IgH EtherCAT Master: fsm_coe.h Source File

00001 /******************************************************************************
00002  *
00003  *  $Id$
00004  *
00005  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
00006  *
00007  *  This file is part of the IgH EtherCAT Master.
00008  *
00009  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
00010  *  modify it under the terms of the GNU General Public License version 2, as
00011  *  published by the Free Software Foundation.
00012  *
00013  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
00014  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00015  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
00016  *  Public License for more details.
00017  *
00018  *  You should have received a copy of the GNU General Public License along
00019  *  with the IgH EtherCAT Master; if not, write to the Free Software
00020  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
00021  *
00022  *  ---
00023  *
00024  *  The license mentioned above concerns the source code only. Using the
00025  *  EtherCAT technology and brand is only permitted in compliance with the
00026  *  industrial property and similar rights of Beckhoff Automation GmbH.
00027  *
00028  *****************************************************************************/
00029 
00035 /*****************************************************************************/
00036 
00037 #ifndef __EC_FSM_COE_H__
00038 #define __EC_FSM_COE_H__
00039 
00040 #include "globals.h"
00041 #include "datagram.h"
00042 #include "slave.h"
00043 #include "sdo.h"
00044 #include "sdo_request.h"
00045 
00046 /*****************************************************************************/
00047 
00048 typedef struct ec_fsm_coe ec_fsm_coe_t; 
00052 struct ec_fsm_coe {
00053     ec_slave_t *slave; 
00054     unsigned int retries; 
00056     void (*state)(ec_fsm_coe_t *, ec_datagram_t *); 
00057     ec_datagram_t *datagram; 
00058     unsigned long jiffies_start; 
00059     ec_sdo_t *sdo; 
00060     uint8_t subindex; 
00061     ec_sdo_request_t *request; 
00062     uint32_t complete_size; 
00063     uint8_t toggle; 
00064     uint32_t offset; 
00065     uint32_t remaining; 
00066     size_t segment_size; 
00067 };
00068 
00069 /*****************************************************************************/
00070 
00071 void ec_fsm_coe_init(ec_fsm_coe_t *);
00072 void ec_fsm_coe_clear(ec_fsm_coe_t *);
00073 
00074 void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
00075 void ec_fsm_coe_transfer(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
00076 
00077 int ec_fsm_coe_exec(ec_fsm_coe_t *, ec_datagram_t *);
00078 int ec_fsm_coe_success(const ec_fsm_coe_t *);
00079 
00080 /*****************************************************************************/
00081 
00082 #endif