fsm_change.c File Reference

EtherCAT state change FSM. More...

Go to the source code of this file.

Macros
#define	EC_AL_STATE_CHANGE_TIMEOUT   5
	Timeout while waiting for AL state change [s].

Functions
void	ec_fsm_change_state_start (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: START. More...
void	ec_fsm_change_state_check (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: CHECK. More...
void	ec_fsm_change_state_status (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: STATUS. More...
void	ec_fsm_change_state_start_code (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Enter reading AL status code. More...
void	ec_fsm_change_state_code (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: CODE. More...
void	ec_fsm_change_state_ack (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: ACK. More...
void	ec_fsm_change_state_check_ack (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Change state: CHECK ACK. More...
void	ec_fsm_change_state_end (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_change_state_error (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_change_init (ec_fsm_change_t *fsm)
	Constructor. More...
void	ec_fsm_change_clear (ec_fsm_change_t *fsm)
	Destructor. More...
void	ec_fsm_change_start (ec_fsm_change_t *fsm, ec_slave_t *slave, ec_slave_state_t state)
	Starts the change state machine. More...
void	ec_fsm_change_ack (ec_fsm_change_t *fsm, ec_slave_t *slave)
	Starts the change state machine to only acknowlegde a slave's state. More...
int	ec_fsm_change_exec (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_change_success (ec_fsm_change_t *fsm)
	Returns, if the state machine terminated with success. More...
static void	ec_fsm_change_prepare_write_requested (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_change_prepare_write_current (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_change_prepare_read_state (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_change_prepare_read_code (ec_fsm_change_t *fsm, ec_datagram_t *datagram)

Variables
const ec_code_msg_t	al_status_messages []
	Application layer status messages.

Detailed Description

EtherCAT state change FSM.

Definition in file fsm_change.c.

Function Documentation

ec_fsm_change_state_start()

void ec_fsm_change_state_start	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 207 of file fsm_change.c.

ec_fsm_change_state_check()

void ec_fsm_change_state_check	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: CHECK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 227 of file fsm_change.c.

ec_fsm_change_state_status()

void ec_fsm_change_state_status	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: STATUS.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 291 of file fsm_change.c.

ec_fsm_change_state_start_code()

void ec_fsm_change_state_start_code	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter reading AL status code.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 382 of file fsm_change.c.

ec_fsm_change_state_code()

void ec_fsm_change_state_code	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: CODE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 459 of file fsm_change.c.

ec_fsm_change_state_ack()

void ec_fsm_change_state_ack	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: ACK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 515 of file fsm_change.c.

ec_fsm_change_state_check_ack()

void ec_fsm_change_state_check_ack	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Change state: CHECK ACK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 555 of file fsm_change.c.

ec_fsm_change_state_end()

void ec_fsm_change_state_end	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 636 of file fsm_change.c.

ec_fsm_change_state_error()

void ec_fsm_change_state_error	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 623 of file fsm_change.c.

ec_fsm_change_init()

void ec_fsm_change_init

(

ec_fsm_change_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 65 of file fsm_change.c.

ec_fsm_change_clear()

void ec_fsm_change_clear

(

ec_fsm_change_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 78 of file fsm_change.c.

ec_fsm_change_start()

void ec_fsm_change_start	(	ec_fsm_change_t *	fsm,
		ec_slave_t *	slave,
		ec_slave_state_t	state
	)

Starts the change state machine.

Parameters

fsm	finite state machine
slave	EtherCAT slave
state	requested state

Definition at line 88 of file fsm_change.c.

ec_fsm_change_ack()

void ec_fsm_change_ack	(	ec_fsm_change_t *	fsm,
		ec_slave_t *	slave
	)

Starts the change state machine to only acknowlegde a slave's state.

Parameters

fsm	finite state machine
slave	EtherCAT slave

Definition at line 105 of file fsm_change.c.

ec_fsm_change_exec()

int ec_fsm_change_exec	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

Returns

false, if the state machine has terminated

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 122 of file fsm_change.c.

ec_fsm_change_success()

int ec_fsm_change_success

(

ec_fsm_change_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 148 of file fsm_change.c.

ec_fsm_change_prepare_write_requested()

static void ec_fsm_change_prepare_write_requested ( ec_fsm_change_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 157 of file fsm_change.c.

ec_fsm_change_prepare_write_current()

static void ec_fsm_change_prepare_write_current ( ec_fsm_change_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 168 of file fsm_change.c.

ec_fsm_change_prepare_read_state()

static void ec_fsm_change_prepare_read_state ( ec_fsm_change_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 179 of file fsm_change.c.

ec_fsm_change_prepare_read_code()

static void ec_fsm_change_prepare_read_code ( ec_fsm_change_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 190 of file fsm_change.c.