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46 #include "datagram.h" |
46 #include "datagram.h" |
47 #include "slave.h" |
47 #include "slave.h" |
48 #include "canopen.h" |
48 #include "canopen.h" |
49 |
49 |
50 #include "fsm_sii.h" |
50 #include "fsm_sii.h" |
|
51 #include "fsm_change.h" |
51 |
52 |
52 /*****************************************************************************/ |
53 /*****************************************************************************/ |
53 |
54 |
54 typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */ |
55 typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */ |
55 |
56 |
70 uint16_t sii_offset; /**< current offset for SII access */ |
71 uint16_t sii_offset; /**< current offset for SII access */ |
71 |
72 |
72 void (*slave_state)(ec_fsm_t *); /**< slave state function */ |
73 void (*slave_state)(ec_fsm_t *); /**< slave state function */ |
73 |
74 |
74 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |
75 ec_fsm_sii_t fsm_sii; /**< SII state machine */ |
75 |
76 ec_fsm_change_t fsm_change; /**< State change state machine */ |
76 void (*change_state)(ec_fsm_t *); /**< slave state change state function */ |
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77 ec_slave_state_t change_new; /**< input: new state */ |
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78 unsigned long change_jiffies; /**< change timer */ |
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79 uint8_t change_take_time; /**< take sending timestamp */ |
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80 |
77 |
81 void (*coe_state)(ec_fsm_t *); /**< CoE state function */ |
78 void (*coe_state)(ec_fsm_t *); /**< CoE state function */ |
82 ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */ |
79 ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */ |
83 cycles_t coe_start; /**< CoE timestamp */ |
80 cycles_t coe_start; /**< CoE timestamp */ |
84 ec_sdo_t *coe_sdo; /**< current SDO */ |
81 ec_sdo_t *coe_sdo; /**< current SDO */ |