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83 lines
2.8 KiB
C
83 lines
2.8 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 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 information interface FSM structure.
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*/
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/****************************************************************************/
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#ifndef __EC_FSM_SII_H__
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#define __EC_FSM_SII_H__
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#include "globals.h"
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#include "datagram.h"
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#include "slave.h"
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/****************************************************************************/
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/** SII access addressing mode.
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*/
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typedef enum {
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EC_FSM_SII_USE_INCREMENT_ADDRESS, /**< Use auto-increment addressing. */
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EC_FSM_SII_USE_CONFIGURED_ADDRESS /**< Use configured addresses. */
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} ec_fsm_sii_addressing_t;
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/****************************************************************************/
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typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */
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/**
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Slave information interface FSM.
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*/
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struct ec_fsm_sii
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{
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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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unsigned int retries; /**< retries upon datagram timeout */
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void (*state)(ec_fsm_sii_t *); /**< SII state function */
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uint16_t word_offset; /**< input: word offset in SII */
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ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */
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uint8_t value[4]; /**< raw SII value (32bit) */
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unsigned long jiffies_start; /**< Start timestamp. */
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uint8_t check_once_more; /**< one more try after timeout */
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};
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/****************************************************************************/
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void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
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void ec_fsm_sii_clear(ec_fsm_sii_t *);
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void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
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uint16_t, ec_fsm_sii_addressing_t);
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void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,
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const uint16_t *, ec_fsm_sii_addressing_t);
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int ec_fsm_sii_exec(ec_fsm_sii_t *);
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int ec_fsm_sii_success(ec_fsm_sii_t *);
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/****************************************************************************/
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#endif
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