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) 2012 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 emergency ring buffer structure.
*/
/*****************************************************************************/
#ifndef __EC_COE_EMERG_RING_H__
#define __EC_COE_EMERG_RING_H__
#include "globals.h"
/*****************************************************************************/
/** EtherCAT CoE emergency message record.
*/
typedef struct {
u8 data[EC_COE_EMERGENCY_MSG_SIZE]; /**< Message data. */
} ec_coe_emerg_msg_t;
/*****************************************************************************/
/** EtherCAT CoE emergency ring buffer.
*/
typedef struct {
ec_slave_config_t *sc; /**< Slave configuration owning the ring. */
ec_coe_emerg_msg_t *msgs; /**< Message ring. */
size_t size; /**< Ring size. */
unsigned int read_index; /**< Read index. */
unsigned int write_index; /**< Write index. */
unsigned int overruns; /**< Number of overruns since last reset. */
} ec_coe_emerg_ring_t;
/*****************************************************************************/
void ec_coe_emerg_ring_init(ec_coe_emerg_ring_t *, ec_slave_config_t *);
void ec_coe_emerg_ring_clear(ec_coe_emerg_ring_t *);
int ec_coe_emerg_ring_size(ec_coe_emerg_ring_t *, size_t);
void ec_coe_emerg_ring_push(ec_coe_emerg_ring_t *, const u8 *);
int ec_coe_emerg_ring_pop(ec_coe_emerg_ring_t *, u8 *);
int ec_coe_emerg_ring_clear_ring(ec_coe_emerg_ring_t *);
int ec_coe_emerg_ring_overruns(ec_coe_emerg_ring_t *);
/*****************************************************************************/
#endif