--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe.h Tue Oct 24 08:00:24 2006 +0000
@@ -0,0 +1,86 @@
+/******************************************************************************
+ *
+ * $Id$
+ *
+ * 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 CoE state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_COE__
+#define __EC_FSM_COE__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+#include "canopen.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
+
+/**
+ Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm_coe
+{
+ ec_slave_t *slave; /**< slave the FSM runs on */
+ ec_datagram_t *datagram; /**< datagram used in the state machine */
+
+ void (*state)(ec_fsm_coe_t *); /**< CoE state function */
+ ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
+ cycles_t cycles_start; /**< CoE timestamp */
+ ec_sdo_t *sdo; /**< current SDO */
+ uint8_t subindex; /**< current subindex */
+ ec_sdo_request_t *request; /**< SDO request */
+ uint8_t toggle; /**< toggle bit for segment commands */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_coe_init(ec_fsm_coe_t *, ec_datagram_t *);
+void ec_fsm_coe_clear(ec_fsm_coe_t *);
+
+void ec_fsm_coe_dictionary(ec_fsm_coe_t *, ec_slave_t *);
+void ec_fsm_coe_download(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_data_t *);
+void ec_fsm_coe_upload(ec_fsm_coe_t *, ec_slave_t *, ec_sdo_request_t *);
+
+int ec_fsm_coe_exec(ec_fsm_coe_t *);
+int ec_fsm_coe_success(ec_fsm_coe_t *);
+
+/*****************************************************************************/
+
+#endif