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

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 *

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 *  $Id$

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 *

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 *  Copyright (C) 2006  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

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 *  and/or modify it under the terms of the GNU General Public License

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 *  as published by the Free Software Foundation; either version 2 of the

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 *  License, or (at your option) any later version.

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 *

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 *  The IgH EtherCAT Master is distributed in the hope that it will be

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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of

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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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 *  GNU General 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

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 *  along 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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 *  The right to use EtherCAT Technology is granted and comes free of

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 *  charge under condition of compatibility of product made by

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 *  Licensee. People intending to distribute/sell products based on the

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 *  code, have to sign an agreement to guarantee that products using

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 *  software based on IgH EtherCAT master stay compatible with the actual

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 *  EtherCAT specification (which are released themselves as an open

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 *  standard) as the (only) precondition to have the right to use EtherCAT

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 *  Technology, IP and trade marks.

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 *

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

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/**

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   \file

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   EtherCAT finite state machines.

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*/

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

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#ifndef __EC_STATES__

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#define __EC_STATES__

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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 "canopen.h"

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#include "fsm_sii.h"

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#include "fsm_change.h"

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#include "fsm_coe.h"

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

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typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */

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/**

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   Finite state machine of an EtherCAT master.

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*/

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struct ec_fsm

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{

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    ec_master_t *master; /**< master the FSM runs on */

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    ec_slave_t *slave; /**< slave the FSM runs on */

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    ec_datagram_t datagram; /**< datagram used in the state machine */

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    unsigned int retries; /**< retries on datagram timeout. */

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    void (*master_state)(ec_fsm_t *); /**< master state function */

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    unsigned int master_slaves_responding; /**< number of responding slaves */

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    ec_slave_state_t master_slave_states; /**< states of responding slaves */

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    unsigned int master_validation; /**< non-zero, if validation to do */

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    uint16_t sii_offset; /**< current offset for SII access */

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    ec_sdo_request_t *sdo_request;

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    void (*slave_state)(ec_fsm_t *); /**< slave state function */

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    ec_sdo_data_t *sdodata; /**< SDO configuration data */

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    ec_fsm_sii_t fsm_sii; /**< SII state machine */

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    ec_fsm_change_t fsm_change; /**< State change state machine */

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    ec_fsm_coe_t fsm_coe; /**< CoE state machine */

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};

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

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int ec_fsm_init(ec_fsm_t *, ec_master_t *);

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void ec_fsm_clear(ec_fsm_t *);

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int ec_fsm_exec(ec_fsm_t *);

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int ec_fsm_running(ec_fsm_t *);

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int ec_fsm_success(ec_fsm_t *);

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// TODO: layout slave state machines

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/** \cond */

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void ec_fsm_slaveconf_state_start(ec_fsm_t *);

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void ec_fsm_slave_state_end(ec_fsm_t *);

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void ec_fsm_slave_state_error(ec_fsm_t *);

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/** \endcond */

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

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#endif