--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_slave.h	Thu Nov 26 15:33:48 2009 +0100
@@ -0,0 +1,70 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ *  This file is part of the IgH EtherCAT Master.
+ *
+ *  The IgH EtherCAT Master is free software; you can redistribute it and/or
+ *  modify it under the terms of the GNU General Public License version 2, as
+ *  published by the Free Software Foundation.
+ *
+ *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
+ *  Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License along
+ *  with the IgH EtherCAT Master; if not, write to the Free Software
+ *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+ *
+ *  ---
+ *
+ *  The license mentioned above concerns the source code only. Using the
+ *  EtherCAT technology and brand is only permitted in compliance with the
+ *  industrial property and similar rights of Beckhoff Automation GmbH.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT slave request (SDO) state machine.
+*/
+
+/*****************************************************************************/
+#ifndef __EC_FSM_SLAVE_H__
+#define __EC_FSM_SLAVE_H__
+
+#include "globals.h"
+#include "datagram.h"
+#include "sdo_request.h"
+#include "fsm_coe.h"
+
+
+typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
+
+/** Finite state machine of an EtherCAT slave.
+ */
+struct ec_fsm_slave {
+    ec_slave_t *slave; /**< slave the FSM runs on */
+    ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+    void (*state)(ec_fsm_slave_t *); /**< master state function */
+    ec_sdo_request_t *sdo_request; /**< SDO request to process. */
+
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
+void ec_fsm_slave_clear(ec_fsm_slave_t *);
+
+void ec_fsm_slave_exec(ec_fsm_slave_t *);
+int ec_fsm_slave_idle(const ec_fsm_slave_t *);
+
+/*****************************************************************************/
+
+
+#endif // __EC_FSM_SLAVE_H__