diff -r c55ebaa206f8 -r 11ec009e145d master/fsm_foe.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/fsm_foe.h Mon Jan 19 10:18:41 2009 +0000 @@ -0,0 +1,102 @@ +/****************************************************************************** + * + * $Id:$ + * + * Copyright (C) 2008 Olav Zarges, imc Meßsysteme GmbH + * + * 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 + * as published by the Free Software Foundation; either version 2 of the + * License, or (at your option) any later version. + * + * 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 right to use EtherCAT Technology is granted and comes free of + * charge under condition of compatibility of product made by + * Licensee. People intending to distribute/sell products based on the + * code, have to sign an agreement to guarantee that products using + * software based on IgH EtherCAT master stay compatible with the actual + * EtherCAT specification (which are released themselves as an open + * standard) as the (only) precondition to have the right to use EtherCAT + * Technology, IP and trade marks. + * + *****************************************************************************/ + +/** + \file + EtherCAT FoE state machines. +*/ + +/*****************************************************************************/ + +#ifndef __EC_FSM_FOE_H__ +#define __EC_FSM_FOE_H__ + +#include "globals.h" +#include "../include/ecrt.h" +#include "datagram.h" +#include "slave.h" +#include "foe_request.h" + +/*****************************************************************************/ + +typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */ + +/** Finite state machines for the CANopen-over-EtherCAT protocol. + */ +struct ec_fsm_foe { + ec_slave_t *slave; /**< slave the FSM runs on */ + ec_datagram_t *datagram; /**< datagram used in the state machine */ + unsigned int retries; /**< retries upon datagram timeout */ + + void (*state)(ec_fsm_foe_t *); /**< FoE state function */ + unsigned long jiffies_start; /**< FoE timestamp. */ + uint8_t subindex; /**< current subindex */ + ec_foe_request_t *request; /**< FoE request */ + uint8_t toggle; /**< toggle bit for segment commands */ + + uint32_t tx_errors; + uint8_t *tx_buffer; + uint32_t tx_buffer_size; + uint32_t tx_buffer_offset; + uint32_t tx_last_packet; + uint32_t tx_packet_no; + uint32_t tx_current_size; + uint8_t *tx_filename; + uint32_t tx_filename_len; + + + uint32_t rx_errors; + uint8_t *rx_buffer; + uint32_t rx_buffer_size; + uint32_t rx_buffer_offset; + uint32_t rx_current_size; + uint32_t rx_packet_no; + uint32_t rx_expected_packet_no; + uint32_t rx_last_packet; + uint8_t *rx_filename; + uint32_t rx_filename_len; +}; + +/*****************************************************************************/ + +void ec_fsm_foe_init(ec_fsm_foe_t *, ec_datagram_t *); +void ec_fsm_foe_clear(ec_fsm_foe_t *); + +int ec_fsm_foe_exec(ec_fsm_foe_t *); +int ec_fsm_foe_success(ec_fsm_foe_t *); + +void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *); + +/*****************************************************************************/ + +#endif