--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_pdo_config.h	Tue Feb 19 14:06:50 2008 +0000
@@ -0,0 +1,83 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  Copyright (C) 2006  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
+ *  as published by the Free Software Foundation; either version 2 of the
+ *  License, or (at your option) any later version.
+ *
+ *  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 right to use EtherCAT Technology is granted and comes free of
+ *  charge under condition of compatibility of product made by
+ *  Licensee. People intending to distribute/sell products based on the
+ *  code, have to sign an agreement to guarantee that products using
+ *  software based on IgH EtherCAT master stay compatible with the actual
+ *  EtherCAT specification (which are released themselves as an open
+ *  standard) as the (only) precondition to have the right to use EtherCAT
+ *  Technology, IP and trade marks.
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT PDO configuration state machine structures.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_PDO_CONFIG__
+#define __EC_FSM_PDO_CONFIG__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "fsm_coe.h"
+
+/*****************************************************************************/
+
+/**
+ * \see ec_fsm_pdo_config
+ */
+typedef struct ec_fsm_pdo_config ec_fsm_pdo_config_t;
+
+/** Pdo configuration state machine.
+ */
+struct ec_fsm_pdo_config
+{
+    void (*state)(ec_fsm_pdo_config_t *); /**< state function */
+    ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
+    ec_slave_t *slave; /**< Slave the FSM runs on. */
+
+    const ec_pdo_t *pdo; /**< Current PDO to configure. */
+
+    const ec_pdo_entry_t *entry; /**< Current entry. */
+    ec_sdo_data_t sdodata; /**< SDO configuration data. */
+    uint16_t sdo_value; /**< SDO value. */
+    unsigned int entry_count; /**< Number of configured entries. */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_pdo_config_init(ec_fsm_pdo_config_t *, ec_fsm_coe_t *);
+void ec_fsm_pdo_config_clear(ec_fsm_pdo_config_t *);
+
+void ec_fsm_pdo_config_start(ec_fsm_pdo_config_t *, ec_slave_t *);
+int ec_fsm_pdo_config_exec(ec_fsm_pdo_config_t *);
+int ec_fsm_pdo_config_success(const ec_fsm_pdo_config_t *);
+
+/*****************************************************************************/
+
+#endif