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 configuration state machine.
*/
/*****************************************************************************/
#ifndef __EC_FSM_SLAVE_CONFIG_H__
#define __EC_FSM_SLAVE_CONFIG_H__
#include "globals.h"
#include "slave.h"
#include "datagram.h"
#include "fsm_change.h"
#include "fsm_coe.h"
#include "fsm_pdo.h"
/*****************************************************************************/
/** \see ec_fsm_slave_config */
typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;
/** Finite state machine to configure an EtherCAT slave.
*/
struct ec_fsm_slave_config
{
ec_datagram_t *datagram; /**< Datagram used in the state machine. */
ec_fsm_change_t *fsm_change; /**< State change state machine. */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
ec_fsm_soe_t *fsm_soe; /**< SoE state machine. */
ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
void (*state)(ec_fsm_slave_config_t *); /**< State function. */
unsigned int retries; /**< Retries on datagram timeout. */
ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
ec_sdo_request_t request_copy; /**< Copied SDO request. */
ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */
ec_soe_request_t soe_request_copy; /**< Copied SDO request. */
unsigned long jiffies_start; /**< For timeout calculations. */
unsigned int take_time; /**< Store jiffies after datagram reception. */
};
/*****************************************************************************/
void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,
ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);
void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);
void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);
int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);
int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);
/*****************************************************************************/
#endif