130 lines
5.0 KiB
C
130 lines
5.0 KiB
C
/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT master state machine.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_MASTER_H__
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#define __EC_FSM_MASTER_H__
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#include "globals.h"
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#include "datagram.h"
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#include "sdo_request.h"
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#include "fsm_slave_config.h"
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#include "fsm_slave_scan.h"
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#include "fsm_pdo.h"
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/*****************************************************************************/
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/** SII write request.
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*/
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typedef struct {
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struct list_head list; /**< List head. */
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ec_slave_t *slave; /**< EtherCAT slave. */
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uint16_t offset; /**< SII word offset. */
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size_t nwords; /**< Number of words. */
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const uint16_t *words; /**< Pointer to the data words. */
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ec_internal_request_state_t state; /**< State of the request. */
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} ec_sii_write_request_t;
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/*****************************************************************************/
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/** Physical memory request.
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*/
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typedef struct {
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struct list_head list; /**< List head. */
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ec_slave_t *slave; /**< EtherCAT slave. */
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ec_direction_t dir; /**< Direction. */
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uint16_t offset; /**< Physical memory offset. */
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size_t length; /**< Number of bytes. */
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uint8_t *data;
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ec_internal_request_state_t state; /**< State of the request. */
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} ec_phy_request_t;
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/*****************************************************************************/
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/** Slave/Sdo request record for master's Sdo request list.
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*/
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typedef struct {
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struct list_head list; /**< List element. */
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ec_slave_t *slave; /**< Slave. */
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ec_sdo_request_t req; /**< Sdo request. */
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} ec_master_sdo_request_t;
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/*****************************************************************************/
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typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
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/** Finite state machine of an EtherCAT master.
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*/
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struct ec_fsm_master {
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ec_master_t *master; /**< master the FSM runs on */
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ec_datagram_t *datagram; /**< datagram used in the state machine */
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unsigned int retries; /**< retries on datagram timeout. */
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void (*state)(ec_fsm_master_t *); /**< master state function */
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int idle; /**< state machine is in idle phase */
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unsigned long scan_jiffies; /**< beginning of slave scanning */
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unsigned int slaves_responding; /**< number of responding slaves */
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unsigned int topology_change_pending; /**< bus topology changed */
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ec_slave_state_t slave_states; /**< states of responding slaves */
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ec_slave_t *slave; /**< current slave */
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ec_sii_write_request_t *sii_request; /**< SII write request */
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off_t sii_index; /**< index to SII write request data */
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ec_sdo_request_t *sdo_request; /**< Sdo request to process. */
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ec_phy_request_t *phy_request; /**< Physical memory request to process. */
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ec_fsm_coe_t fsm_coe; /**< CoE state machine */
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ec_fsm_pdo_t fsm_pdo; /**< Pdo configuration state machine. */
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ec_fsm_change_t fsm_change; /**< State change state machine */
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ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
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ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */
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ec_fsm_sii_t fsm_sii; /**< SII state machine */
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};
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/*****************************************************************************/
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void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
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void ec_fsm_master_clear(ec_fsm_master_t *);
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void ec_fsm_master_exec(ec_fsm_master_t *);
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int ec_fsm_master_idle(const ec_fsm_master_t *);
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/*****************************************************************************/
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#endif
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