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.
*
* 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 "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 */
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *, ec_datagram_t *); /**< CoE state function */
ec_datagram_t *datagram; /**< Datagram used in last step. */
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. */
size_t segment_size; /**< Current segment size. */
};
/*****************************************************************************/
void ec_fsm_coe_init(ec_fsm_coe_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 *, ec_datagram_t *);
int ec_fsm_coe_success(const ec_fsm_coe_t *);
/*****************************************************************************/
#endif