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 CANopen SDO request structure.
*/
/*****************************************************************************/
#ifndef __EC_SDO_REQUEST_H__
#define __EC_SDO_REQUEST_H__
#include <linux/list.h>
#include "globals.h"
/*****************************************************************************/
/** CANopen SDO request.
*/
struct ec_sdo_request {
struct list_head list; /**< List item. */
uint16_t index; /**< SDO index. */
uint8_t subindex; /**< SDO subindex. */
uint8_t *data; /**< Pointer to SDO data. */
size_t mem_size; /**< Size of SDO data memory. */
size_t data_size; /**< Size of SDO data. */
uint8_t complete_access; /**< SDO shall be transferred completely. */
uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
request may take. */
uint32_t response_timeout; /**< Maximum time in ms, the transfer is
retried, if the slave does not respond. */
ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
the slave, EC_DIR_INPUT means uploading from the
slave. */
ec_internal_request_state_t state; /**< SDO request state. */
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
int errno; /**< Error number. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};
/*****************************************************************************/
void ec_sdo_request_init(ec_sdo_request_t *);
void ec_sdo_request_clear(ec_sdo_request_t *);
int ec_sdo_request_copy(ec_sdo_request_t *, const ec_sdo_request_t *);
int ec_sdo_request_alloc(ec_sdo_request_t *, size_t);
int ec_sdo_request_copy_data(ec_sdo_request_t *, const uint8_t *, size_t);
int ec_sdo_request_timed_out(const ec_sdo_request_t *);
/*****************************************************************************/
#endif