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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT Master.
*
* The IgH EtherCAT Master is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License version 2, as
* published by the Free Software Foundation.
*
* The IgH EtherCAT Master is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License along
* with the IgH EtherCAT Master; if not, write to the Free Software
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
* ---
*
* The license mentioned above concerns the source code only. Using the
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
*****************************************************************************/
/**
\file
EtherCAT CoE state machines.
*/
/*****************************************************************************/
#ifndef __EC_FSM_COE_H__
#define __EC_FSM_COE_H__
#include "globals.h"
#include "datagram.h"
#include "mailbox.h"
#include "slave.h"
#include "sdo.h"
#include "sdo_request.h"
/*****************************************************************************/
typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
/** Finite state machines for the CANopen over EtherCAT protocol.
*/
struct ec_fsm_coe {
ec_slave_t *slave; /**< slave the FSM runs on */
ec_mailbox_t *mbox; /**< mailbox used in the state machine */
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
unsigned long jiffies_start; /**< CoE timestamp. */
ec_sdo_t *sdo; /**< current SDO */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< SDO request */
uint32_t complete_size; /**< Used when segmenting. */
uint8_t toggle; /**< toggle bit for segment commands */
uint32_t offset; /**< Data offset during segmented download. */
uint32_t remaining; /**< Remaining bytes during segmented download. */
};
/*****************************************************************************/
void ec_fsm_coe_init(ec_fsm_coe_t *, ec_mailbox_t *);
void ec_fsm_coe_clear(ec_fsm_coe_t *);
void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
int ec_fsm_coe_exec(ec_fsm_coe_t *);
int ec_fsm_coe_success(ec_fsm_coe_t *);
/*****************************************************************************/
#endif