fsm_slave.c File Reference

EtherCAT slave (SDO) state machine. More...

Go to the source code of this file.

Functions
void	ec_fsm_slave_state_idle (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: IDLE. More...
void	ec_fsm_slave_state_ready (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: READY. More...
int	ec_fsm_slave_action_scan (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending scan. More...
void	ec_fsm_slave_state_scan (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: SCAN. More...
int	ec_fsm_slave_action_config (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending configuration. More...
void	ec_fsm_slave_state_acknowledge (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: ACKNOWLEDGE. More...
void	ec_fsm_slave_state_config (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: CONFIG. More...
int	ec_fsm_slave_action_process_dict (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending SDO dictionary reads. More...
void	ec_fsm_slave_state_dict_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: DICT_REQUEST. More...
int	ec_fsm_slave_action_process_config_sdo (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending internal SDO requests and process one. More...
int	ec_fsm_slave_action_process_sdo (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending SDO requests and process one. More...
void	ec_fsm_slave_state_sdo_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: SDO_REQUEST. More...
int	ec_fsm_slave_action_process_reg (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending register requests and process one. More...
void	ec_fsm_slave_state_reg_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: Register request. More...
int	ec_fsm_slave_action_process_foe (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending FoE requests and process one. More...
void	ec_fsm_slave_state_foe_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: FOE REQUEST. More...
int	ec_fsm_slave_action_process_soe (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending SoE requests and process one. More...
void	ec_fsm_slave_state_soe_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: SOE_REQUEST. More...
int	ec_fsm_slave_action_process_eoe (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending EoE IP parameter requests and process one. More...
void	ec_fsm_slave_state_eoe_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: EOE_REQUEST. More...
int	ec_fsm_slave_action_process_mbg (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Check for pending MBox Gateway requests and process one. More...
void	ec_fsm_slave_state_mbg_request (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Slave state: MBG_REQUEST. More...
void	ec_fsm_slave_init (ec_fsm_slave_t *fsm, ec_slave_t *slave)
	Constructor. More...
void	ec_fsm_slave_clear (ec_fsm_slave_t *fsm)
	Destructor. More...
int	ec_fsm_slave_exec (ec_fsm_slave_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
void	ec_fsm_slave_set_ready (ec_fsm_slave_t *fsm)
	Sets the current state of the state machine to READY. More...
static int	ec_slave_reconnect_to_eoe_handler (ec_slave_t *slave)
	try to reconnect to an existing EoE handler. More...
int	ec_fsm_slave_set_unready (ec_fsm_slave_t *fsm)
	Sets the current state of the state machine to IDLE. More...
int	ec_fsm_slave_is_ready (const ec_fsm_slave_t *fsm)
	Returns, if the FSM is currently not busy and ready to execute. More...

Detailed Description

EtherCAT slave (SDO) state machine.

Definition in file fsm_slave.c.

Function Documentation

ec_fsm_slave_state_idle()

void ec_fsm_slave_state_idle	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: IDLE.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 694 of file fsm_slave.c.

ec_fsm_slave_state_ready()

void ec_fsm_slave_state_ready	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: READY.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 706 of file fsm_slave.c.

ec_fsm_slave_action_scan()

int ec_fsm_slave_action_scan	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending scan.

Returns

non-zero, if scan is started.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 225 of file fsm_slave.c.

ec_fsm_slave_state_scan()

void ec_fsm_slave_state_scan	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: SCAN.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 282 of file fsm_slave.c.

ec_fsm_slave_action_config()

int ec_fsm_slave_action_config	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending configuration.

Returns

non-zero, if configuration is started.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 330 of file fsm_slave.c.

ec_fsm_slave_state_acknowledge()

void ec_fsm_slave_state_acknowledge	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: ACKNOWLEDGE.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 391 of file fsm_slave.c.

ec_fsm_slave_state_config()

void ec_fsm_slave_state_config	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: CONFIG.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 414 of file fsm_slave.c.

ec_fsm_slave_action_process_dict()

int ec_fsm_slave_action_process_dict	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending SDO dictionary reads.

Returns

non-zero, if an SDO dictionary read is started.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 448 of file fsm_slave.c.

ec_fsm_slave_state_dict_request()

void ec_fsm_slave_state_dict_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: DICT_REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 558 of file fsm_slave.c.

ec_fsm_slave_action_process_config_sdo()

int ec_fsm_slave_action_process_config_sdo	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending internal SDO requests and process one.

