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

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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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 *                2009-2012  Florian Pose <fp@igh-essen.com>

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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 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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    unsigned int retries; /**< Retries upon datagram timeout */

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    void (*state)(ec_fsm_foe_t *, ec_datagram_t *); /**< FoE state function. */

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    ec_datagram_t *datagram; /**< Datagram used in previous step. */

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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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    uint8_t *tx_buffer; /**< Buffer with data to transmit. */

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    uint32_t tx_buffer_size; /**< Size of data to transmit. */

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    uint32_t tx_buffer_offset; /**< Offset of data to tranmit next. */

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    uint32_t tx_last_packet; /**< Current packet is last one to send. */

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    uint32_t tx_packet_no; /**< FoE packet number. */

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    uint32_t tx_current_size; /**< Size of current packet to send. */

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    uint8_t *tx_filename; /**< Name of file to transmit. */

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    uint32_t tx_filename_len; /**< Lenth of transmit file name. */

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    uint8_t *rx_buffer; /**< Buffer for received data. */

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    uint32_t rx_buffer_size; /**< Size of receive buffer. */

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    uint32_t rx_buffer_offset; /**< Offset in receive buffer. */

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    uint32_t rx_expected_packet_no; /**< Expected receive packet number. */

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    uint32_t rx_last_packet; /**< Current packet is the last to receive. */

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    uint8_t *rx_filename; /**< Name of the file to receive. */

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    uint32_t rx_filename_len; /**< Length of the receive file name. */

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};

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

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void ec_fsm_foe_init(ec_fsm_foe_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 *, ec_datagram_t *);

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int ec_fsm_foe_success(const 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