fsm_slave_config.c File Reference

EtherCAT slave configuration state machine. More...

Go to the source code of this file.

Macros
#define	EC_DC_MAX_SYNC_DIFF_NS   10000
	Maximum clock difference (in ns) before going to SAFEOP. More...
#define	EC_DC_SYNC_WAIT_MS   5000
	Maximum time (in ms) to wait for clock discipline.
#define	EC_DC_START_OFFSET   100000000ULL
	Time offset (in ns), that is added to cyclic start time.

Functions
void	ec_fsm_slave_config_state_start (ec_fsm_slave_config_t *fsm)
	Slave configuration state: START. More...
void	ec_fsm_slave_config_state_init (ec_fsm_slave_config_t *fsm)
	Slave configuration state: INIT. More...
void	ec_fsm_slave_config_state_clear_fmmus (ec_fsm_slave_config_t *fsm)
	Slave configuration state: CLEAR FMMU. More...
void	ec_fsm_slave_config_state_clear_sync (ec_fsm_slave_config_t *fsm)
	Slave configuration state: CLEAR SYNC. More...
void	ec_fsm_slave_config_state_dc_clear_assign (ec_fsm_slave_config_t *fsm)
	Slave configuration state: CLEAR DC ASSIGN. More...
void	ec_fsm_slave_config_state_mbox_sync (ec_fsm_slave_config_t *fsm)
	Slave configuration state: SYNC. More...
void	ec_fsm_slave_config_state_assign_pdi (ec_fsm_slave_config_t *fsm)
	Slave configuration state: ASSIGN_PDI. More...
void	ec_fsm_slave_config_state_boot_preop (ec_fsm_slave_config_t *fsm)
	Slave configuration state: BOOT/PREOP. More...
void	ec_fsm_slave_config_state_assign_ethercat (ec_fsm_slave_config_t *fsm)
	Slave configuration state: ASSIGN_ETHERCAT. More...
void	ec_fsm_slave_config_state_sdo_conf (ec_fsm_slave_config_t *fsm)
	Slave configuration state: SDO_CONF. More...
void	ec_fsm_slave_config_state_soe_conf_preop (ec_fsm_slave_config_t *fsm)
	Slave configuration state: SOE_CONF. More...
void	ec_fsm_slave_config_state_watchdog_divider (ec_fsm_slave_config_t *fsm)
	Slave configuration state: WATCHDOG_DIVIDER. More...
void	ec_fsm_slave_config_state_watchdog (ec_fsm_slave_config_t *fsm)
	Slave configuration state: WATCHDOG. More...
void	ec_fsm_slave_config_state_pdo_sync (ec_fsm_slave_config_t *fsm)
	Configure PDO sync managers. More...
void	ec_fsm_slave_config_state_pdo_conf (ec_fsm_slave_config_t *fsm)
	Slave configuration state: PDO_CONF. More...
void	ec_fsm_slave_config_state_fmmu (ec_fsm_slave_config_t *fsm)
	Slave configuration state: FMMU. More...
void	ec_fsm_slave_config_state_dc_cycle (ec_fsm_slave_config_t *fsm)
	Slave configuration state: DC CYCLE. More...
void	ec_fsm_slave_config_state_dc_sync_check (ec_fsm_slave_config_t *fsm)
	Slave configuration state: DC SYNC CHECK. More...
void	ec_fsm_slave_config_state_dc_start (ec_fsm_slave_config_t *fsm)
	Slave configuration state: DC START. More...
void	ec_fsm_slave_config_state_dc_assign (ec_fsm_slave_config_t *fsm)
	Slave configuration state: DC ASSIGN. More...
void	ec_fsm_slave_config_state_wait_safeop (ec_fsm_slave_config_t *fsm)
	Slave configuration state: WAIT SAFEOP. More...
void	ec_fsm_slave_config_state_safeop (ec_fsm_slave_config_t *fsm)
	Slave configuration state: SAFEOP. More...
void	ec_fsm_slave_config_state_soe_conf_safeop (ec_fsm_slave_config_t *fsm)
	Slave configuration state: SOE_CONF. More...
void	ec_fsm_slave_config_state_op (ec_fsm_slave_config_t *fsm)
	Slave configuration state: OP. More...
void	ec_fsm_slave_config_enter_init (ec_fsm_slave_config_t *fsm)
