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108 lines
4.3 KiB
C
108 lines
4.3 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2023 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 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 "foe_request.h"
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#include "sdo_request.h"
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#include "soe_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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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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ec_device_index_t dev_idx; /**< Current device index (for scanning etc.).
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*/
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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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uint8_t link_state[EC_MAX_NUM_DEVICES]; /**< Last link state for every
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device. */
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unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; /**< Number of
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responding slaves
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for every device. */
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unsigned int rescan_required; /**< A bus rescan is required. */
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ec_slave_state_t slave_states[EC_MAX_NUM_DEVICES]; /**< AL states of
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responding slaves for
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every device. */
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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_soe_request_t *soe_request; /**< SoE request to process. */
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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_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_reset(ec_fsm_master_t *);
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int 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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