fp@1739: /******************************************************************************
fp@1739:  *
fp@1739:  *  $Id$
fp@1739:  *
fp@1739:  *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
fp@1739:  *
fp@1739:  *  This file is part of the IgH EtherCAT Master.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1739:  *  and/or modify it under the terms of the GNU General Public License
fp@1739:  *  as published by the Free Software Foundation; either version 2 of the
fp@1739:  *  License, or (at your option) any later version.
fp@1739:  *
fp@1739:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1739:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1739:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1739:  *  GNU General Public License for more details.
fp@1739:  *
fp@1739:  *  You should have received a copy of the GNU General Public License
fp@1739:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1739:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1739:  *
fp@1739:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1739:  *  charge under condition of compatibility of product made by
fp@1739:  *  Licensee. People intending to distribute/sell products based on the
fp@1739:  *  code, have to sign an agreement to guarantee that products using
fp@1739:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1739:  *  EtherCAT specification (which are released themselves as an open
fp@1739:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1739:  *  Technology, IP and trade marks.
fp@1739:  *
fp@1739:  *****************************************************************************/
fp@1739: 
fp@1739: /**
fp@1739:    \file
fp@1739:    EtherCAT finite state machines.
fp@1739: */
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: #ifndef __EC_FSM_SLAVE__
fp@1739: #define __EC_FSM_SLAVE__
fp@1739: 
fp@1739: #include "globals.h"
fp@1739: #include "../include/ecrt.h"
fp@1739: #include "datagram.h"
fp@1739: #include "slave.h"
fp@1739: #include "fsm_sii.h"
fp@1739: #include "fsm_change.h"
fp@1739: #include "fsm_coe.h"
fp@1744: #include "fsm_mapping.h"
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
fp@1739: 
fp@1739: /**
fp@1739:    Finite state machine of an EtherCAT slave.
fp@1739: */
fp@1739: 
fp@1739: struct ec_fsm_slave
fp@1739: {
fp@1739:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@1739:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@1739:     unsigned int retries; /**< retries on datagram timeout. */
fp@1739: 
fp@1739:     void (*state)(ec_fsm_slave_t *); /**< state function */
fp@1739:     ec_sdo_data_t *sdodata; /**< SDO configuration data */
fp@1746:     uint16_t sii_offset; /**< SII offset in words */
fp@1739: 
fp@1739:     ec_fsm_sii_t fsm_sii; /**< SII state machine */
fp@1739:     ec_fsm_change_t fsm_change; /**< State change state machine */
fp@1739:     ec_fsm_coe_t fsm_coe; /**< CoE state machine */
fp@1744:     ec_fsm_mapping_t fsm_map; /**< PDO mapping state machine */
fp@1739: };
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: void ec_fsm_slave_init(ec_fsm_slave_t *, ec_datagram_t *);
fp@1739: void ec_fsm_slave_clear(ec_fsm_slave_t *);
fp@1739: 
fp@1739: void ec_fsm_slave_start_scan(ec_fsm_slave_t *, ec_slave_t *);
fp@1739: void ec_fsm_slave_start_conf(ec_fsm_slave_t *, ec_slave_t *);
fp@1739: 
fp@1739: int ec_fsm_slave_exec(ec_fsm_slave_t *);
fp@1739: int ec_fsm_slave_success(const ec_fsm_slave_t *);
fp@1739: 
fp@1739: /*****************************************************************************/
fp@1739: 
fp@1739: #endif