	Start state change to INIT. More...
void	ec_fsm_slave_config_enter_clear_sync (ec_fsm_slave_config_t *fsm)
	Clear the sync manager configurations. More...
void	ec_fsm_slave_config_enter_dc_clear_assign (ec_fsm_slave_config_t *fsm)
	Clear the DC assignment. More...
void	ec_fsm_slave_config_enter_mbox_sync (ec_fsm_slave_config_t *fsm)
	Check for mailbox sync managers to be configured. More...
void	ec_fsm_slave_config_enter_assign_pdi (ec_fsm_slave_config_t *fsm)
	Assign SII to PDI. More...
void	ec_fsm_slave_config_enter_boot_preop (ec_fsm_slave_config_t *fsm)
	Request PREOP state. More...
void	ec_fsm_slave_config_enter_sdo_conf (ec_fsm_slave_config_t *fsm)
	Check for SDO configurations to be applied. More...
void	ec_fsm_slave_config_enter_soe_conf_preop (ec_fsm_slave_config_t *fsm)
	Check for SoE configurations to be applied. More...
void	ec_fsm_slave_config_enter_pdo_conf (ec_fsm_slave_config_t *fsm)
	PDO_CONF entry function. More...
void	ec_fsm_slave_config_enter_watchdog_divider (ec_fsm_slave_config_t *fsm)
	WATCHDOG_DIVIDER entry function. More...
void	ec_fsm_slave_config_enter_watchdog (ec_fsm_slave_config_t *fsm)
	WATCHDOG entry function. More...
void	ec_fsm_slave_config_enter_pdo_sync (ec_fsm_slave_config_t *fsm)
	Check for PDO sync managers to be configured. More...
void	ec_fsm_slave_config_enter_fmmu (ec_fsm_slave_config_t *fsm)
	Check for FMMUs to be configured. More...
void	ec_fsm_slave_config_enter_dc_cycle (ec_fsm_slave_config_t *fsm)
	Check for DC to be configured. More...
void	ec_fsm_slave_config_enter_wait_safeop (ec_fsm_slave_config_t *fsm)
	Wait before SAFEOP transition. More...
void	ec_fsm_slave_config_enter_safeop (ec_fsm_slave_config_t *fsm)
	Request SAFEOP state. More...
void	ec_fsm_slave_config_enter_soe_conf_safeop (ec_fsm_slave_config_t *fsm)
	Check for SoE configurations to be applied in SAFEOP. More...
void	ec_fsm_slave_config_enter_op (ec_fsm_slave_config_t *fsm)
	Bring slave to OP. More...
void	ec_fsm_slave_config_state_end (ec_fsm_slave_config_t *fsm)
	State: END. More...
void	ec_fsm_slave_config_state_error (ec_fsm_slave_config_t *fsm)
	State: ERROR. More...
void	ec_fsm_slave_config_reconfigure (ec_fsm_slave_config_t *fsm)
	Reconfigure the slave starting at INIT. More...
void	ec_fsm_slave_config_init (ec_fsm_slave_config_t *fsm, ec_datagram_t *datagram, ec_fsm_change_t *fsm_change, ec_fsm_coe_t *fsm_coe, ec_fsm_soe_t *fsm_soe, ec_fsm_pdo_t *fsm_pdo)
	Constructor. More...
void	ec_fsm_slave_config_clear (ec_fsm_slave_config_t *fsm)
	Destructor. More...
void	ec_fsm_slave_config_start (ec_fsm_slave_config_t *fsm, ec_slave_t *slave)
	Start slave configuration state machine. More...
int	ec_fsm_slave_config_running (const ec_fsm_slave_config_t *fsm)
int	ec_fsm_slave_config_exec (ec_fsm_slave_config_t *fsm)
	Executes the current state of the state machine. More...
int	ec_fsm_slave_config_success (const ec_fsm_slave_config_t *fsm)

Detailed Description

EtherCAT slave configuration state machine.

Definition in file fsm_slave_config.c.

Macro Definition Documentation

EC_DC_MAX_SYNC_DIFF_NS

#define EC_DC_MAX_SYNC_DIFF_NS   10000

Maximum clock difference (in ns) before going to SAFEOP.

Wait for DC time difference to drop under this absolute value before requesting SAFEOP.

Definition at line 43 of file fsm_slave_config.c.

