fp@1831: /******************************************************************************
fp@1831:  *
fp@1831:  *  $Id$
fp@1831:  *
fp@1831:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
fp@1831:  *
fp@1831:  *  This file is part of the IgH EtherCAT Master.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
fp@1831:  *  modify it under the terms of the GNU General Public License version 2, as
fp@1831:  *  published by the Free Software Foundation.
fp@1831:  *
fp@1831:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
fp@1831:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
fp@1831:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
fp@1831:  *  Public License for more details.
fp@1831:  *
fp@1831:  *  You should have received a copy of the GNU General Public License along
fp@1831:  *  with the IgH EtherCAT Master; if not, write to the Free Software
fp@1831:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
fp@1831:  *
fp@1831:  *  ---
fp@1831:  *
fp@1831:  *  The license mentioned above concerns the source code only. Using the
fp@1831:  *  EtherCAT technology and brand is only permitted in compliance with the
fp@1831:  *  industrial property and similar rights of Beckhoff Automation GmbH.
fp@1831:  *
fp@1831:  *****************************************************************************/
fp@1831: 
fp@1831: /**
fp@1831:    \file
fp@1831:    EtherCAT CoE state machines.
fp@1831: */
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: #ifndef __EC_FSM_SOE_H__
fp@1831: #define __EC_FSM_SOE_H__
fp@1831: 
fp@1831: #include "globals.h"
fp@1831: #include "datagram.h"
fp@1831: #include "slave.h"
fp@1831: #include "soe_request.h"
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: typedef struct ec_fsm_soe ec_fsm_soe_t; /**< \see ec_fsm_soe */
fp@1831: 
fp@1831: /** Finite state machines for the Sercos over EtherCAT protocol.
fp@1831:  */
fp@1831: struct ec_fsm_soe {
fp@1831:     ec_slave_t *slave; /**< slave the FSM runs on */
fp@1831:     unsigned int retries; /**< retries upon datagram timeout */
fp@1831: 
fp@2498:     void (*state)(ec_fsm_soe_t *, ec_datagram_t *); /**< CoE state function */
fp@2498:     ec_datagram_t *datagram; /**< Datagram used in the previous step. */
fp@2498:     unsigned long jiffies_start; /**< Timestamp. */
fp@1831:     ec_soe_request_t *request; /**< SoE request */
fp@1865:     off_t offset; /**< IDN data offset during fragmented write. */
fp@2498:     size_t fragment_size; /**< Size of the current fragment. */
fp@1831: };
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@2498: void ec_fsm_soe_init(ec_fsm_soe_t *);
fp@1831: void ec_fsm_soe_clear(ec_fsm_soe_t *);
fp@1831: 
fp@1831: void ec_fsm_soe_transfer(ec_fsm_soe_t *, ec_slave_t *, ec_soe_request_t *);
fp@1831: 
fp@2498: int ec_fsm_soe_exec(ec_fsm_soe_t *, ec_datagram_t *);
fp@2498: int ec_fsm_soe_success(const ec_fsm_soe_t *);
fp@1831: 
fp@1831: /*****************************************************************************/
fp@1831: 
fp@1831: #endif