39 #include "globals.h"

    39 #include "globals.h"

    40 #include "datagram.h"

    40 #include "datagram.h"

    41 #include "sdo_request.h"

    41 #include "sdo_request.h"

    42 #include "fsm_coe.h"

    42 #include "fsm_coe.h"

    43 #include "fsm_foe.h"

    43 #include "fsm_foe.h"

    44 

    45 

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

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

    46 

    47 

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

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

    48  */

    49  */

    52 

    53 

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

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

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

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

    55     ec_foe_request_t *foe_request; /**< FoE request to process. */

    56     ec_foe_request_t *foe_request; /**< FoE request to process. */

    56     off_t foe_index; /**< index to FoE write request data */

    57     off_t foe_index; /**< index to FoE write request data */

    57 

    59 

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

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

    59     ec_fsm_foe_t fsm_foe; /**< FoE state machine */

    61     ec_fsm_foe_t fsm_foe; /**< FoE state machine */

    60 };

    63 };

    61 

    64 

    62 /*****************************************************************************/

    65 /*****************************************************************************/

    63 

    66 

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

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