Function Documentation

ec_fsm_slave_config_state_start()

void ec_fsm_slave_config_state_start

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: START.

Parameters

fsm	slave state machine

Definition at line 214 of file fsm_slave_config.c.

ec_fsm_slave_config_state_init()

void ec_fsm_slave_config_state_init

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: INIT.

Parameters

fsm	slave state machine

Definition at line 239 of file fsm_slave_config.c.

ec_fsm_slave_config_state_clear_fmmus()

void ec_fsm_slave_config_state_clear_fmmus

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: CLEAR FMMU.

Parameters

fsm	slave state machine

Definition at line 276 of file fsm_slave_config.c.

ec_fsm_slave_config_state_clear_sync()

void ec_fsm_slave_config_state_clear_sync

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: CLEAR SYNC.

Parameters

fsm	slave state machine

Definition at line 335 of file fsm_slave_config.c.

ec_fsm_slave_config_state_dc_clear_assign()

void ec_fsm_slave_config_state_dc_clear_assign

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: CLEAR DC ASSIGN.

Parameters

fsm	slave state machine

Definition at line 391 of file fsm_slave_config.c.

ec_fsm_slave_config_state_mbox_sync()

void ec_fsm_slave_config_state_mbox_sync

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: SYNC.

Todo:

Timeout for response.

Parameters

fsm	slave state machine

Definition at line 552 of file fsm_slave_config.c.

ec_fsm_slave_config_state_assign_pdi()

void ec_fsm_slave_config_state_assign_pdi

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: ASSIGN_PDI.

Parameters

fsm	slave state machine

Definition at line 643 of file fsm_slave_config.c.

ec_fsm_slave_config_state_boot_preop()

void ec_fsm_slave_config_state_boot_preop

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: BOOT/PREOP.

Parameters

fsm	slave state machine

Definition at line 696 of file fsm_slave_config.c.

ec_fsm_slave_config_state_assign_ethercat()

void ec_fsm_slave_config_state_assign_ethercat

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: ASSIGN_ETHERCAT.

Parameters

fsm	slave state machine

Definition at line 769 of file fsm_slave_config.c.

ec_fsm_slave_config_state_sdo_conf()

void ec_fsm_slave_config_state_sdo_conf

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: SDO_CONF.

Parameters

fsm	slave state machine

Definition at line 838 of file fsm_slave_config.c.

ec_fsm_slave_config_state_soe_conf_preop()

void ec_fsm_slave_config_state_soe_conf_preop

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: SOE_CONF.

Parameters

fsm	slave state machine

Definition at line 911 of file fsm_slave_config.c.

ec_fsm_slave_config_state_watchdog_divider()

void ec_fsm_slave_config_state_watchdog_divider

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: WATCHDOG_DIVIDER.

Parameters

fsm	slave state machine

Definition at line 1020 of file fsm_slave_config.c.

ec_fsm_slave_config_state_watchdog()

void ec_fsm_slave_config_state_watchdog

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: WATCHDOG.

Parameters

fsm	slave state machine

Definition at line 1079 of file fsm_slave_config.c.

ec_fsm_slave_config_state_pdo_sync()

void ec_fsm_slave_config_state_pdo_sync

(

ec_fsm_slave_config_t *

fsm

)

Configure PDO sync managers.

Parameters

fsm	slave state machine

Definition at line 1178 of file fsm_slave_config.c.

ec_fsm_slave_config_state_pdo_conf()

void ec_fsm_slave_config_state_pdo_conf

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: PDO_CONF.

Parameters

fsm	slave state machine

Definition at line 969 of file fsm_slave_config.c.

ec_fsm_slave_config_state_fmmu()

void ec_fsm_slave_config_state_fmmu

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: FMMU.

Parameters

fsm	slave state machine

Definition at line 1265 of file fsm_slave_config.c.

ec_fsm_slave_config_state_dc_cycle()

void ec_fsm_slave_config_state_dc_cycle

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: DC CYCLE.

Parameters

fsm	slave state machine

Definition at line 1335 of file fsm_slave_config.c.

ec_fsm_slave_config_state_dc_sync_check()

void ec_fsm_slave_config_state_dc_sync_check

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: DC SYNC CHECK.

