martin@1583: /******************************************************************************
martin@1583:  *
martin@1583:  *  $Id$
martin@1583:  *
martin@1583:  *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
martin@1583:  *
martin@1583:  *  This file is part of the IgH EtherCAT Master.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is free software; you can redistribute it and/or
martin@1583:  *  modify it under the terms of the GNU General Public License version 2, as
martin@1583:  *  published by the Free Software Foundation.
martin@1583:  *
martin@1583:  *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
martin@1583:  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
martin@1583:  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
martin@1583:  *  Public License for more details.
martin@1583:  *
martin@1583:  *  You should have received a copy of the GNU General Public License along
martin@1583:  *  with the IgH EtherCAT Master; if not, write to the Free Software
martin@1583:  *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
martin@1583:  *
martin@1583:  *  ---
martin@1583:  *
martin@1583:  *  The license mentioned above concerns the source code only. Using the
martin@1583:  *  EtherCAT technology and brand is only permitted in compliance with the
martin@1583:  *  industrial property and similar rights of Beckhoff Automation GmbH.
martin@1583:  *
martin@1583:  *****************************************************************************/
martin@1583: 
martin@1583: /**
martin@1583:    \file
martin@1583:    EtherCAT slave request (SDO) state machine.
martin@1583: */
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: #ifndef __EC_FSM_SLAVE_H__
martin@1583: #define __EC_FSM_SLAVE_H__
martin@1583: 
martin@1583: #include "globals.h"
martin@1583: #include "datagram.h"
martin@1583: #include "sdo_request.h"
martin@1583: #include "fsm_coe.h"
martin@1597: #include "fsm_foe.h"
fp@1831: #include "fsm_soe.h"
ch1010277@2027: #include "fsm_master.h"
martin@1583: 
martin@1583: typedef struct ec_fsm_slave ec_fsm_slave_t; /**< \see ec_fsm_slave */
martin@1583: 
martin@1583: /** Finite state machine of an EtherCAT slave.
martin@1583:  */
martin@1583: struct ec_fsm_slave {
martin@1583:     ec_slave_t *slave; /**< slave the FSM runs on */
martin@1583:     ec_datagram_t *datagram; /**< datagram used in the state machine */
martin@1583: 
martin@1583:     void (*state)(ec_fsm_slave_t *); /**< master state function */
ch1010277@2027:     ec_master_sdo_request_t *sdo_request; /**< SDO request to process. */
ch1010277@2029:     ec_master_foe_request_t *foe_request; /**< FoE request to process. */
martin@1597:     off_t foe_index; /**< index to FoE write request data */
fp@1831:     ec_soe_request_t *soe_request; /**< SoE request to process. */
martin@1583: 
martin@1583:     ec_fsm_coe_t fsm_coe; /**< CoE state machine */
martin@1597:     ec_fsm_foe_t fsm_foe; /**< FoE state machine */
fp@1831:     ec_fsm_soe_t fsm_soe; /**< SoE state machine */
martin@1583: };
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: void ec_fsm_slave_init(ec_fsm_slave_t *, ec_slave_t *, ec_datagram_t *);
martin@1583: void ec_fsm_slave_clear(ec_fsm_slave_t *);
martin@1583: 
ch1010277@2017: int ec_fsm_slave_exec(ec_fsm_slave_t *);
martin@1601: void ec_fsm_slave_ready(ec_fsm_slave_t *);
martin@1583: 
martin@1583: /*****************************************************************************/
martin@1583: 
martin@1583: 
martin@1583: #endif // __EC_FSM_SLAVE_H__