equal
deleted
inserted
replaced
40 |
40 |
41 #ifndef __EC_STATES__ |
41 #ifndef __EC_STATES__ |
42 #define __EC_STATES__ |
42 #define __EC_STATES__ |
43 |
43 |
44 #include "../include/ecrt.h" |
44 #include "../include/ecrt.h" |
45 #include "command.h" |
45 #include "datagram.h" |
46 #include "slave.h" |
46 #include "slave.h" |
47 |
47 |
48 /*****************************************************************************/ |
48 /*****************************************************************************/ |
49 |
49 |
50 typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */ |
50 typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */ |
55 |
55 |
56 struct ec_fsm |
56 struct ec_fsm |
57 { |
57 { |
58 ec_master_t *master; /**< master the FSM runs on */ |
58 ec_master_t *master; /**< master the FSM runs on */ |
59 ec_slave_t *slave; /**< slave the FSM runs on */ |
59 ec_slave_t *slave; /**< slave the FSM runs on */ |
60 ec_command_t command; /**< command used in the state machine */ |
60 ec_datagram_t datagram; /**< datagram used in the state machine */ |
61 |
61 |
62 void (*master_state)(ec_fsm_t *); /**< master state function */ |
62 void (*master_state)(ec_fsm_t *); /**< master state function */ |
63 unsigned int master_slaves_responding; /**< number of responding slaves */ |
63 unsigned int master_slaves_responding; /**< number of responding slaves */ |
64 ec_slave_state_t master_slave_states; /**< states of responding slaves */ |
64 ec_slave_state_t master_slave_states; /**< states of responding slaves */ |
65 unsigned int master_validation; /**< non-zero, if validation to do */ |
65 unsigned int master_validation; /**< non-zero, if validation to do */ |