lib/reg_request.h
author Knud Baastrup <kba@deif.com>
Tue, 14 Apr 2015 13:12:24 -0400
changeset 2629 a2701af27fde
parent 2589 2b9c78543663
permissions -rw-r--r--
Internal SDO requests now synchronized with external requests.
Internal SDO requests are managed by master FSM and can conflict with
external requests managed by slave FSM. The internal SDO requests
includes SDO requests created by an application and external request are
typical created by EtherCAT Tool for SDO upload/download or a directory
fetch initiated with ethercat sdos command. The conflict will cause a
FPWR from an external request to be overwritten by a FPWR from an
internal SDO request (or oppersite) in the same "train" of datagrams.
2589
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
/******************************************************************************
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
 *  $Id$
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
 *  Copyright (C) 2012  Florian Pose, Ingenieurgemeinschaft IgH
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     7
 *  This file is part of the IgH EtherCAT master userspace library.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     8
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
 *  The IgH EtherCAT master userspace library is free software; you can
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
 *  redistribute it and/or modify it under the terms of the GNU Lesser General
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
 *  Public License as published by the Free Software Foundation; version 2.1
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
 *  of the License.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    13
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    14
 *  The IgH EtherCAT master userspace library is distributed in the hope that
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    15
 *  it will be useful, but WITHOUT ANY WARRANTY; without even the implied
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
 *  warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    17
 *  GNU Lesser General Public License for more details.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    18
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    19
 *  You should have received a copy of the GNU Lesser General Public License
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    20
 *  along with the IgH EtherCAT master userspace library. If not, see
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    21
 *  <http://www.gnu.org/licenses/>.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    22
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    23
 *  ---
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    24
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    25
 *  The license mentioned above concerns the source code only. Using the
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    26
 *  EtherCAT technology and brand is only permitted in compliance with the
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
 *  industrial property and similar rights of Beckhoff Automation GmbH.
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    28
 *
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    29
 *****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    30
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    31
#include "include/ecrt.h"
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    33
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    34
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    35
struct ec_reg_request {
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    36
    ec_reg_request_t *next; /**< List header. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    37
    ec_slave_config_t *config; /**< Parent slave configuration. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    38
    unsigned int index; /**< Request index (identifier). */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    39
    uint8_t *data; /**< Data memory. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    40
    size_t mem_size; /**< Size of \a data. */
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    41
};
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    42
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
/*****************************************************************************/
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
void ec_reg_request_clear(ec_reg_request_t *);
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
2b9c78543663 Reverted default branch to stable-1.5.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
/*****************************************************************************/