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) 2006-2012 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 slave request state machine.
*/
/*****************************************************************************/
#ifndef __EC_FSM_SLAVE_H__
#define __EC_FSM_SLAVE_H__
#include "globals.h"
#include "datagram.h"
#include "sdo_request.h"
#include "reg_request.h"
#include "eoe_request.h"
#include "fsm_coe.h"
#include "fsm_foe.h"
#include "fsm_soe.h"
#include "fsm_eoe.h"
/*****************************************************************************/
typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
/** Finite state machine of an EtherCAT slave.
*/
struct ec_fsm_slave {
ec_slave_t *slave; /**< slave the FSM runs on */
struct list_head list; /**< Used for execution list. */
void (*state)(ec_fsm_slave_t *, ec_datagram_t *); /**< State function. */
ec_datagram_t *datagram; /**< Previous state datagram. */
ec_sdo_request_t *sdo_request; /**< SDO request to process. */
ec_reg_request_t *reg_request; /**< Register request to process. */
ec_foe_request_t *foe_request; /**< FoE request to process. */
off_t foe_index; /**< Index to FoE write request data. */
ec_soe_request_t *soe_request; /**< SoE request to process. */
ec_eoe_request_t *eoe_request; /**< SoE request to process. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine. */
ec_fsm_foe_t fsm_foe; /**< FoE state machine. */
ec_fsm_soe_t fsm_soe; /**< SoE state machine. */
ec_fsm_eoe_t fsm_eoe; /**< EoE state machine. */
};
/*****************************************************************************/
void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *);
void ec_fsm_slave_clear(ec_fsm_slave_t *);
int ec_fsm_slave_exec(ec_fsm_slave_t *, ec_datagram_t *);
void ec_fsm_slave_set_ready(ec_fsm_slave_t *);
int ec_fsm_slave_is_ready(const ec_fsm_slave_t *);
/*****************************************************************************/
#endif // __EC_FSM_SLAVE_H__