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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 #include "fsm_soe.h" |
44 #include "fsm_soe.h" |
|
45 #include "fsm_master.h" |
45 |
46 |
46 typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */ |
47 typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */ |
47 |
48 |
48 /** Finite state machine of an EtherCAT slave. |
49 /** Finite state machine of an EtherCAT slave. |
49 */ |
50 */ |
50 struct ec_fsm_slave { |
51 struct ec_fsm_slave { |
51 ec_slave_t *slave; /**< slave the FSM runs on */ |
52 ec_slave_t *slave; /**< slave the FSM runs on */ |
52 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
53 ec_datagram_t *datagram; /**< datagram used in the state machine */ |
53 |
54 |
54 void (*state)(ec_fsm_slave_t *); /**< master state function */ |
55 void (*state)(ec_fsm_slave_t *); /**< master state function */ |
55 ec_sdo_request_t *sdo_request; /**< SDO request to process. */ |
56 ec_master_sdo_request_t *sdo_request; /**< SDO request to process. */ |
56 ec_foe_request_t *foe_request; /**< FoE request to process. */ |
57 ec_foe_request_t *foe_request; /**< FoE request to process. */ |
57 off_t foe_index; /**< index to FoE write request data */ |
58 off_t foe_index; /**< index to FoE write request data */ |
58 ec_soe_request_t *soe_request; /**< SoE request to process. */ |
59 ec_soe_request_t *soe_request; /**< SoE request to process. */ |
59 |
60 |
60 ec_fsm_coe_t fsm_coe; /**< CoE state machine */ |
61 ec_fsm_coe_t fsm_coe; /**< CoE state machine */ |