--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_master.h	Wed Jan 10 16:32:06 2007 +0000
@@ -0,0 +1,91 @@
+/******************************************************************************
+ *
+ *  $Id$
+ *
+ *  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 finite state machines.
+*/
+
+/*****************************************************************************/
+
+#ifndef __EC_FSM_MASTER__
+#define __EC_FSM_MASTER__
+
+#include "globals.h"
+#include "../include/ecrt.h"
+#include "datagram.h"
+#include "slave.h"
+#include "canopen.h"
+
+#include "fsm_slave.h"
+
+/*****************************************************************************/
+
+typedef struct ec_fsm_master ec_fsm_master_t; /**< \see ec_fsm_master */
+
+/**
+   Finite state machine of an EtherCAT master.
+*/
+
+struct ec_fsm_master
+{
+    ec_master_t *master; /**< master the FSM runs on */
+    ec_datagram_t *datagram; /**< datagram used in the state machine */
+    unsigned int retries; /**< retries on datagram timeout. */
+
+    void (*state)(ec_fsm_master_t *); /**< master state function */
+    unsigned int slaves_responding; /**< number of responding slaves */
+    ec_slave_state_t slave_states; /**< states of responding slaves */
+    unsigned int validate; /**< non-zero, if validation to do */
+    ec_slave_t *slave; /**< current slave */
+    ec_sdo_request_t *sdo_request; /**< SDO request to process */
+    uint16_t sii_offset; 
+
+    ec_fsm_slave_t fsm_slave; /**< slave state machine */
+    ec_fsm_sii_t fsm_sii; /**< SII state machine */
+    ec_fsm_change_t fsm_change; /**< State change state machine */
+    ec_fsm_coe_t fsm_coe; /**< CoE state machine */
+};
+
+/*****************************************************************************/
+
+void ec_fsm_master_init(ec_fsm_master_t *, ec_master_t *, ec_datagram_t *);
+void ec_fsm_master_clear(ec_fsm_master_t *);
+
+int ec_fsm_master_exec(ec_fsm_master_t *);
+int ec_fsm_master_running(ec_fsm_master_t *);
+int ec_fsm_master_success(ec_fsm_master_t *);
+
+/*****************************************************************************/
+
+#endif