fsm_slave_scan.c File Reference

EtherCAT slave state machines. More...

Go to the source code of this file.

Macros
#define	SCAN_RETRY_TIME   100
	Time to wait before slave scan retry [ms]. More...

Functions
void	ec_fsm_slave_scan_state_start (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: START. More...
void	ec_fsm_slave_scan_state_address (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: ADDRESS. More...
void	ec_fsm_slave_scan_state_state (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: STATE. More...
void	ec_fsm_slave_scan_state_base (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: BASE. More...
void	ec_fsm_slave_scan_state_dc_cap (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: DC CAPABILITIES. More...
void	ec_fsm_slave_scan_state_dc_times (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: DC TIMES. More...
void	ec_fsm_slave_scan_state_datalink (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: DATALINK. More...
void	ec_fsm_slave_scan_state_assign_sii (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: ASSIGN_SII. More...
void	ec_fsm_slave_scan_state_sii_identity (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: SII IDENTITY. More...
void	ec_fsm_slave_scan_state_sii_size (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: SII SIZE. More...
void	ec_fsm_slave_scan_state_sii_data (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: SII DATA. More...
void	ec_fsm_slave_scan_state_sii_parse (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: SII PARSE. More...
void	ec_fsm_slave_scan_state_mailbox_cleared (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: Mailbox cleared. More...
void	ec_fsm_slave_scan_state_preop (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: PREOP. More...
void	ec_fsm_slave_scan_state_sync (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: SYNC. More...
void	ec_fsm_slave_scan_state_pdos (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: PDOS. More...
void	ec_fsm_slave_scan_state_end (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_slave_scan_state_error (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_slave_scan_state_retry (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: scan retry. More...
void	ec_fsm_slave_scan_state_retry_wait (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan state: scan retry wait. More...
void	ec_fsm_slave_scan_enter_datalink (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Slave scan entry function: DATALINK. More...
void	ec_fsm_slave_scan_enter_sii_identity (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state SII_IDENTITY. More...
void	ec_fsm_slave_scan_enter_attach_sii (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state ATTACH_SII. More...
void	ec_fsm_slave_scan_enter_sii_size (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state SII_SIZE. More...
void	ec_fsm_slave_scan_enter_preop (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state PREOP. More...
void	ec_fsm_slave_scan_enter_clear_mailbox (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state: Clear Mailbox. More...
void	ec_fsm_slave_scan_enter_pdos (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state PDOS. More...
void	ec_fsm_slave_scan_init (ec_fsm_slave_scan_t *fsm, ec_slave_t *slave, ec_fsm_slave_config_t *fsm_slave_config, ec_fsm_pdo_t *fsm_pdo)
	Constructor. More...
void	ec_fsm_slave_scan_clear (ec_fsm_slave_scan_t *fsm)
	Destructor. More...
void	ec_fsm_slave_scan_start (ec_fsm_slave_scan_t *fsm)
	Start slave scan state machine. More...
int	ec_fsm_slave_scan_running (const ec_fsm_slave_scan_t *fsm)
int	ec_fsm_slave_scan_exec (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_slave_scan_success (const ec_fsm_slave_scan_t *fsm)
void	ec_fsm_slave_scan_enter_assign_sii (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram)
	Enter slave scan state ASSIGN_SII. More...

Detailed Description

EtherCAT slave state machines.

Definition in file fsm_slave_scan.c.

Macro Definition Documentation

SCAN_RETRY_TIME

#define SCAN_RETRY_TIME   100

Time to wait before slave scan retry [ms].

Used to calculate time based on the jiffies counter.

Attention

Must be more than 10 to avoid problems on kernels that run with a timer interupt frequency of 100 Hz.

Definition at line 52 of file fsm_slave_scan.c.

Function Documentation

ec_fsm_slave_scan_state_start()

void ec_fsm_slave_scan_state_start	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: START.

