fsm_mbox.h

Go to the documentation of this file.

/*****************************************************************************
 *
 *  Copyright (C) 2026  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  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 version 2, as
 *  published by the Free Software Foundation.
 *
 *  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
 *
 ****************************************************************************/

/****************************************************************************/

#ifndef __EC_FSM_MBOX_H__
#define __EC_FSM_MBOX_H__

#include "globals.h"
#include "datagram.h"
#include "mailbox.h"

/****************************************************************************/

typedef enum {
    EC_FSM_MBOX_WAIT, 
    EC_FSM_MBOX_POLL, 
    EC_FSM_MBOX_NOSYNC 
} ec_fsm_mbox_mode_t;

/****************************************************************************/

typedef struct ec_fsm_mbox ec_fsm_mbox_t; 
struct ec_fsm_mbox {
    ec_slave_t *slave; 
    ec_mbox_data_t *mbox_data; 
    ec_fsm_mbox_mode_t mode; 
    unsigned long jiffies_start; 
    unsigned long timeout_ms; 
    void (*state)(ec_fsm_mbox_t *, ec_datagram_t *); 
    ec_datagram_t *datagram; 
    unsigned int retries; 
    int result; 
};

/****************************************************************************/

void ec_fsm_mbox_init(ec_fsm_mbox_t *);
void ec_fsm_mbox_clear(ec_fsm_mbox_t *);

void ec_fsm_mbox_receive(ec_fsm_mbox_t *, ec_slave_t *, ec_mbox_data_t *,
        unsigned long, unsigned long);
void ec_fsm_mbox_poll(ec_fsm_mbox_t *, ec_slave_t *, ec_mbox_data_t *);
void ec_fsm_mbox_fetch_nosync(ec_fsm_mbox_t *, ec_slave_t *,
        ec_mbox_data_t *, unsigned long, unsigned long);

int ec_fsm_mbox_exec(ec_fsm_mbox_t *, ec_datagram_t *);
int ec_fsm_mbox_result(const ec_fsm_mbox_t *);
int ec_fsm_mbox_holds_lock(const ec_fsm_mbox_t *);
void ec_fsm_mbox_abort(ec_fsm_mbox_t *);

/****************************************************************************/

#endif