fsm_master.h

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/******************************************************************************
 *
 *  Copyright (C) 2006-2023  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.
 *
 *****************************************************************************/

/*****************************************************************************/

#ifndef __EC_FSM_MASTER_H__
#define __EC_FSM_MASTER_H__

#include "globals.h"
#include "datagram.h"
#include "foe_request.h"
#include "sdo_request.h"
#include "soe_request.h"
#include "fsm_slave_config.h"
#include "fsm_slave_scan.h"
#include "fsm_pdo.h"

/*****************************************************************************/

typedef struct {
    struct list_head list; 
    ec_slave_t *slave; 
    uint16_t offset; 
    size_t nwords; 
    const uint16_t *words; 
    ec_internal_request_state_t state; 
} ec_sii_write_request_t;

/*****************************************************************************/

typedef struct ec_fsm_master ec_fsm_master_t; 
struct ec_fsm_master {
    ec_master_t *master; 
    ec_datagram_t *datagram; 
    unsigned int retries; 
    void (*state)(ec_fsm_master_t *); 
    ec_device_index_t dev_idx; 
    int idle; 
    unsigned long scan_jiffies; 
    uint8_t link_state[EC_MAX_NUM_DEVICES]; 
    unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; 
    unsigned int rescan_required; 
    ec_slave_state_t slave_states[EC_MAX_NUM_DEVICES]; 
    ec_slave_t *slave; 
    ec_sii_write_request_t *sii_request; 
    off_t sii_index; 
    ec_sdo_request_t *sdo_request; 
    ec_soe_request_t *soe_request; 
    ec_fsm_coe_t fsm_coe; 
    ec_fsm_soe_t fsm_soe; 
    ec_fsm_pdo_t fsm_pdo; 
    ec_fsm_change_t fsm_change; 
    ec_fsm_slave_config_t fsm_slave_config; 
    ec_fsm_slave_scan_t fsm_slave_scan; 
    ec_fsm_sii_t fsm_sii; 
};

/*****************************************************************************/

void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
void ec_fsm_master_clear(ec_fsm_master_t *);

void ec_fsm_master_reset(ec_fsm_master_t *);

int ec_fsm_master_exec(ec_fsm_master_t *);
int ec_fsm_master_idle(const ec_fsm_master_t *);

/*****************************************************************************/

#endif