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.
/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
*
* This file is part of the IgH EtherCAT master userspace library.
*
* The IgH EtherCAT master userspace library is free software; you can
* redistribute it and/or modify it under the terms of the GNU Lesser General
* Public License as published by the Free Software Foundation; version 2.1
* of the License.
*
* The IgH EtherCAT master userspace library 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 Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with the IgH EtherCAT master userspace library. If not, see
* <http://www.gnu.org/licenses/>.
*
* ---
*
* 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 virtual TTY interface.
*
* \defgroup TTYInterface EtherCAT Virtual TTY Interface
*
* @{
*/
/*****************************************************************************/
#ifndef __ECTTY_H__
#define __ECTTY_H__
#include <linux/termios.h>
/******************************************************************************
* Data types
*****************************************************************************/
struct ec_tty;
typedef struct ec_tty ec_tty_t; /**< \see ec_tty */
/** Operations on the virtual TTY interface.
*/
typedef struct {
int (*cflag_changed)(void *, tcflag_t); /**< Called when the serial
* settings shall be changed. The
* \a cflag argument contains the
* new settings. */
} ec_tty_operations_t;
/******************************************************************************
* Global functions
*****************************************************************************/
/** Create a virtual TTY interface.
*
* \param ops Set of callbacks.
* \param cb_data Arbitrary data, that is passed to any callback.
*
* \return Pointer to the interface object, otherwise an ERR_PTR value.
*/
ec_tty_t *ectty_create(
const ec_tty_operations_t *ops,
void *cb_data
);
/******************************************************************************
* TTY interface methods
*****************************************************************************/
/** Releases a virtual TTY interface.
*/
void ectty_free(
ec_tty_t *tty /**< TTY interface. */
);
/** Reads data to send from the TTY interface.
*
* If there are data to send, they are copied into the \a buffer. At maximum,
* \a size bytes are copied. The actual number of bytes copied is returned.
*
* \return Number of bytes copied.
*/
unsigned int ectty_tx_data(
ec_tty_t *tty, /**< TTY interface. */
uint8_t *buffer, /**< Buffer for data to transmit. */
size_t size /**< Available space in \a buffer. */
);
/** Pushes received data to the TTY interface.
*/
void ectty_rx_data(
ec_tty_t *tty, /**< TTY interface. */
const uint8_t *buffer, /**< Buffer with received data. */
size_t size /**< Number of bytes in \a buffer. */
);
/*****************************************************************************/
/** @} */
#endif