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1 /****************************************************************************** |
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2 * |
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3 * $Id:$ |
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4 * |
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5 * Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 EtherCAT FoE state machines. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #ifndef __EC_FSM_FOE_H__ |
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42 #define __EC_FSM_FOE_H__ |
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43 |
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44 #include "globals.h" |
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45 #include "../include/ecrt.h" |
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46 #include "datagram.h" |
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47 #include "slave.h" |
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48 #include "foe_request.h" |
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49 |
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50 /*****************************************************************************/ |
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51 |
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52 typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */ |
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53 |
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54 /** Finite state machines for the CANopen-over-EtherCAT protocol. |
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55 */ |
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56 struct ec_fsm_foe { |
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57 ec_slave_t *slave; /**< slave the FSM runs on */ |
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58 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
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59 unsigned int retries; /**< retries upon datagram timeout */ |
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60 |
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61 void (*state)(ec_fsm_foe_t *); /**< FoE state function */ |
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62 unsigned long jiffies_start; /**< FoE timestamp. */ |
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63 uint8_t subindex; /**< current subindex */ |
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64 ec_foe_request_t *request; /**< FoE request */ |
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65 uint8_t toggle; /**< toggle bit for segment commands */ |
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66 |
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67 uint32_t tx_errors; |
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68 uint8_t *tx_buffer; |
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69 uint32_t tx_buffer_size; |
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70 uint32_t tx_buffer_offset; |
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71 uint32_t tx_last_packet; |
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72 uint32_t tx_packet_no; |
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73 uint32_t tx_current_size; |
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74 uint8_t *tx_filename; |
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75 uint32_t tx_filename_len; |
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76 |
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77 |
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78 uint32_t rx_errors; |
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79 uint8_t *rx_buffer; |
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80 uint32_t rx_buffer_size; |
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81 uint32_t rx_buffer_offset; |
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82 uint32_t rx_current_size; |
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83 uint32_t rx_packet_no; |
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84 uint32_t rx_expected_packet_no; |
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85 uint32_t rx_last_packet; |
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86 uint8_t *rx_filename; |
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87 uint32_t rx_filename_len; |
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88 }; |
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89 |
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90 /*****************************************************************************/ |
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91 |
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92 void ec_fsm_foe_init(ec_fsm_foe_t *, ec_datagram_t *); |
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93 void ec_fsm_foe_clear(ec_fsm_foe_t *); |
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94 |
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95 int ec_fsm_foe_exec(ec_fsm_foe_t *); |
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96 int ec_fsm_foe_success(ec_fsm_foe_t *); |
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97 |
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98 void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *); |
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99 |
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100 /*****************************************************************************/ |
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101 |
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102 #endif |