author | Florian Pose <fp@igh-essen.com> |
Tue, 10 Jan 2012 10:43:36 +0100 | |
branch | stable-1.5 |
changeset 2250 | db932582b674 |
parent 1562 | 5c249f469b81 |
child 2045 | ff2a13a4603c |
child 2498 | 9cdd7669dc0b |
permissions | -rw-r--r-- |
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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, |
ef907b0b5125
merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only.
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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_COE_H__ |
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#define __EC_FSM_COE_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 "sdo.h" |
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#include "sdo_request.h" |
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/*****************************************************************************/ |
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typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */ |
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/** Finite state machines for the CANopen over EtherCAT protocol. |
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*/ |
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struct ec_fsm_coe { |
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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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State machines re-send datagrams on timeout.
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unsigned int retries; /**< retries upon datagram timeout */ |
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void (*state)(ec_fsm_coe_t *); /**< CoE state function */ |
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unsigned long jiffies_start; /**< CoE timestamp. */ |
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ec_sdo_t *sdo; /**< current SDO */ |
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uint8_t subindex; /**< current subindex */ |
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ec_sdo_request_t *request; /**< SDO request */ |
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uint32_t complete_size; /**< Used when segmenting. */ |
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uint8_t toggle; /**< toggle bit for segment commands */ |
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uint32_t offset; /**< Data offset during segmented download. */ |
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uint32_t remaining; /**< Remaining bytes during segmented download. */ |
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}; |
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/*****************************************************************************/ |
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void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *); |
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void ec_fsm_coe_clear(ec_fsm_coe_t *); |
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *); |
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void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *); |
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int ec_fsm_coe_exec(ec_fsm_coe_t *); |
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int ec_fsm_coe_success(ec_fsm_coe_t *); |
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/*****************************************************************************/ |
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#endif |