88 lines
3.4 KiB
C
88 lines
3.4 KiB
C
/*****************************************************************************
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*
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* Copyright (C) 2008 Olav Zarges, imc Messsysteme GmbH
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* 2009-2012 Florian Pose <fp@igh.de>
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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 FoE state machines.
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*/
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/****************************************************************************/
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#ifndef __EC_FSM_FOE_H__
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#define __EC_FSM_FOE_H__
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#include "globals.h"
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "slave.h"
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#include "foe_request.h"
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/****************************************************************************/
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typedef struct ec_fsm_foe ec_fsm_foe_t; /**< \see ec_fsm_foe */
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/** Finite state machines for the CANopen-over-EtherCAT protocol.
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*/
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struct ec_fsm_foe {
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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_foe_t *, ec_datagram_t *); /**< FoE state function.
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*/
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ec_datagram_t *datagram; /**< Datagram used in previous step. */
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unsigned long jiffies_start; /**< FoE timestamp. */
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uint8_t subindex; /**< Current subindex. */
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ec_foe_request_t *request; /**< FoE request. */
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uint8_t toggle; /**< Toggle bit for segment commands. */
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uint8_t *tx_buffer; /**< Buffer with data to transmit. */
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uint32_t tx_buffer_size; /**< Size of data to transmit. */
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uint32_t tx_buffer_offset; /**< Offset of data to tranmit next. */
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uint32_t tx_last_packet; /**< Current packet is last one to send. */
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uint32_t tx_packet_no; /**< FoE packet number. */
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uint32_t tx_current_size; /**< Size of current packet to send. */
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uint8_t *tx_filename; /**< Name of file to transmit. */
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uint32_t tx_filename_len; /**< Lenth of transmit file name. */
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uint8_t *rx_buffer; /**< Buffer for received data. */
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uint32_t rx_buffer_size; /**< Size of receive buffer. */
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uint32_t rx_buffer_offset; /**< Offset in receive buffer. */
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uint32_t rx_expected_packet_no; /**< Expected receive packet number. */
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uint32_t rx_last_packet; /**< Current packet is the last to receive. */
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uint8_t *rx_filename; /**< Name of the file to receive. */
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uint32_t rx_filename_len; /**< Length of the receive file name. */
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};
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/****************************************************************************/
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void ec_fsm_foe_init(ec_fsm_foe_t *);
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void ec_fsm_foe_clear(ec_fsm_foe_t *);
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int ec_fsm_foe_exec(ec_fsm_foe_t *, ec_datagram_t *);
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int ec_fsm_foe_success(const ec_fsm_foe_t *);
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void ec_fsm_foe_transfer(ec_fsm_foe_t *, ec_slave_t *, ec_foe_request_t *);
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/****************************************************************************/
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#endif
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