diff -r 60b2aad9d40b -r 1cc865ba17c2 master/fsm_coe.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/fsm_coe.h	Tue Nov 07 12:13:30 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