1 /******************************************************************************

     2  *

     3  *  $Id$

     4  *

     5  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH

     6  *

     7  *  This file is part of the IgH EtherCAT Master.

     8  *

     9  *  The IgH EtherCAT Master is free software; you can redistribute it and/or

    10  *  modify it under the terms of the GNU General Public License version 2, as

    11  *  published by the Free Software Foundation.

    12  *

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

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

    15  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General

    16  *  Public License for more details.

    17  *

    18  *  You should have received a copy of the GNU General Public License along

    19  *  with the IgH EtherCAT Master; if not, write to the Free Software

    20  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA

    21  *

    22  *  ---

    23  *

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

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

    26  *  industrial property and similar rights of Beckhoff Automation GmbH.

    27  *

    28  *****************************************************************************/

    29 

    30 /**

    31    \file

    32    EtherCAT slave request (SDO) state machine.

    33 */

    34 

    35 /*****************************************************************************/

    36 #ifndef __EC_FSM_SLAVE_H__

    37 #define __EC_FSM_SLAVE_H__

    38 

    39 #include "globals.h"

    40 #include "datagram.h"

    41 #include "sdo_request.h"

    42 #include "fsm_coe.h"

    43 

    44 

    45 typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */

    46 

    47 /** Finite state machine of an EtherCAT slave.

    48  */

    49 struct ec_fsm_slave {

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

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

    52 

    53     void (*state)(ec_fsm_slave_t *); /**< master state function */

    54     ec_sdo_request_t *sdo_request; /**< SDO request to process. */

    55 

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

    57 };

    58 

    59 /*****************************************************************************/

    60 

    61 void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);

    62 void ec_fsm_slave_clear(ec_fsm_slave_t *);

    63 

    64 void ec_fsm_slave_exec(ec_fsm_slave_t *);

    65 int ec_fsm_slave_idle(const ec_fsm_slave_t *);

    66 

    67 /*****************************************************************************/

    68 

    69 

    70 #endif // __EC_FSM_SLAVE_H__