IgH EtherCAT Master: fsm_sii.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_SII_H__
00038 #define __EC_FSM_SII_H__
00039 
00040 #include "globals.h"
00041 #include "datagram.h"
00042 #include "slave.h"
00043 
00044 /*****************************************************************************/
00045 
00048 typedef enum {
00049     EC_FSM_SII_USE_INCREMENT_ADDRESS, 
00050     EC_FSM_SII_USE_CONFIGURED_ADDRESS 
00051 } ec_fsm_sii_addressing_t;
00052 
00053 /*****************************************************************************/
00054 
00055 typedef struct ec_fsm_sii ec_fsm_sii_t; 
00061 struct ec_fsm_sii
00062 {
00063     ec_slave_t *slave; 
00064     ec_datagram_t *datagram; 
00065     unsigned int retries; 
00067     void (*state)(ec_fsm_sii_t *); 
00068     uint16_t word_offset; 
00069     ec_fsm_sii_addressing_t mode; 
00070     uint8_t value[4]; 
00071     unsigned long jiffies_start; 
00072     uint8_t check_once_more; 
00073 };
00074 
00075 /*****************************************************************************/
00076 
00077 void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
00078 void ec_fsm_sii_clear(ec_fsm_sii_t *);
00079 
00080 void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
00081                      uint16_t, ec_fsm_sii_addressing_t);
00082 void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,
00083         const uint16_t *, ec_fsm_sii_addressing_t);
00084 
00085 int ec_fsm_sii_exec(ec_fsm_sii_t *);
00086 int ec_fsm_sii_success(ec_fsm_sii_t *);
00087 
00088 /*****************************************************************************/
00089 
00090 #endif