fsm.h

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/******************************************************************************
 *
 *  $Id: fsm.h 686 2006-11-07 13:47:50Z fp $
 *
 *  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.
 *
 *****************************************************************************/

/*****************************************************************************/

#ifndef __EC_STATES__
#define __EC_STATES__

#include "globals.h"
#include "../include/ecrt.h"
#include "datagram.h"
#include "slave.h"
#include "canopen.h"

#include "fsm_sii.h"
#include "fsm_change.h"
#include "fsm_coe.h"

/*****************************************************************************/

typedef struct ec_fsm ec_fsm_t; 
struct ec_fsm
{
    ec_master_t *master; 
    ec_slave_t *slave; 
    ec_datagram_t datagram; 
    void (*master_state)(ec_fsm_t *); 
    unsigned int master_slaves_responding; 
    ec_slave_state_t master_slave_states; 
    unsigned int master_validation; 
    uint16_t sii_offset; 
    ec_sdo_request_t *sdo_request;

    void (*slave_state)(ec_fsm_t *); 
    ec_sdo_data_t *sdodata; 
    ec_fsm_sii_t fsm_sii; 
    ec_fsm_change_t fsm_change; 
    ec_fsm_coe_t fsm_coe; 
};

/*****************************************************************************/

int ec_fsm_init(ec_fsm_t *, ec_master_t *);
void ec_fsm_clear(ec_fsm_t *);

int ec_fsm_exec(ec_fsm_t *);
int ec_fsm_running(ec_fsm_t *);
int ec_fsm_success(ec_fsm_t *);

// TODO: layout slave state machines

void ec_fsm_slaveconf_state_start(ec_fsm_t *);
void ec_fsm_slave_state_end(ec_fsm_t *);
void ec_fsm_slave_state_error(ec_fsm_t *);
/*****************************************************************************/

#endif

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