fp@1707: /******************************************************************************
fp@1707:  *
fp@1707:  *  $Id:$
fp@1707:  *
fp@1707:  *  Copyright (C) 2008  Olav Zarges, imc Meßsysteme GmbH
fp@1707:  *
fp@1707:  *  This file is part of the IgH EtherCAT Master.
fp@1707:  *
fp@1707:  *  The IgH EtherCAT Master is free software; you can redistribute it
fp@1707:  *  and/or modify it under the terms of the GNU General Public License
fp@1707:  *  as published by the Free Software Foundation; either version 2 of the
fp@1707:  *  License, or (at your option) any later version.
fp@1707:  *
fp@1707:  *  The IgH EtherCAT Master is distributed in the hope that it will be
fp@1707:  *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1707:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
fp@1707:  *  GNU General Public License for more details.
fp@1707:  *
fp@1707:  *  You should have received a copy of the GNU General Public License
fp@1707:  *  along with the IgH EtherCAT Master; if not, write to the Free Software
fp@1707:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1707:  *
fp@1707:  *  The right to use EtherCAT Technology is granted and comes free of
fp@1707:  *  charge under condition of compatibility of product made by
fp@1707:  *  Licensee. People intending to distribute/sell products based on the
fp@1707:  *  code, have to sign an agreement to guarantee that products using
fp@1707:  *  software based on IgH EtherCAT master stay compatible with the actual
fp@1707:  *  EtherCAT specification (which are released themselves as an open
fp@1707:  *  standard) as the (only) precondition to have the right to use EtherCAT
fp@1707:  *  Technology, IP and trade marks.
fp@1707:  *
fp@1707:  *****************************************************************************/
fp@1707: 
fp@1707: /**
fp@1707:    \file
fp@1707:    EtherCAT FoE state machines.
fp@1707: */
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: #ifndef __EC_FSM_FOE_H__
fp@1707: #define __EC_FSM_FOE_H__
fp@1707: 
fp@1707: #include "globals.h"
fp@1707: #include "../include/ecrt.h"
fp@1707: #include "datagram.h"
fp@1707: #include "slave.h"
fp@1707: #include "foe_request.h"
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */
fp@1707: 
fp@1707: /** Finite state machines for the CANopen-over-EtherCAT protocol.
fp@1707:  */
fp@1707: struct ec_fsm_foe {
fp@1707:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@1707:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@1707:     unsigned int retries; /**< retries upon datagram timeout */
fp@1707: 
fp@1707:     void (*state)(ec_fsm_foe_t *); /**< FoE state function */
fp@1707:     unsigned long jiffies_start; /**< FoE timestamp. */
fp@1707:     uint8_t subindex; /**< current subindex */
fp@1707:     ec_foe_request_t *request; /**< FoE request */
fp@1707:     uint8_t toggle; /**< toggle bit for segment commands */
fp@1707: 
fp@1707:     uint32_t tx_errors;
fp@1707:     uint8_t *tx_buffer;
fp@1707:     uint32_t tx_buffer_size;
fp@1707:     uint32_t tx_buffer_offset;
fp@1707:     uint32_t tx_last_packet;
fp@1707:     uint32_t tx_packet_no;
fp@1707:     uint32_t tx_current_size;
fp@1707:     uint8_t *tx_filename;
fp@1707:     uint32_t tx_filename_len;
fp@1707: 
fp@1707: 
fp@1707:     uint32_t rx_errors;
fp@1707:     uint8_t *rx_buffer;
fp@1707:     uint32_t rx_buffer_size;
fp@1707:     uint32_t rx_buffer_offset;
fp@1707:     uint32_t rx_current_size;
fp@1707:     uint32_t rx_packet_no;
fp@1707:     uint32_t rx_expected_packet_no;
fp@1707:     uint32_t rx_last_packet;
fp@1707:     uint8_t *rx_filename;
fp@1707:     uint32_t rx_filename_len;
fp@1707: };
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: void ec_fsm_foe_init(ec_fsm_foe_t *, ec_datagram_t *);
fp@1707: void ec_fsm_foe_clear(ec_fsm_foe_t *);
fp@1707: 
fp@1707: int ec_fsm_foe_exec(ec_fsm_foe_t *);
fp@1707: int ec_fsm_foe_success(ec_fsm_foe_t *);
fp@1707: 
fp@1707: void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *);
fp@1707: 
fp@1707: /*****************************************************************************/
fp@1707: 
fp@1707: #endif