IgH EtherCAT Master: fsm_change.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_FSM_CHANGE_H__
00038 #define __EC_FSM_CHANGE_H__
00039 
00040 #include "globals.h"
00041 #include "datagram.h"
00042 #include "slave.h"
00043 
00044 /*****************************************************************************/
00045 
00050 typedef enum {
00051     EC_FSM_CHANGE_MODE_FULL, 
00052     EC_FSM_CHANGE_MODE_ACK_ONLY 
00053 }
00054 ec_fsm_change_mode_t;
00055 
00056 /*****************************************************************************/
00057 
00058 typedef struct ec_fsm_change ec_fsm_change_t; 
00064 struct ec_fsm_change
00065 {
00066     ec_slave_t *slave; 
00067     ec_datagram_t *datagram; 
00068     unsigned int retries; 
00070     void (*state)(ec_fsm_change_t *); 
00071     ec_fsm_change_mode_t mode; 
00072     ec_slave_state_t requested_state; 
00073     ec_slave_state_t old_state; 
00074     unsigned long jiffies_start; 
00075     uint8_t take_time; 
00076     uint8_t spontaneous_change; 
00077 };
00078 
00079 /*****************************************************************************/
00080 
00081 void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *);
00082 void ec_fsm_change_clear(ec_fsm_change_t *);
00083 
00084 void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
00085 void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *);
00086 
00087 int ec_fsm_change_exec(ec_fsm_change_t *);
00088 int ec_fsm_change_success(ec_fsm_change_t *);
00089 
00090 /*****************************************************************************/
00091 
00092 #endif