--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_change.h	Tue Nov 07 12:13:30 2006 +0000
@@ -0,0 +1,95 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 state change FSM.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_CHANGE__
+#define __EC_FSM_CHANGE__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+/**
+   Mode of the change state machine.
+*/
+
+typedef enum {
+    EC_FSM_CHANGE_MODE_FULL, /**< full state change */
+    EC_FSM_CHANGE_MODE_ACK_ONLY /**< only state acknowledgement */
+}
+ec_fsm_change_mode_t;
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_change ec_fsm_change_t; /**< \see ec_fsm_change */
+
+/**
+   EtherCAT state change FSM.
+*/
+
+struct ec_fsm_change
+{
+    ec_slave_t *slave; /**< slave the FSM runs on */
+    ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+    void (*state)(ec_fsm_change_t *); /**< slave state change state function */
+    ec_fsm_change_mode_t mode; /**< full state change, or ack only. */
+    ec_slave_state_t requested_state; /**< input: state */
+    ec_slave_state_t old_state; /**< prior slave state */
+    unsigned long jiffies_start; /**< change timer */
+    uint8_t take_time; /**< take sending timestamp */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_change_init(ec_fsm_change_t *, ec_datagram_t *);
+void ec_fsm_change_clear(ec_fsm_change_t *);
+
+void ec_fsm_change_start(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
+void ec_fsm_change_ack(ec_fsm_change_t *, ec_slave_t *);
+
+int ec_fsm_change_exec(ec_fsm_change_t *);
+int ec_fsm_change_success(ec_fsm_change_t *);
+
+/*****************************************************************************/
+
+#endif