--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm.h	Tue May 16 11:57:06 2006 +0000
@@ -0,0 +1,81 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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; version 2 of the License.
+ *
+ *  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
+ *
+ *****************************************************************************/
+
+/**
+   \file
+   EtherCAT finite state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_STATES__
+#define __EC_STATES__
+
+#include "../include/ecrt.h"
+#include "command.h"
+#include "slave.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm ec_fsm_t;
+
+/*****************************************************************************/
+
+/**
+   Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm
+{
+    ec_master_t *master; /**< master the FSM runs on */
+    ec_slave_t *slave; /**< slave the FSM runs on */
+    ec_command_t command; /**< command used in the state machine */
+
+    void (*master_state)(ec_fsm_t *); /**< master state function */
+    unsigned int master_slaves_responding; /**< number of responding slaves */
+    ec_slave_state_t master_slave_states; /**< states of responding slaves */
+
+    void (*slave_state)(ec_fsm_t *); /**< slave state function */
+    uint8_t slave_sii_num; /**< SII value iteration counter */
+    uint8_t *slave_cat_data; /**< temporary memory for category data */
+    uint16_t slave_cat_offset; /**< current category word offset in EEPROM */
+    uint16_t slave_cat_data_offset; /**< current offset in category data */
+    uint16_t slave_cat_type; /**< type of current category */
+    uint16_t slave_cat_words; /**< number of words of current category */
+
+    void (*sii_state)(ec_fsm_t *); /**< SII state function */
+    uint16_t sii_offset; /**< input: offset in SII */
+    uint32_t sii_result; /**< output: read SII value (32bit) */
+};
+
+/*****************************************************************************/
+
+int ec_fsm_init(ec_fsm_t *, ec_master_t *);
+void ec_fsm_clear(ec_fsm_t *);
+void ec_fsm_reset(ec_fsm_t *);
+void ec_fsm_execute(ec_fsm_t *);
+int ec_fsm_idle(const ec_fsm_t *);
+
+/*****************************************************************************/
+
+#endif