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) 2008 Olav Zarges, imc Messsysteme GmbH
* 2009-2012 Florian Pose <fp@igh-essen.com>
*
* 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 FoE state machines.
*/
/*****************************************************************************/
#ifndef __EC_FSM_FOE_H__
#define __EC_FSM_FOE_H__
#include "globals.h"
#include "../include/ecrt.h"
#include "datagram.h"
#include "slave.h"
#include "foe_request.h"
/*****************************************************************************/
typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */
/** Finite state machines for the CANopen-over-EtherCAT protocol.
*/
struct ec_fsm_foe {
ec_slave_t *slave; /**< Slave the FSM runs on. */
unsigned int retries; /**< Retries upon datagram timeout */
void (*state)(ec_fsm_foe_t *, ec_datagram_t *); /**< FoE state function. */
ec_datagram_t *datagram; /**< Datagram used in previous step. */
unsigned long jiffies_start; /**< FoE timestamp. */
uint8_t subindex; /**< Current subindex. */
ec_foe_request_t *request; /**< FoE request. */
uint8_t toggle; /**< Toggle bit for segment commands. */
uint8_t *tx_buffer; /**< Buffer with data to transmit. */
uint32_t tx_buffer_size; /**< Size of data to transmit. */
uint32_t tx_buffer_offset; /**< Offset of data to tranmit next. */
uint32_t tx_last_packet; /**< Current packet is last one to send. */
uint32_t tx_packet_no; /**< FoE packet number. */
uint32_t tx_current_size; /**< Size of current packet to send. */
uint8_t *tx_filename; /**< Name of file to transmit. */
uint32_t tx_filename_len; /**< Lenth of transmit file name. */
uint8_t *rx_buffer; /**< Buffer for received data. */
uint32_t rx_buffer_size; /**< Size of receive buffer. */
uint32_t rx_buffer_offset; /**< Offset in receive buffer. */
uint32_t rx_expected_packet_no; /**< Expected receive packet number. */
uint32_t rx_last_packet; /**< Current packet is the last to receive. */
uint8_t *rx_filename; /**< Name of the file to receive. */
uint32_t rx_filename_len; /**< Length of the receive file name. */
};
/*****************************************************************************/
void ec_fsm_foe_init(ec_fsm_foe_t *);
void ec_fsm_foe_clear(ec_fsm_foe_t *);
int ec_fsm_foe_exec(ec_fsm_foe_t *, ec_datagram_t *);
int ec_fsm_foe_success(const ec_fsm_foe_t *);
void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *);
/*****************************************************************************/
#endif