Parameters

fsm	slave state machine

Definition at line 1378 of file fsm_slave_config.c.

ec_fsm_slave_config_state_dc_start()

void ec_fsm_slave_config_state_dc_start

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: DC START.

Parameters

fsm	slave state machine

Definition at line 1479 of file fsm_slave_config.c.

ec_fsm_slave_config_state_dc_assign()

void ec_fsm_slave_config_state_dc_assign

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: DC ASSIGN.

Parameters

fsm	slave state machine

Definition at line 1524 of file fsm_slave_config.c.

ec_fsm_slave_config_state_wait_safeop()

void ec_fsm_slave_config_state_wait_safeop

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: WAIT SAFEOP.

Parameters

fsm	slave state machine

Definition at line 1592 of file fsm_slave_config.c.

ec_fsm_slave_config_state_safeop()

void ec_fsm_slave_config_state_safeop

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: SAFEOP.

Parameters

fsm	slave state machine

Definition at line 1622 of file fsm_slave_config.c.

ec_fsm_slave_config_state_soe_conf_safeop()

void ec_fsm_slave_config_state_soe_conf_safeop

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: SOE_CONF.

Parameters

fsm	slave state machine

Definition at line 1688 of file fsm_slave_config.c.

ec_fsm_slave_config_state_op()

void ec_fsm_slave_config_state_op

(

ec_fsm_slave_config_t *

fsm

)

Slave configuration state: OP.

Parameters

fsm	slave state machine

Definition at line 1746 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_init()

void ec_fsm_slave_config_enter_init

(

ec_fsm_slave_config_t *

fsm

)

Start state change to INIT.

Parameters

fsm	slave state machine

Definition at line 226 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_clear_sync()

void ec_fsm_slave_config_enter_clear_sync

(

ec_fsm_slave_config_t *

fsm

)

Clear the sync manager configurations.

Parameters

fsm	slave state machine

Definition at line 306 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_dc_clear_assign()

void ec_fsm_slave_config_enter_dc_clear_assign

(

ec_fsm_slave_config_t *

fsm

)

Clear the DC assignment.

Parameters

fsm	slave state machine

Definition at line 367 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_mbox_sync()

void ec_fsm_slave_config_enter_mbox_sync

(

ec_fsm_slave_config_t *

fsm

)

Check for mailbox sync managers to be configured.

Parameters

fsm	slave state machine

Definition at line 420 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_assign_pdi()

void ec_fsm_slave_config_enter_assign_pdi

(

ec_fsm_slave_config_t *

fsm

)

Assign SII to PDI.

Parameters

fsm	slave state machine

Definition at line 619 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_boot_preop()

void ec_fsm_slave_config_enter_boot_preop

(

ec_fsm_slave_config_t *

fsm

)

Request PREOP state.

Parameters

fsm	slave state machine

Definition at line 675 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_sdo_conf()

void ec_fsm_slave_config_enter_sdo_conf

(

ec_fsm_slave_config_t *

fsm

)

Check for SDO configurations to be applied.

Parameters

fsm	slave state machine

Definition at line 807 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_soe_conf_preop()

void ec_fsm_slave_config_enter_soe_conf_preop

(

ec_fsm_slave_config_t *

fsm

)

Check for SoE configurations to be applied.

Parameters

fsm	slave state machine

Definition at line 877 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_pdo_conf()

void ec_fsm_slave_config_enter_pdo_conf

(

ec_fsm_slave_config_t *

fsm

)

PDO_CONF entry function.

Parameters

fsm	slave state machine

Definition at line 955 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_watchdog_divider()

void ec_fsm_slave_config_enter_watchdog_divider

(

ec_fsm_slave_config_t *

fsm

)

WATCHDOG_DIVIDER entry function.

Parameters

fsm	slave state machine

Definition at line 995 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_watchdog()

void ec_fsm_slave_config_enter_watchdog

(

ec_fsm_slave_config_t *

fsm

)

WATCHDOG entry function.

Parameters

fsm	slave state machine

Definition at line 1052 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_pdo_sync()

void ec_fsm_slave_config_enter_pdo_sync

(

ec_fsm_slave_config_t *

fsm

)

Check for PDO sync managers to be configured.

Parameters

fsm	slave state machine

Definition at line 1110 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_fmmu()

void ec_fsm_slave_config_enter_fmmu

(

ec_fsm_slave_config_t *

fsm

)

Check for FMMUs to be configured.

