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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT slave information interface FSM structure.
*/
/*****************************************************************************/
#ifndef __EC_FSM_SII_H__
#define __EC_FSM_SII_H__
#include "globals.h"
#include "datagram.h"
#include "slave.h"
/*****************************************************************************/
/** SII access addressing mode.
*/
typedef enum {
EC_FSM_SII_USE_INCREMENT_ADDRESS, /**< Use auto-increment addressing. */
EC_FSM_SII_USE_CONFIGURED_ADDRESS /**< Use configured addresses. */
} ec_fsm_sii_addressing_t;
/*****************************************************************************/
typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */
/**
Slave information interface FSM.
*/
struct ec_fsm_sii
{
ec_slave_t *slave; /**< slave the FSM runs on */
ec_datagram_t *datagram; /**< datagram used in the state machine */
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_sii_t *); /**< SII state function */
uint16_t word_offset; /**< input: word offset in SII */
ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */
uint8_t value[4]; /**< raw SII value (32bit) */
unsigned long jiffies_start; /**< Start timestamp. */
uint8_t check_once_more; /**< one more try after timeout */
};
/*****************************************************************************/
void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
void ec_fsm_sii_clear(ec_fsm_sii_t *);
void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
uint16_t, ec_fsm_sii_addressing_t);
void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,
const uint16_t *, ec_fsm_sii_addressing_t);
int ec_fsm_sii_exec(ec_fsm_sii_t *);
int ec_fsm_sii_success(ec_fsm_sii_t *);
/*****************************************************************************/
#endif
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