First state of the slave state machine. Writes the station address to the slave, according to its ring position.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 211 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_address()

void ec_fsm_slave_scan_state_address	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: ADDRESS.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 229 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_state()

void ec_fsm_slave_scan_state_state	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: STATE.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 268 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_base()

void ec_fsm_slave_scan_state_base	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: BASE.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 314 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_dc_cap()

void ec_fsm_slave_scan_state_dc_cap	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: DC CAPABILITIES.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 390 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_dc_times()

void ec_fsm_slave_scan_state_dc_times	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: DC TIMES.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 437 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_datalink()

void ec_fsm_slave_scan_state_datalink	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: DATALINK.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 680 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_assign_sii()

void ec_fsm_slave_scan_state_assign_sii	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: ASSIGN_SII.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 726 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_identity()

void ec_fsm_slave_scan_state_sii_identity	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: SII IDENTITY.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 768 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_size()

void ec_fsm_slave_scan_state_sii_size	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: SII SIZE.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1042 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_data()

void ec_fsm_slave_scan_state_sii_data	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: SII DATA.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1138 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_parse()

void ec_fsm_slave_scan_state_sii_parse	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: SII PARSE.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1192 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_mailbox_cleared()

void ec_fsm_slave_scan_state_mailbox_cleared	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: Mailbox cleared.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1562 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_preop()

void ec_fsm_slave_scan_state_preop	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: PREOP.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1463 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sync()

void ec_fsm_slave_scan_state_sync	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: SYNC.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1483 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_pdos()

void ec_fsm_slave_scan_state_pdos	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: PDOS.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1634 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_end()

void ec_fsm_slave_scan_state_end	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1704 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_error()

void ec_fsm_slave_scan_state_error	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1693 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_retry()

void ec_fsm_slave_scan_state_retry	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: scan retry.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1656 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_retry_wait()

void ec_fsm_slave_scan_state_retry_wait	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan state: scan retry wait.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1673 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_datalink()

void ec_fsm_slave_scan_enter_datalink	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Slave scan entry function: DATALINK.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 486 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_sii_identity()

void ec_fsm_slave_scan_enter_sii_identity	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state SII_IDENTITY.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 505 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_attach_sii()

void ec_fsm_slave_scan_enter_attach_sii	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state ATTACH_SII.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 523 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_sii_size()

void ec_fsm_slave_scan_enter_sii_size	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state SII_SIZE.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 617 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_preop()

void ec_fsm_slave_scan_enter_preop	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state PREOP.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1423 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_clear_mailbox()

void ec_fsm_slave_scan_enter_clear_mailbox	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state: Clear Mailbox.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1541 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_pdos()

void ec_fsm_slave_scan_enter_pdos	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state PDOS.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 1617 of file fsm_slave_scan.c.

ec_fsm_slave_scan_init()

void ec_fsm_slave_scan_init	(	ec_fsm_slave_scan_t *	fsm,
		ec_slave_t *	slave,
		ec_fsm_slave_config_t *	fsm_slave_config,
		ec_fsm_pdo_t *	fsm_pdo
	)

Constructor.

Parameters

fsm	Slave scanning state machine.
slave	slave to configure
fsm_slave_config	Slave configuration state machine to use.
fsm_pdo	PDO configuration machine to use.

Definition at line 109 of file fsm_slave_scan.c.

ec_fsm_slave_scan_clear()

void ec_fsm_slave_scan_clear

(

ec_fsm_slave_scan_t *

fsm

)

Destructor.

Parameters

fsm	slave state machine

Definition at line 130 of file fsm_slave_scan.c.

ec_fsm_slave_scan_start()

void ec_fsm_slave_scan_start

(

ec_fsm_slave_scan_t *

fsm

)

Start slave scan state machine.

Parameters

fsm	slave state machine

Definition at line 142 of file fsm_slave_scan.c.

ec_fsm_slave_scan_running()

int ec_fsm_slave_scan_running

(

const ec_fsm_slave_scan_t *

fsm

)

Returns

false, if state machine has terminated

Parameters

fsm	slave state machine

Definition at line 156 of file fsm_slave_scan.c.

ec_fsm_slave_scan_exec()

int ec_fsm_slave_scan_exec	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

If the state machine's datagram is not sent or received yet, the execution of the state machine is delayed to the next cycle.

Returns

false, if state machine has terminated

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 171 of file fsm_slave_scan.c.

ec_fsm_slave_scan_success()

int ec_fsm_slave_scan_success

(

const ec_fsm_slave_scan_t *

fsm

)

Returns

true, if the state machine terminated gracefully

Parameters

fsm	slave state machine

Definition at line 196 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_assign_sii()

void ec_fsm_slave_scan_enter_assign_sii	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram
	)

Enter slave scan state ASSIGN_SII.

Parameters

fsm	slave state machine
datagram	Datagram to use.

Definition at line 656 of file fsm_slave_scan.c.