fsm_master.c File Reference

EtherCAT master state machine. More...

Go to the source code of this file.

Macros
#define	EC_SYSTEM_TIME_TOLERANCE_NS   1000
	Time difference [ns] to tolerate without setting a new system time offset.

Functions
void	ec_fsm_master_state_start (ec_fsm_master_t *fsm )
	Master state: START. More...
void	ec_fsm_master_state_broadcast (ec_fsm_master_t *fsm )
	Master state: BROADCAST. More...
void	ec_fsm_master_state_read_al_status (ec_fsm_master_t *fsm )
	Master state: READ AL STATUS. More...
void	ec_fsm_master_state_acknowledge (ec_fsm_master_t *fsm )
	Master state: ACKNOWLEDGE. More...
void	ec_fsm_master_state_configure_slave (ec_fsm_master_t *fsm )
	Master state: CONFIGURE SLAVE. More...
void	ec_fsm_master_state_clear_addresses (ec_fsm_master_t *fsm )
	Master state: CLEAR ADDRESSES. More...
void	ec_fsm_master_state_dc_measure_delays (ec_fsm_master_t *fsm )
	Master state: DC MEASURE DELAYS. More...
void	ec_fsm_master_state_scan_slave (ec_fsm_master_t *fsm )
	Master state: SCAN SLAVE. More...
void	ec_fsm_master_state_dc_read_offset (ec_fsm_master_t *fsm )
	Master state: DC READ OFFSET. More...
void	ec_fsm_master_state_dc_write_offset (ec_fsm_master_t *fsm )
	Master state: DC WRITE OFFSET. More...
void	ec_fsm_master_state_dc_reset_filter (ec_fsm_master_t *fsm )
	Master state: DC RESET FILTER. More...
void	ec_fsm_master_state_assign_sii (ec_fsm_master_t *fsm )
	Master state: ASSIGN SII. More...
void	ec_fsm_master_state_write_sii (ec_fsm_master_t *fsm )
	Master state: WRITE SII. More...
void	ec_fsm_master_state_sdo_dictionary (ec_fsm_master_t *fsm )
	Master state: SDO DICTIONARY. More...
void	ec_fsm_master_state_sdo_request (ec_fsm_master_t *fsm )
	Master state: SDO REQUEST. More...
void	ec_fsm_master_enter_clear_addresses (ec_fsm_master_t *fsm )
	Start clearing slave addresses. More...
void	ec_fsm_master_enter_write_system_times (ec_fsm_master_t *fsm )
	Start writing DC system times. More...
void	ec_fsm_master_init (ec_fsm_master_t *fsm, ec_master_t *master, ec_datagram_t *datagram)
	Constructor. More...
void	ec_fsm_master_clear (ec_fsm_master_t *fsm)
	Destructor. More...
void	ec_fsm_master_reset (ec_fsm_master_t *fsm)
	Reset state machine. More...
int	ec_fsm_master_exec (ec_fsm_master_t *fsm)
	Executes the current state of the state machine. More...
int	ec_fsm_master_idle (const ec_fsm_master_t *fsm)
void	ec_fsm_master_restart (ec_fsm_master_t *fsm)
	Restarts the master state machine. More...
int	ec_fsm_master_action_process_sii (ec_fsm_master_t *fsm)
	Check for pending SII write requests and process one. More...
int	ec_fsm_master_action_process_sdo (ec_fsm_master_t *fsm)
	Check for pending SDO requests and process one. More...
void	ec_fsm_master_action_idle (ec_fsm_master_t *fsm)
	Master action: IDLE. More...
void	ec_fsm_master_action_next_slave_state (ec_fsm_master_t *fsm)
	Master action: Get state of next slave. More...
void	ec_fsm_master_action_configure (ec_fsm_master_t *fsm)
	Master action: Configure. More...
void	ec_fsm_master_enter_dc_measure_delays (ec_fsm_master_t *fsm)
	Start measuring DC delays. More...
u64	ec_fsm_master_dc_offset32 (ec_fsm_master_t *fsm, u64 system_time, u64 old_offset, u64 app_time_sent)
	Configure 32 bit time offset. More...
u64	ec_fsm_master_dc_offset64 (ec_fsm_master_t *fsm, u64 system_time, u64 old_offset, u64 app_time_sent)
	Configure 64 bit time offset. More...

Detailed Description

EtherCAT master state machine.

Definition in file fsm_master.c.

Function Documentation

void ec_fsm_master_state_start

(

ec_fsm_master_t *

fsm

)

Master state: START.

Starts with getting slave count and slave states.

Parameters

fsm	Master state machine.

Definition at line 207 of file fsm_master.c.

void ec_fsm_master_state_broadcast

(

ec_fsm_master_t *

fsm

)

Master state: BROADCAST.

Processes the broadcast read slave count and slaves states.

Parameters

fsm	Master state machine.

Definition at line 268 of file fsm_master.c.

void ec_fsm_master_state_read_al_status

(

ec_fsm_master_t *

fsm

)

Master state: READ AL STATUS.

Fetches the AL state of a slave.

Parameters

fsm	Master state machine.

Definition at line 872 of file fsm_master.c.

void ec_fsm_master_state_acknowledge

(

ec_fsm_master_t *

fsm

)

Master state: ACKNOWLEDGE.

Parameters

fsm	Master state machine.

Definition at line 932 of file fsm_master.c.

void ec_fsm_master_state_configure_slave

(

ec_fsm_master_t *

fsm

)

Master state: CONFIGURE SLAVE.

Starts configuring a slave.

Parameters

fsm	Master state machine.

Definition at line 1209 of file fsm_master.c.

void ec_fsm_master_state_clear_addresses

(

ec_fsm_master_t *

fsm

)

Master state: CLEAR ADDRESSES.

