104 lines
3.8 KiB
C
104 lines
3.8 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 finite state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_STATES__
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#define __EC_STATES__
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#include "globals.h"
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "slave.h"
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/*****************************************************************************/
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typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
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/**
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Finite state machine of an EtherCAT master.
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*/
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struct ec_fsm
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{
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ec_master_t *master; /**< master the FSM runs on */
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ec_slave_t *slave; /**< slave the FSM runs on */
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ec_datagram_t datagram; /**< datagram used in the state machine */
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void (*master_state)(ec_fsm_t *); /**< master state function */
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unsigned int master_slaves_responding; /**< number of responding slaves */
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ec_slave_state_t master_slave_states; /**< states of responding slaves */
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unsigned int master_validation; /**< non-zero, if validation to do */
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void (*slave_state)(ec_fsm_t *); /**< slave state function */
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void (*sii_state)(ec_fsm_t *); /**< SII state function */
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uint16_t sii_offset; /**< input: offset in SII */
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unsigned int sii_mode; /**< SII reading done by APRD (0) or NPRD (1) */
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uint8_t sii_value[4]; /**< raw SII value (32bit) */
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cycles_t sii_start; /**< sii start */
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uint8_t sii_check_once_more; /**< do one more check in case of timeout */
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void (*change_state)(ec_fsm_t *); /**< slave state change state function */
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ec_slave_state_t change_new; /**< input: new state */
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unsigned long change_jiffies; /**< change timer */
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void (*coe_state)(ec_fsm_t *); /**< CoE state function */
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ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
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cycles_t coe_start; /**< CoE timestamp */
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};
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/*****************************************************************************/
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int ec_fsm_init(ec_fsm_t *, ec_master_t *);
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void ec_fsm_clear(ec_fsm_t *);
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void ec_fsm_reset(ec_fsm_t *);
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void ec_fsm_execute(ec_fsm_t *);
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void ec_fsm_startup(ec_fsm_t *);
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int ec_fsm_startup_running(ec_fsm_t *);
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int ec_fsm_startup_success(ec_fsm_t *);
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void ec_fsm_configuration(ec_fsm_t *);
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int ec_fsm_configuration_running(ec_fsm_t *);
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int ec_fsm_configuration_success(ec_fsm_t *);
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/*****************************************************************************/
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#endif
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