75 lines
2.7 KiB
C
75 lines
2.7 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it and/or
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* modify it under the terms of the GNU General Public License version 2, as
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* published by the Free Software Foundation.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
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* Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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****************************************************************************/
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/**
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\file
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EtherCAT CoE state machines.
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*/
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/****************************************************************************/
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#ifndef __EC_FSM_COE_H__
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#define __EC_FSM_COE_H__
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#include "globals.h"
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#include "datagram.h"
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#include "slave.h"
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#include "sdo.h"
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#include "sdo_request.h"
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/****************************************************************************/
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typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
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/** Finite state machines for the CANopen over EtherCAT protocol.
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*/
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struct ec_fsm_coe {
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ec_slave_t *slave; /**< slave the FSM runs on */
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unsigned int retries; /**< retries upon datagram timeout */
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void (*state)(ec_fsm_coe_t *, ec_datagram_t *); /**< CoE state function */
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ec_datagram_t *datagram; /**< Datagram used in last step. */
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unsigned long jiffies_start; /**< CoE timestamp. */
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ec_sdo_t *sdo; /**< current SDO */
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uint8_t subindex; /**< current subindex */
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ec_sdo_request_t *request; /**< SDO request */
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uint32_t complete_size; /**< Used when segmenting. */
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uint8_t toggle; /**< toggle bit for segment commands */
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uint32_t offset; /**< Data offset during segmented download. */
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uint32_t remaining; /**< Remaining bytes during segmented download. */
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size_t segment_size; /**< Current segment size. */
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};
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/****************************************************************************/
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void ec_fsm_coe_init(ec_fsm_coe_t *);
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void ec_fsm_coe_clear(ec_fsm_coe_t *);
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void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
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void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
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int ec_fsm_coe_exec(ec_fsm_coe_t *, ec_datagram_t *);
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int ec_fsm_coe_success(const ec_fsm_coe_t *);
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/****************************************************************************/
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#endif
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