Returns

non-zero, if an SDO request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 610 of file fsm_slave.c.

ec_fsm_slave_action_process_sdo()

int ec_fsm_slave_action_process_sdo	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending SDO requests and process one.

Returns

non-zero, if an SDO request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 770 of file fsm_slave.c.

ec_fsm_slave_state_sdo_request()

void ec_fsm_slave_state_sdo_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: SDO_REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 820 of file fsm_slave.c.

ec_fsm_slave_action_process_reg()

int ec_fsm_slave_action_process_reg	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending register requests and process one.

Returns

non-zero, if a register request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 856 of file fsm_slave.c.

ec_fsm_slave_state_reg_request()

void ec_fsm_slave_state_reg_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: Register request.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 947 of file fsm_slave.c.

ec_fsm_slave_action_process_foe()

int ec_fsm_slave_action_process_foe	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending FoE requests and process one.

Returns

non-zero, if an FoE request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 999 of file fsm_slave.c.

ec_fsm_slave_state_foe_request()

void ec_fsm_slave_state_foe_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: FOE REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1052 of file fsm_slave.c.

ec_fsm_slave_action_process_soe()

int ec_fsm_slave_action_process_soe	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending SoE requests and process one.

Returns

non-zero, if a request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1089 of file fsm_slave.c.

ec_fsm_slave_state_soe_request()

void ec_fsm_slave_state_soe_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: SOE_REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1226 of file fsm_slave.c.

ec_fsm_slave_action_process_eoe()

int ec_fsm_slave_action_process_eoe	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending EoE IP parameter requests and process one.

Returns

non-zero, if a request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1262 of file fsm_slave.c.

ec_fsm_slave_state_eoe_request()

void ec_fsm_slave_state_eoe_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: EOE_REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1312 of file fsm_slave.c.

ec_fsm_slave_action_process_mbg()

int ec_fsm_slave_action_process_mbg	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for pending MBox Gateway requests and process one.

Returns

non-zero, if a request is processed.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1141 of file fsm_slave.c.

ec_fsm_slave_state_mbg_request()

void ec_fsm_slave_state_mbg_request	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave state: MBG_REQUEST.

Parameters

fsm	Slave state machine.
datagram	Datagram to use.

Definition at line 1192 of file fsm_slave.c.

ec_fsm_slave_init()

void ec_fsm_slave_init	(	ec_fsm_slave_t *	fsm,
		ec_slave_t *	slave
	)

Constructor.

Parameters

fsm	Slave state machine.
slave	EtherCAT slave.

Definition at line 74 of file fsm_slave.c.

ec_fsm_slave_clear()

void ec_fsm_slave_clear

(

ec_fsm_slave_t *

fsm

)

Destructor.

Parameters

fsm	Master state machine.

Definition at line 116 of file fsm_slave.c.

ec_fsm_slave_exec()

int ec_fsm_slave_exec	(	ec_fsm_slave_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

Returns

1 if datagram was used, else 0.

Parameters

fsm	Slave state machine.
datagram	New datagram to use.

Definition at line 183 of file fsm_slave.c.

ec_fsm_slave_set_ready()

void ec_fsm_slave_set_ready

(

ec_fsm_slave_t *

fsm

)

Sets the current state of the state machine to READY.

Parameters

fsm	Slave state machine.

Definition at line 209 of file fsm_slave.c.

ec_slave_reconnect_to_eoe_handler()

static int ec_slave_reconnect_to_eoe_handler ( ec_slave_t *  slave )

static

try to reconnect to an existing EoE handler.

Parameters

slave

EtherCAT slave

Definition at line 249 of file fsm_slave.c.

ec_fsm_slave_set_unready()

int ec_fsm_slave_set_unready

(

ec_fsm_slave_t *

fsm

)

Sets the current state of the state machine to IDLE.

Returns

Non-zero if successful; otherwise state machine is busy.

Parameters

fsm	Slave state machine.

Definition at line 661 of file fsm_slave.c.

ec_fsm_slave_is_ready()

int ec_fsm_slave_is_ready

(

const ec_fsm_slave_t *

fsm

)

Returns, if the FSM is currently not busy and ready to execute.

Returns

Non-zero if ready.

Parameters

fsm	Slave state machine.

Definition at line 681 of file fsm_slave.c.