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82 lines
3.1 KiB
C
82 lines
3.1 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2024 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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\file
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EtherCAT slave configuration state machine.
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*/
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/****************************************************************************/
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#ifndef __EC_FSM_SLAVE_CONFIG_H__
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#define __EC_FSM_SLAVE_CONFIG_H__
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#include "globals.h"
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#include "slave.h"
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#include "datagram.h"
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#include "fsm_change.h"
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#include "fsm_coe.h"
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#include "fsm_pdo.h"
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#include "fsm_eoe.h"
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/****************************************************************************/
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/** \see ec_fsm_slave_config */
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typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
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/** Finite state machine to configure an EtherCAT slave.
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*/
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struct ec_fsm_slave_config
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{
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ec_datagram_t *datagram; /**< Datagram used in the state machine. */
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ec_fsm_change_t *fsm_change; /**< State change state machine. */
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ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
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ec_fsm_soe_t *fsm_soe; /**< SoE state machine. */
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ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
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ec_fsm_eoe_t *fsm_eoe; /**< EoE state machine. */
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ec_slave_t *slave; /**< Slave the FSM runs on. */
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void (*state)(ec_fsm_slave_config_t *); /**< State function. */
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unsigned int retries; /**< Retries on datagram timeout. */
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ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
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ec_sdo_request_t request_copy; /**< Copied SDO request. */
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ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */
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ec_soe_request_t soe_request_copy; /**< Copied SDO request. */
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unsigned long jiffies_start; /**< For timeout calculations. */
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unsigned int take_time; /**< Store jiffies after datagram reception. */
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unsigned long wait_ms; /**< Wait time (used to wait before SAFEOP). */
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};
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/****************************************************************************/
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void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
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ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *,
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ec_fsm_eoe_t *);
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void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
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void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
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int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
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int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
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/****************************************************************************/
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#endif
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