master/fsm_foe.h
author Florian Pose <fp@igh-essen.com>
Tue, 19 Jan 2010 15:15:57 +0100
changeset 1773 5371f3e5f6a1
parent 1465 3099d78343ea
child 1901 2a1106b1d863
permissions -rw-r--r--
Disable use of hrtimer for scheduling by default. Does not work on some PPC targets.
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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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 *
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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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    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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    /** \cond */
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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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    /** \endcond */
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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