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

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 *

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 *  $Id$

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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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 *  The license mentioned above concerns the source code only. Using the

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 *  EtherCAT technology and brand is only permitted in compliance with the

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 *  industrial property and similar rights of Beckhoff Automation GmbH.

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

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    unsigned int retries; /**< retries upon datagram timeout */

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    void (*state)(ec_fsm_coe_t *); /**< CoE state function */

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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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};

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

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void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_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 *);

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int ec_fsm_coe_success(ec_fsm_coe_t *);

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

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#endif