fp@1335: /******************************************************************************
fp@1335:  *
fp@1363:  *  $Id$
fp@1335:  *
fp@1363:  *  Copyright (C) 2008  Olav Zarges, imc Messsysteme GmbH
fp@1335:  *
fp@1335:  *  This file is part of the IgH EtherCAT Master.
fp@1335:  *
fp@1363:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1363:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1363:  *  published by the Free Software Foundation.
fp@1335:  *
fp@1363:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1363:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1363:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1363:  *  Public License for more details.
fp@1335:  *
fp@1363:  *  You should have received a copy of the GNU General Public License along
fp@1363:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1335:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1335:  *
fp@1363:  *  ---
fp@1363:  *
fp@1363:  *  The license mentioned above concerns the source code only. Using the
fp@1363:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1363:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1335:  *
fp@1335:  *****************************************************************************/
fp@1335: 
fp@1335: /**
fp@1335:    \file
fp@1335:    EtherCAT FoE state machines.
fp@1335: */
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: #ifndef __EC_FSM_FOE_H__
fp@1335: #define __EC_FSM_FOE_H__
fp@1335: 
fp@1335: #include "globals.h"
fp@1335: #include "../include/ecrt.h"
fp@1335: #include "datagram.h"
fp@1335: #include "slave.h"
fp@1335: #include "foe_request.h"
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */
fp@1335: 
fp@1335: /** Finite state machines for the CANopen-over-EtherCAT protocol.
fp@1335:  */
fp@1335: struct ec_fsm_foe {
fp@1335:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@1335:     ec_datagram_t *datagram; /**< datagram used in the state machine */
fp@1335:     unsigned int retries; /**< retries upon datagram timeout */
fp@1335: 
fp@1335:     void (*state)(ec_fsm_foe_t *); /**< FoE state function */
fp@1335:     unsigned long jiffies_start; /**< FoE timestamp. */
fp@1335:     uint8_t subindex; /**< current subindex */
fp@1335:     ec_foe_request_t *request; /**< FoE request */
fp@1335:     uint8_t toggle; /**< toggle bit for segment commands */
fp@1335: 
fp@1901:     uint8_t *tx_buffer; /**< Buffer with data to transmit. */
fp@1901:     uint32_t tx_buffer_size; /**< Size of data to transmit. */
fp@1901:     uint32_t tx_buffer_offset; /**< Offset of data to tranmit next. */
fp@1901:     uint32_t tx_last_packet; /**< Current packet is last one to send. */
fp@1901:     uint32_t tx_packet_no; /**< FoE packet number. */
fp@1901:     uint32_t tx_current_size; /**< Size of current packet to send. */
fp@1901:     uint8_t *tx_filename; /**< Name of file to transmit. */
fp@1901:     uint32_t tx_filename_len; /**< Lenth of transmit file name. */
fp@1465: 
fp@1901:     uint8_t *rx_buffer; /**< Buffer for received data. */
fp@1901:     uint32_t rx_buffer_size; /**< Size of receive buffer. */
fp@1901:     uint32_t rx_buffer_offset; /**< Offset in receive buffer. */
fp@1901:     uint32_t rx_expected_packet_no; /**< Expected receive packet number. */
fp@1901:     uint32_t rx_last_packet; /**< Current packet is the last to receive. */
fp@1901:     uint8_t *rx_filename; /**< Name of the file to receive. */
fp@1901:     uint32_t rx_filename_len; /**< Length of the receive file name. */
fp@1335: };
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: void ec_fsm_foe_init(ec_fsm_foe_t *, ec_datagram_t *);
fp@1335: void ec_fsm_foe_clear(ec_fsm_foe_t *);
fp@1335: 
fp@1335: int ec_fsm_foe_exec(ec_fsm_foe_t *);
fp@1335: int ec_fsm_foe_success(ec_fsm_foe_t *);
fp@1335: 
fp@1335: void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *);
fp@1335: 
fp@1335: /*****************************************************************************/
fp@1335: 
fp@1335: #endif