Detection of page exceeding slave information file.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 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
* as published by the Free Software Foundation; either version 2 of the
* License, or (at your option) any later version.
*
* 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 right to use EtherCAT Technology is granted and comes free of
* charge under condition of compatibility of product made by
* Licensee. People intending to distribute/sell products based on the
* code, have to sign an agreement to guarantee that products using
* software based on IgH EtherCAT master stay compatible with the actual
* EtherCAT specification (which are released themselves as an open
* standard) as the (only) precondition to have the right to use EtherCAT
* Technology, IP and trade marks.
*
*****************************************************************************/
/**
\file
EtherCAT CoE state machines.
*/
/*****************************************************************************/
#ifndef __EC_FSM_COE__
#define __EC_FSM_COE__
#include "globals.h"
#include "../include/ecrt.h"
#include "datagram.h"
#include "slave.h"
#include "canopen.h"
/*****************************************************************************/
typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
/**
Finite state machine of an EtherCAT master.
*/
struct ec_fsm_coe
{
ec_slave_t *slave; /**< slave the FSM runs on */
ec_datagram_t *datagram; /**< datagram used in the state machine */
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
cycles_t cycles_start; /**< CoE timestamp */
ec_sdo_t *sdo; /**< current SDO */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< SDO request */
uint8_t toggle; /**< toggle bit for segment commands */
};
/*****************************************************************************/
void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_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_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
void ec_fsm_coe_upload(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