fsm_foe.c File Reference

EtherCAT FoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_FSM_FOE_TIMEOUT_JIFFIES   (3 * HZ)
	Maximum time in jiffies to wait for responses when reading out the dictionary.
#define	EC_FOE_HEADER_SIZE   6
	Size of the FoE header.

Enumerations
enum	{   EC_FOE_OPCODE_RRQ = 1, EC_FOE_OPCODE_WRQ = 2, EC_FOE_OPCODE_DATA = 3, EC_FOE_OPCODE_ACK = 4,   EC_FOE_OPCODE_ERR = 5, EC_FOE_OPCODE_BUSY = 6 }
	FoE OpCodes. More...

Functions
int	ec_foe_prepare_data_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Sends a file or the next fragment. More...
int	ec_foe_prepare_wrq_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Prepare a write request (WRQ) with filename. More...
int	ec_foe_prepare_rrq_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Prepare a read request (RRQ) with filename. More...
int	ec_foe_prepare_send_ack (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Prepare to send an acknowledge. More...
void	ec_foe_set_tx_error (ec_fsm_foe_t *fsm, uint32_t errorcode )
	Set an error code and go to the send error state. More...
void	ec_foe_set_rx_error (ec_fsm_foe_t *fsm, uint32_t errorcode )
	Set an error code and go to the receive error state. More...
void	ec_fsm_foe_end (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	State: END. More...
void	ec_fsm_foe_error (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	State: ERROR. More...
void	ec_fsm_foe_state_wrq_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	State: WRQ SENT. More...
void	ec_fsm_foe_state_rrq_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	State: RRQ SENT. More...
void	ec_fsm_foe_state_ack_check (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Check for acknowledge. More...
void	ec_fsm_foe_state_ack_read (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Acknowledge a read operation. More...
void	ec_fsm_foe_state_ack_read_data (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Process a read operation. More...
void	ec_fsm_foe_state_data_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	State: WRQ SENT. More...
void	ec_fsm_foe_state_data_check (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Check for data. More...
void	ec_fsm_foe_state_data_read (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Start reading data. More...
void	ec_fsm_foe_state_data_read_data (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Process a read data operation. More...
void	ec_fsm_foe_state_sent_ack (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Sent an acknowledge. More...
void	ec_fsm_foe_write_start (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Initializes the FoE write state machine. More...
void	ec_fsm_foe_read_start (ec_fsm_foe_t *fsm, ec_datagram_t *datagram )
	Starting state for read operations. More...
void	ec_fsm_foe_init (ec_fsm_foe_t *fsm)
	Constructor. More...
void	ec_fsm_foe_clear (ec_fsm_foe_t *fsm)
	Destructor. More...
int	ec_fsm_foe_exec (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_foe_success (const ec_fsm_foe_t *fsm)
	Returns, if the state machine terminated with success. More...
void	ec_fsm_foe_transfer (ec_fsm_foe_t *fsm, ec_slave_t *slave, ec_foe_request_t *request)
	Prepares an FoE transfer. More...

Detailed Description

EtherCAT FoE state machines.

Definition in file fsm_foe.c.

Enumeration Type Documentation

anonymous enum

FoE OpCodes.

Enumerator
EC_FOE_OPCODE_RRQ	Read request.
EC_FOE_OPCODE_WRQ	Write request.
EC_FOE_OPCODE_DATA	Data.
EC_FOE_OPCODE_ACK	Acknowledge.
EC_FOE_OPCODE_ERR	Error.
EC_FOE_OPCODE_BUSY	Busy.

Definition at line 63 of file fsm_foe.c.

Function Documentation

int ec_foe_prepare_data_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sends a file or the next fragment.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 235 of file fsm_foe.c.

int ec_foe_prepare_wrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a write request (WRQ) with filename.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 280 of file fsm_foe.c.

int ec_foe_prepare_rrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a read request (RRQ) with filename.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 638 of file fsm_foe.c.

int ec_foe_prepare_send_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare to send an acknowledge.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 675 of file fsm_foe.c.

void ec_foe_set_tx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the send error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 1067 of file fsm_foe.c.

void ec_foe_set_rx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the receive error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 1080 of file fsm_foe.c.

void ec_fsm_foe_end	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 219 of file fsm_foe.c.

void ec_fsm_foe_error	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 205 of file fsm_foe.c.

void ec_fsm_foe_state_wrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 546 of file fsm_foe.c.

void ec_fsm_foe_state_rrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: RRQ SENT.

Checks is the previous transmit datagram succeeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 705 of file fsm_foe.c.

void ec_fsm_foe_state_ack_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for acknowledge.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 351 of file fsm_foe.c.

void ec_fsm_foe_state_ack_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Acknowledge a read operation.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 414 of file fsm_foe.c.

void ec_fsm_foe_state_ack_read_data	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Process a read operation.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 452 of file fsm_foe.c.

void ec_fsm_foe_state_data_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	Foe statemachine.
datagram	Datagram to use.

Definition at line 593 of file fsm_foe.c.

void ec_fsm_foe_state_data_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for data.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 784 of file fsm_foe.c.

void ec_fsm_foe_state_data_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Start reading data.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 844 of file fsm_foe.c.

void ec_fsm_foe_state_data_read_data	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Process a read data operation.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 882 of file fsm_foe.c.

void ec_fsm_foe_state_sent_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sent an acknowledge.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 1014 of file fsm_foe.c.

void ec_fsm_foe_write_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Initializes the FoE write state machine.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 317 of file fsm_foe.c.

void ec_fsm_foe_read_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Starting state for read operations.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 751 of file fsm_foe.c.

void ec_fsm_foe_init

(

ec_fsm_foe_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 106 of file fsm_foe.c.

void ec_fsm_foe_clear

(

ec_fsm_foe_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 118 of file fsm_foe.c.

int ec_fsm_foe_exec	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

Returns

1 if the state machine is still in progress, else 0.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 128 of file fsm_foe.c.

int ec_fsm_foe_success

(

const ec_fsm_foe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 162 of file fsm_foe.c.

void ec_fsm_foe_transfer	(	ec_fsm_foe_t *	fsm,
		ec_slave_t *	slave,
		ec_foe_request_t *	request
	)

Prepares an FoE transfer.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	Sdo request.

Definition at line 171 of file fsm_foe.c.