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   10
	Timeout while waiting for AL state change [s]. More...

Functions
void	ec_fsm_change_state_start (ec_fsm_change_t *fsm)
	Change state: START. More...
void	ec_fsm_change_state_check (ec_fsm_change_t *fsm)
	Change state: CHECK. More...
void	ec_fsm_change_state_status (ec_fsm_change_t *fsm)
	Change state: STATUS. More...
void	ec_fsm_change_state_start_code (ec_fsm_change_t *fsm)
	Enter reading AL status code. More...
void	ec_fsm_change_state_code (ec_fsm_change_t *fsm)
	Change state: CODE. More...
void	ec_fsm_change_state_ack (ec_fsm_change_t *fsm)
	Change state: ACK. More...
void	ec_fsm_change_state_check_ack (ec_fsm_change_t *fsm)
	Change state: CHECK ACK. More...
void	ec_fsm_change_state_end (ec_fsm_change_t *fsm)
	State: END. More...
void	ec_fsm_change_state_error (ec_fsm_change_t *fsm)
	State: ERROR. More...
void	ec_fsm_change_init (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	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)
	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...

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.

Macro Definition Documentation

EC_AL_STATE_CHANGE_TIMEOUT

#define EC_AL_STATE_CHANGE_TIMEOUT   10

Timeout while waiting for AL state change [s].

ETG2000_S_R_V1i0i15 section 5.3.7.2 mentions 10 s as maximum AL state change timeout.

Definition at line 40 of file fsm_change.c.

Function Documentation

ec_fsm_change_state_start()

void ec_fsm_change_state_start

(

ec_fsm_change_t *

fsm

)

Change state: START.

Parameters

fsm	finite state machine

Definition at line 147 of file fsm_change.c.

ec_fsm_change_state_check()

void ec_fsm_change_state_check

(

ec_fsm_change_t *

fsm

)

Change state: CHECK.

Parameters

fsm	finite state machine

Definition at line 169 of file fsm_change.c.

ec_fsm_change_state_status()

void ec_fsm_change_state_status

(

ec_fsm_change_t *

fsm

)

Change state: STATUS.

Parameters

fsm	finite state machine

Definition at line 232 of file fsm_change.c.

ec_fsm_change_state_start_code()

void ec_fsm_change_state_start_code

(

ec_fsm_change_t *

fsm

)

Enter reading AL status code.

Parameters

fsm	finite state machine

Definition at line 321 of file fsm_change.c.

ec_fsm_change_state_code()

void ec_fsm_change_state_code

(

ec_fsm_change_t *

fsm

)

Change state: CODE.

Parameters

fsm	finite state machine

Definition at line 401 of file fsm_change.c.

ec_fsm_change_state_ack()

void ec_fsm_change_state_ack

(

ec_fsm_change_t *

fsm

)

Change state: ACK.

Parameters

fsm	finite state machine

Definition at line 453 of file fsm_change.c.

ec_fsm_change_state_check_ack()

void ec_fsm_change_state_check_ack

(

ec_fsm_change_t *

fsm

)

Change state: CHECK ACK.

Parameters

fsm	finite state machine

Definition at line 490 of file fsm_change.c.

ec_fsm_change_state_end()

void ec_fsm_change_state_end

(

ec_fsm_change_t *

fsm

)

State: END.

Parameters

fsm	finite state machine

Definition at line 567 of file fsm_change.c.

ec_fsm_change_state_error()

void ec_fsm_change_state_error

(

ec_fsm_change_t *

fsm

)

State: ERROR.

Parameters

fsm	finite state machine

Definition at line 556 of file fsm_change.c.

ec_fsm_change_init()

void ec_fsm_change_init	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram
	)

Constructor.

Parameters

fsm	finite state machine
datagram	datagram

Definition at line 60 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 75 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 85 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 102 of file fsm_change.c.

ec_fsm_change_exec()

int ec_fsm_change_exec

(

ec_fsm_change_t *

fsm

)

Executes the current state of the state machine.

Returns

false, if the state machine has terminated

Parameters

fsm	finite state machine

Definition at line 119 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 134 of file fsm_change.c.