830:  *  $Id$
fp@830:  *
fp@830:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@830:  *
fp@830:  *  This file is part of the IgH EtherCAT Master.
fp@830:  *
fp@830:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@830:  *  and/or modify it under the terms of the GNU General Public License
fp@830:  *  as published by the Free Software Foundation; either version 2 of the
fp@830:  *  License, or (at your option) any later version.
fp@830:  *
fp@830:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@830:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@830:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@830:  *  GNU General Public License for more details.
fp@830:  *
fp@830:  *  You should have received a copy of the GNU General Public License
fp@830:  *  along 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@830:  *  The right to use EtherCAT Technology is granted and comes free of
fp@830:  *  charge under condition of compatibility of product made by
fp@830:  *  Licensee. People intending to distribute/sell products based on the
fp@830:  *  code, have to sign an agreement to guarantee that products using
fp@830:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@830:  *  EtherCAT specification (which are released themselves as an open
fp@830:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@830:  *  Technology, IP and trade marks.
fp@830:  *
fp@830:  *****************************************************************************/
fp@830: 
fp@830: /**
fp@830:    \file
fp@830:    EtherCAT slave scanning state machine.
fp@830: */
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: #ifndef __EC_FSM_SLAVE_SCAN__
fp@830: #define __EC_FSM_SLAVE_SCAN__
fp@830: 
fp@830: #include "../include/ecrt.h"
fp@830: 
fp@830: #include "globals.h"
fp@830: #include "datagram.h"
fp@830: #include "slave.h"
fp@830: #include "fsm_sii.h"
fp@830: #include "fsm_change.h"
fp@830: #include "fsm_coe.h"
fp@830: #include "fsm_pdo_mapping.h"
fp@830: #include "fsm_pdo_config.h"
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: /** \see ec_fsm_slave_scan */
fp@830: typedef struct ec_fsm_slave_scan ec_fsm_slave_scan_t;
fp@830: 
fp@830: /** Finite state machine for scanning an EtherCAT slave.
fp@830:  */
fp@830: struct ec_fsm_slave_scan
fp@830: {
fp@830:     ec_slave_t *slave; /**< Slave the FSM runs on. */
fp@830:     ec_datagram_t *datagram; /**< Datagram used in the state machine. */
fp@830:     unsigned int retries; /**< Retries on datagram timeout. */
fp@830: 
fp@830:     void (*state)(ec_fsm_slave_scan_t *); /**< State function. */
fp@830:     uint16_t sii_offset; /**< SII offset in words. */
fp@830: 
fp@830:     ec_fsm_sii_t fsm_sii; /**< SII state machine. */
fp@830: };
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: void ec_fsm_slave_scan_init(ec_fsm_slave_scan_t *, ec_datagram_t *);
fp@830: void ec_fsm_slave_scan_clear(ec_fsm_slave_scan_t *);
fp@830: 
fp@830: void ec_fsm_slave_scan_start(ec_fsm_slave_scan_t *, ec_slave_t *);
fp@830: 
fp@830: int ec_fsm_slave_scan_exec(ec_fsm_slave_scan_t *);
fp@830: int ec_fsm_slave_scan_success(const ec_fsm_slave_scan_t *);
fp@830: 
fp@830: /*****************************************************************************/
fp@830: 
fp@830: #endif