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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 slave configuration state machine.

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*/

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

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#ifndef __EC_FSM_SLAVE_CONFIG_H__

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#define __EC_FSM_SLAVE_CONFIG_H__

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#include "globals.h"

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#include "slave.h"

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#include "datagram.h"

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#include "fsm_change.h"

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#include "fsm_coe.h"

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#include "fsm_pdo.h"

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

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/** \see ec_fsm_slave_config */

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typedef struct ec_fsm_slave_config ec_fsm_slave_config_t;

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/** Finite state machine to configure an EtherCAT slave.

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 */

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struct ec_fsm_slave_config

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{

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    ec_datagram_t *datagram; /**< Datagram used in the 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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    ec_fsm_soe_t *fsm_soe; /**< SoE state machine. */

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    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */

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

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    void (*state)(ec_fsm_slave_config_t *); /**< State function. */

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

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    ec_sdo_request_t *request; /**< SDO request for SDO configuration. */

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    ec_sdo_request_t request_copy; /**< Copied SDO request. */

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    ec_soe_request_t *soe_request; /**< SDO request for SDO configuration. */

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    ec_soe_request_t soe_request_copy; /**< Copied SDO request. */

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    unsigned long jiffies_start; /**< For timeout calculations. */

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    unsigned int take_time; /**< Store jiffies after datagram reception. */

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};

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

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void ec_fsm_slave_config_init(ec_fsm_slave_config_t *, ec_datagram_t *,

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        ec_fsm_change_t *, ec_fsm_coe_t *, ec_fsm_soe_t *, ec_fsm_pdo_t *);

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void ec_fsm_slave_config_clear(ec_fsm_slave_config_t *);

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void ec_fsm_slave_config_start(ec_fsm_slave_config_t *, ec_slave_t *);

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int ec_fsm_slave_config_exec(ec_fsm_slave_config_t *);

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int ec_fsm_slave_config_success(const ec_fsm_slave_config_t *);

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

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#endif