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88 lines
2.9 KiB
C
88 lines
2.9 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2012 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 and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* 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 along
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* 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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****************************************************************************/
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/**
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\file
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EtherCAT slave request state machine.
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*/
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/****************************************************************************/
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#ifndef __EC_FSM_SLAVE_H__
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#define __EC_FSM_SLAVE_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 "reg_request.h"
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#ifdef EC_EOE
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#include "eoe_request.h"
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#endif
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#include "fsm_coe.h"
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#include "fsm_foe.h"
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#include "fsm_soe.h"
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#ifdef EC_EOE
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#include "fsm_eoe.h"
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#endif
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/****************************************************************************/
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typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
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/** Finite state machine of an EtherCAT slave.
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*/
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struct ec_fsm_slave {
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ec_slave_t *slave; /**< slave the FSM runs on */
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struct list_head list; /**< Used for execution list. */
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void (*state)(ec_fsm_slave_t *, ec_datagram_t *); /**< State function. */
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ec_datagram_t *datagram; /**< Previous state datagram. */
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ec_sdo_request_t *sdo_request; /**< SDO request to process. */
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ec_reg_request_t *reg_request; /**< Register request to process. */
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ec_foe_request_t *foe_request; /**< FoE request to process. */
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off_t foe_index; /**< Index to FoE write request data. */
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ec_soe_request_t *soe_request; /**< SoE request to process. */
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#ifdef EC_EOE
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ec_eoe_request_t *eoe_request; /**< SoE request to process. */
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#endif
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ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
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ec_fsm_foe_t fsm_foe; /**< FoE state machine. */
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ec_fsm_soe_t fsm_soe; /**< SoE state machine. */
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#ifdef EC_EOE
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ec_fsm_eoe_t fsm_eoe; /**< EoE state machine. */
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#endif
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};
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/****************************************************************************/
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void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *);
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void ec_fsm_slave_clear(ec_fsm_slave_t *);
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int ec_fsm_slave_exec(ec_fsm_slave_t *, ec_datagram_t *);
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void ec_fsm_slave_set_ready(ec_fsm_slave_t *);
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int ec_fsm_slave_is_ready(const ec_fsm_slave_t *);
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/****************************************************************************/
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#endif // __EC_FSM_SLAVE_H__
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