Layed out CoE state machine.

master/Kbuild

@@ -39,7 +39,7 @@ obj-m := ec_master.o
 
 ec_master-objs := module.o master.o device.o slave.o datagram.o \
 		domain.o mailbox.o canopen.o ethernet.o \
-                fsm_sii.o fsm_change.o fsm.o xmldev.o
+                fsm_sii.o fsm_change.o fsm_coe.o fsm.o xmldev.o
 
 ifeq ($(EC_DBG_IF),1)
 	ec_master-objs += debug.o

master/Makefile.am

@@ -42,6 +42,7 @@ EXTRA_DIST = \
 	ethernet.c ethernet.h \
 	fsm_sii.c fsm_sii.h \
 	fsm_change.c fsm_change.h \
+	fsm_coe.c fsm_coe.h \
 	fsm.c fsm.h \
 	globals.h \
 	mailbox.c mailbox.h \

master/fsm.h

@@ -49,6 +49,7 @@
 
 #include "fsm_sii.h"
 #include "fsm_change.h"
+#include "fsm_coe.h"
 
 /*****************************************************************************/
 
@@ -69,19 +70,14 @@ struct ec_fsm
     ec_slave_state_t master_slave_states; /**< states of responding slaves */
     unsigned int master_validation; /**< non-zero, if validation to do */
     uint16_t sii_offset; /**< current offset for SII access */
+    ec_sdo_request_t *sdo_request;
 
     void (*slave_state)(ec_fsm_t *); /**< slave state function */
+    ec_sdo_data_t *sdodata; /**< SDO configuration data */
 
     ec_fsm_sii_t fsm_sii; /**< SII state machine */
     ec_fsm_change_t fsm_change; /**< State change state machine */
-
-    void (*coe_state)(ec_fsm_t *); /**< CoE state function */
-    ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */
-    cycles_t coe_start; /**< CoE timestamp */
-    ec_sdo_t *coe_sdo; /**< current SDO */
-    uint8_t coe_subindex; /**< current subindex */
-    ec_sdo_request_t *coe_request; /**< SDO request */
-    uint8_t coe_toggle; /**< toggle bit for segment commands */
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
 };
 
 /*****************************************************************************/

master/fsm_coe.h

@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it
+ *  and/or modify it under the terms of the GNU General Public License
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be
+ *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  The right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT CoE state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_COE__
+#define __EC_FSM_COE__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+#include "canopen.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
+
+/**
+   Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm_coe
+{
+    ec_slave_t *slave; /**< slave the FSM runs on */
+    ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+    void (*state)(ec_fsm_coe_t *); /**< CoE state function */
+    ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
+    cycles_t cycles_start; /**< CoE timestamp */
+    ec_sdo_t *sdo; /**< current SDO */
+    uint8_t subindex; /**< current subindex */
+    ec_sdo_request_t *request; /**< SDO request */
+    uint8_t toggle; /**< toggle bit for segment commands */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
+void ec_fsm_coe_clear(ec_fsm_coe_t *);
+
+void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
+void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
+void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
+
+int ec_fsm_coe_exec(ec_fsm_coe_t *);
+int ec_fsm_coe_success(ec_fsm_coe_t *);
+
+/*****************************************************************************/
+
+#endif