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103 lines
3.5 KiB
C
103 lines
3.5 KiB
C
/******************************************************************************
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*
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* $Id:$
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*
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* Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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EtherCAT FoE state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_FOE_H__
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#define __EC_FSM_FOE_H__
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#include "globals.h"
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "slave.h"
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#include "foe_request.h"
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/*****************************************************************************/
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typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */
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/** Finite state machines for the CANopen-over-EtherCAT protocol.
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*/
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struct ec_fsm_foe {
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ec_slave_t *slave; /**< slave the FSM runs on */
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ec_datagram_t *datagram; /**< datagram used in the state machine */
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unsigned int retries; /**< retries upon datagram timeout */
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void (*state)(ec_fsm_foe_t *); /**< FoE state function */
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unsigned long jiffies_start; /**< FoE timestamp. */
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uint8_t subindex; /**< current subindex */
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ec_foe_request_t *request; /**< FoE request */
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uint8_t toggle; /**< toggle bit for segment commands */
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uint32_t tx_errors;
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uint8_t *tx_buffer;
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uint32_t tx_buffer_size;
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uint32_t tx_buffer_offset;
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uint32_t tx_last_packet;
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uint32_t tx_packet_no;
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uint32_t tx_current_size;
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uint8_t *tx_filename;
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uint32_t tx_filename_len;
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uint32_t rx_errors;
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uint8_t *rx_buffer;
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uint32_t rx_buffer_size;
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uint32_t rx_buffer_offset;
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uint32_t rx_current_size;
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uint32_t rx_packet_no;
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uint32_t rx_expected_packet_no;
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uint32_t rx_last_packet;
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uint8_t *rx_filename;
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uint32_t rx_filename_len;
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};
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/*****************************************************************************/
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void ec_fsm_foe_init(ec_fsm_foe_t *, ec_datagram_t *);
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void ec_fsm_foe_clear(ec_fsm_foe_t *);
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int ec_fsm_foe_exec(ec_fsm_foe_t *);
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int ec_fsm_foe_success(ec_fsm_foe_t *);
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void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *);
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/*****************************************************************************/
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#endif
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