Parameters

fsm	slave state machine

Definition at line 1211 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_dc_cycle()

void ec_fsm_slave_config_enter_dc_cycle

(

ec_fsm_slave_config_t *

fsm

)

Check for DC to be configured.

Parameters

fsm	slave state machine

Definition at line 1297 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_wait_safeop()

void ec_fsm_slave_config_enter_wait_safeop

(

ec_fsm_slave_config_t *

fsm

)

Wait before SAFEOP transition.

The feature flag WaitBeforeSAFEOPms can be used to add a wait time before going to SAFEOP. This can be used as a workaround for slaves that need some extra time for initialisation.

Parameters

fsm	slave state machine

Definition at line 1560 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_safeop()

void ec_fsm_slave_config_enter_safeop

(

ec_fsm_slave_config_t *

fsm

)

Request SAFEOP state.

Parameters

fsm	slave state machine

Definition at line 1609 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_soe_conf_safeop()

void ec_fsm_slave_config_enter_soe_conf_safeop

(

ec_fsm_slave_config_t *

fsm

)

Check for SoE configurations to be applied in SAFEOP.

Parameters

fsm	slave state machine

Definition at line 1654 of file fsm_slave_config.c.

ec_fsm_slave_config_enter_op()

void ec_fsm_slave_config_enter_op

(

ec_fsm_slave_config_t *

fsm

)

Bring slave to OP.

Parameters

fsm	slave state machine

Definition at line 1732 of file fsm_slave_config.c.

ec_fsm_slave_config_state_end()

void ec_fsm_slave_config_state_end

(

ec_fsm_slave_config_t *

fsm

)

State: END.

Parameters

fsm	slave state machine

Definition at line 1798 of file fsm_slave_config.c.

ec_fsm_slave_config_state_error()

void ec_fsm_slave_config_state_error

(

ec_fsm_slave_config_t *

fsm

)

State: ERROR.

Parameters

fsm	slave state machine

Definition at line 1788 of file fsm_slave_config.c.

ec_fsm_slave_config_reconfigure()

void ec_fsm_slave_config_reconfigure

(

ec_fsm_slave_config_t *

fsm

)

Reconfigure the slave starting at INIT.

Parameters

fsm	slave state machine

Definition at line 1772 of file fsm_slave_config.c.

ec_fsm_slave_config_init()

void ec_fsm_slave_config_init	(	ec_fsm_slave_config_t *	fsm,
		ec_datagram_t *	datagram,
		ec_fsm_change_t *	fsm_change,
		ec_fsm_coe_t *	fsm_coe,
		ec_fsm_soe_t *	fsm_soe,
		ec_fsm_pdo_t *	fsm_pdo
	)

Constructor.

Parameters

fsm	slave state machine
datagram	datagram structure to use
fsm_change	State change state machine to use.
fsm_coe	CoE state machine to use.
fsm_soe	SoE state machine to use.
fsm_pdo	PDO configuration state machine to use.

Definition at line 114 of file fsm_slave_config.c.

ec_fsm_slave_config_clear()

void ec_fsm_slave_config_clear

(

ec_fsm_slave_config_t *

fsm

)

Destructor.

Parameters

fsm	slave state machine

Definition at line 139 of file fsm_slave_config.c.

ec_fsm_slave_config_start()

void ec_fsm_slave_config_start	(	ec_fsm_slave_config_t *	fsm,
		ec_slave_t *	slave
	)

Start slave configuration state machine.

Parameters

fsm	slave state machine
slave	slave to configure

Definition at line 151 of file fsm_slave_config.c.

ec_fsm_slave_config_running()

int ec_fsm_slave_config_running

(

const ec_fsm_slave_config_t *

fsm

)

Returns

false, if state machine has terminated

Parameters

fsm	slave state machine

Definition at line 165 of file fsm_slave_config.c.

ec_fsm_slave_config_exec()

int ec_fsm_slave_config_exec

(

ec_fsm_slave_config_t *

fsm

)

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

Definition at line 182 of file fsm_slave_config.c.

ec_fsm_slave_config_success()

int ec_fsm_slave_config_success

(

const ec_fsm_slave_config_t *

fsm

)

Returns

true, if the state machine terminated gracefully

Parameters

fsm	slave state machine

Definition at line 201 of file fsm_slave_config.c.