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 slave information interface FSM structure.
*/
/*****************************************************************************/
#ifndef __EC_FSM_SII_H__
#define __EC_FSM_SII_H__
#include "globals.h"
#include "datagram.h"
#include "slave.h"
/*****************************************************************************/
/** SII access addressing mode.
*/
typedef enum {
EC_FSM_SII_USE_INCREMENT_ADDRESS, /**< Use auto-increment addressing. */
EC_FSM_SII_USE_CONFIGURED_ADDRESS /**< Use configured addresses. */
} ec_fsm_sii_addressing_t;
/*****************************************************************************/
typedef struct ec_fsm_sii ec_fsm_sii_t; /**< \see ec_fsm_sii */
/**
Slave information interface FSM.
*/
struct ec_fsm_sii
{
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_sii_t *); /**< SII state function */
uint16_t word_offset; /**< input: word offset in SII */
ec_fsm_sii_addressing_t mode; /**< reading via APRD or NPRD */
uint8_t value[4]; /**< raw SII value (32bit) */
unsigned long jiffies_start; /**< Start timestamp. */
uint8_t check_once_more; /**< one more try after timeout */
};
/*****************************************************************************/
void ec_fsm_sii_init(ec_fsm_sii_t *, ec_datagram_t *);
void ec_fsm_sii_clear(ec_fsm_sii_t *);
void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
uint16_t, ec_fsm_sii_addressing_t);
void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t,
const uint16_t *, ec_fsm_sii_addressing_t);
int ec_fsm_sii_exec(ec_fsm_sii_t *);
int ec_fsm_sii_success(ec_fsm_sii_t *);
/*****************************************************************************/
#endif