fp@436: /******************************************************************************
fp@436:  *
fp@436:  *  $Id$
fp@436:  *
fp@1685:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@436:  *
fp@436:  *  This file is part of the IgH EtherCAT Master.
fp@436:  *
fp@1685:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1685:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1685:  *  published by the Free Software Foundation.
fp@436:  *
fp@1685:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1685:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1685:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1685:  *  Public License for more details.
fp@436:  *
fp@1685:  *  You should have received a copy of the GNU General Public License along
fp@1685:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@436:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@436:  *
fp@1685:  *  Using the EtherCAT technology and brand is permitted in compliance with
fp@1685:  *  the industrial property and similar rights of Beckhoff Automation GmbH.
fp@436:  *
fp@436:  *****************************************************************************/
fp@436: 
fp@436: /**
fp@436:    \file
fp@436:    EtherCAT CoE state machines.
fp@436: */
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@883: #ifndef __EC_FSM_COE_H__
fp@883: #define __EC_FSM_COE_H__
fp@436: 
fp@436: #include "globals.h"
fp@436: #include "../include/ecrt.h"
fp@436: #include "datagram.h"
fp@436: #include "slave.h"
fp@847: #include "sdo.h"
fp@847: #include "sdo_request.h"
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
fp@436: 
fp@1686: /** Finite state machines for the CANopen over EtherCAT protocol.
fp@825:  */
fp@825: struct ec_fsm_coe {
fp@436:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@436:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@505:     unsigned int retries; /**< retries upon datagram timeout */
fp@436: 
fp@436:     void (*state)(ec_fsm_coe_t *); /**< CoE state function */
fp@1038:     unsigned long jiffies_start; /**< CoE timestamp. */
fp@1686:     ec_sdo_t *sdo; /**< current SDO */
fp@436:     uint8_t subindex; /**< current subindex */
fp@1686:     ec_sdo_request_t *request; /**< SDO request */
fp@1712:     uint32_t complete_size; /**< Used when segmenting. */
fp@436:     uint8_t toggle; /**< toggle bit for segment commands */
fp@436: };
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
fp@436: void ec_fsm_coe_clear(ec_fsm_coe_t *);
fp@436: 
fp@436: void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
fp@859: void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
fp@436: 
fp@436: int ec_fsm_coe_exec(ec_fsm_coe_t *);
fp@436: int ec_fsm_coe_success(ec_fsm_coe_t *);
fp@436: 
fp@436: /*****************************************************************************/
fp@436: 
fp@436: #endif