master/fsm_soe.h
author Edouard Tisserant <edouard.tisserant@gmail.com>
Mon, 01 Oct 2018 22:05:31 +0200
branchstable-1.5
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permissions -rw-r--r--
Cosmetic change : rtdm_in_rt_context instead of ipipe_root_p.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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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 and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  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 along
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 *  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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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT CoE state machines.
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*/
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/*****************************************************************************/
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#ifndef __EC_FSM_SOE_H__
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#define __EC_FSM_SOE_H__
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#include "globals.h"
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#include "datagram.h"
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#include "slave.h"
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#include "soe_request.h"
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/*****************************************************************************/
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typedef struct ec_fsm_soe ec_fsm_soe_t; /**< \see ec_fsm_soe */
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/** Finite state machines for the Sercos over EtherCAT protocol.
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 */
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struct ec_fsm_soe {
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    ec_slave_t *slave; /**< slave the FSM runs on */
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    unsigned int retries; /**< retries upon datagram timeout */
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    void (*state)(ec_fsm_soe_t *, ec_datagram_t *); /**< CoE state function */
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    ec_datagram_t *datagram; /**< Datagram used in the previous step. */
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    unsigned long jiffies_start; /**< Timestamp. */
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    ec_soe_request_t *request; /**< SoE request */
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    off_t offset; /**< IDN data offset during fragmented write. */
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    size_t fragment_size; /**< Size of the current fragment. */
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};
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/*****************************************************************************/
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void ec_fsm_soe_init(ec_fsm_soe_t *);
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void ec_fsm_soe_clear(ec_fsm_soe_t *);
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void ec_fsm_soe_transfer(ec_fsm_soe_t *, ec_slave_t *, ec_soe_request_t *);
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int ec_fsm_soe_exec(ec_fsm_soe_t *, ec_datagram_t *);
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int ec_fsm_soe_success(const ec_fsm_soe_t *);
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/*****************************************************************************/
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#endif