IgH EtherCAT Master: fsm_slave_config.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_SLAVE_CONFIG_H__
00038 #define __EC_FSM_SLAVE_CONFIG_H__
00039 
00040 #include "globals.h"
00041 #include "slave.h"
00042 #include "datagram.h"
00043 #include "fsm_change.h"
00044 #include "fsm_coe.h"
00045 #include "fsm_pdo.h"
00046 
00047 /*****************************************************************************/
00048 
00050 typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
00051 
00054 struct ec_fsm_slave_config
00055 {
00056     ec_datagram_t *datagram; 
00057     ec_fsm_change_t *fsm_change; 
00058     ec_fsm_coe_t *fsm_coe; 
00059     ec_fsm_soe_t *fsm_soe; 
00060     ec_fsm_pdo_t *fsm_pdo; 
00062     ec_slave_t *slave; 
00063     void (*state)(ec_fsm_slave_config_t *); 
00064     unsigned int retries; 
00065     ec_sdo_request_t *request; 
00066     ec_sdo_request_t request_copy; 
00067     ec_soe_request_t *soe_request; 
00068     ec_soe_request_t soe_request_copy; 
00069     unsigned long jiffies_start; 
00070     unsigned int take_time; 
00071 };
00072 
00073 /*****************************************************************************/
00074 
00075 void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
00076         ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);
00077 void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
00078 
00079 void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
00080 
00081 int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
00082 int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
00083 
00084 /*****************************************************************************/
00085 
00086 #endif