Parameters

fsm	Master state machine.

Definition at line 1037 of file fsm_master.c.

void ec_fsm_master_state_dc_measure_delays

(

ec_fsm_master_t *

fsm

)

Master state: DC MEASURE DELAYS.

Parameters

fsm	Master state machine.

Definition at line 1077 of file fsm_master.c.

void ec_fsm_master_state_scan_slave

(

ec_fsm_master_t *

fsm

)

Master state: SCAN SLAVE.

Executes the sub-statemachine for the scanning of a slave.

Parameters

fsm	Master state machine.

Definition at line 1130 of file fsm_master.c.

void ec_fsm_master_state_dc_read_offset

(

ec_fsm_master_t *

fsm

)

Master state: DC READ OFFSET.

Parameters

fsm	Master state machine.

Definition at line 1360 of file fsm_master.c.

void ec_fsm_master_state_dc_write_offset

(

ec_fsm_master_t *

fsm

)

Master state: DC WRITE OFFSET.

Parameters

fsm	Master state machine.

Definition at line 1440 of file fsm_master.c.

void ec_fsm_master_state_dc_reset_filter

(

ec_fsm_master_t *

fsm

)

Master state: DC RESET FILTER.

Parameters

fsm	Master state machine.

Definition at line 1485 of file fsm_master.c.

void ec_fsm_master_state_assign_sii

(

ec_fsm_master_t *

fsm

)

Master state: ASSIGN SII.

Parameters

fsm	Master state machine.

Definition at line 1520 of file fsm_master.c.

void ec_fsm_master_state_write_sii

(

ec_fsm_master_t *

fsm

)

Master state: WRITE SII.

Parameters

fsm	Master state machine.

Definition at line 1557 of file fsm_master.c.

void ec_fsm_master_state_sdo_dictionary

(

ec_fsm_master_t *

fsm

)

Master state: SDO DICTIONARY.

Parameters

fsm	Master state machine.

Definition at line 1611 of file fsm_master.c.

void ec_fsm_master_state_sdo_request

(

ec_fsm_master_t *

fsm

)

Master state: SDO REQUEST.

Parameters

fsm	Master state machine.

Definition at line 1649 of file fsm_master.c.

void ec_fsm_master_enter_clear_addresses

(

ec_fsm_master_t *

fsm

)

Start clearing slave addresses.

Parameters

fsm	Master state machine.

Definition at line 954 of file fsm_master.c.

void ec_fsm_master_enter_write_system_times

(

ec_fsm_master_t *

fsm

)

Start writing DC system times.

Parameters

fsm	Master state machine.

Definition at line 1244 of file fsm_master.c.

void ec_fsm_master_init	(	ec_fsm_master_t *	fsm,
		ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Constructor.

Parameters

fsm	Master state machine.
master	EtherCAT master.
datagram	Datagram object to use.

Definition at line 86 of file fsm_master.c.

void ec_fsm_master_clear

(

ec_fsm_master_t *

fsm

)

Destructor.

Parameters

fsm	Master state machine.

Definition at line 113 of file fsm_master.c.

void ec_fsm_master_reset

(

ec_fsm_master_t *

fsm

)

Reset state machine.

Parameters

fsm	Master state machine.

Definition at line 131 of file fsm_master.c.

int ec_fsm_master_exec

(

ec_fsm_master_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

true, if the state machine was executed

Parameters

fsm	Master state machine.

Definition at line 160 of file fsm_master.c.

int ec_fsm_master_idle

(

const ec_fsm_master_t *

fsm

)

Returns

true, if the state machine is in an idle phase

Parameters

fsm	Master state machine.

Definition at line 179 of file fsm_master.c.

void ec_fsm_master_restart

(

ec_fsm_master_t *

fsm

)

Restarts the master state machine.

Parameters

fsm	Master state machine.

Definition at line 190 of file fsm_master.c.

int ec_fsm_master_action_process_sii

(

ec_fsm_master_t *

fsm

)

Check for pending SII write requests and process one.

Returns

non-zero, if an SII write request is processed.

Parameters

fsm	Master state machine.

Definition at line 450 of file fsm_master.c.

int ec_fsm_master_action_process_sdo

(

ec_fsm_master_t *

fsm

)

Check for pending SDO requests and process one.

Returns

non-zero, if an SDO request is processed.

Parameters

fsm	Master state machine.

Definition at line 512 of file fsm_master.c.

void ec_fsm_master_action_idle

(

ec_fsm_master_t *

fsm

)

Master action: IDLE.

Does secondary work.

Parameters

fsm	Master state machine.

Definition at line 571 of file fsm_master.c.

void ec_fsm_master_action_next_slave_state

(

ec_fsm_master_t *

fsm

)

Master action: Get state of next slave.

Parameters

fsm	Master state machine.

Definition at line 635 of file fsm_master.c.

void ec_fsm_master_action_configure

(

ec_fsm_master_t *

fsm

)

Master action: Configure.

Parameters

fsm	Master state machine.

Definition at line 808 of file fsm_master.c.

void ec_fsm_master_enter_dc_measure_delays

(

ec_fsm_master_t *

fsm

)

Start measuring DC delays.

Parameters

fsm	Master state machine.

Definition at line 970 of file fsm_master.c.

u64 ec_fsm_master_dc_offset32	(	ec_fsm_master_t *	fsm,
		u64	system_time,
		u64	old_offset,
		u64	app_time_sent
	)

Configure 32 bit time offset.

Returns

New offset.

Parameters

fsm	Master state machine.
system_time	System time register.
old_offset	Time offset register.
app_time_sent	Master app time by reading.

Definition at line 1290 of file fsm_master.c.

u64 ec_fsm_master_dc_offset64	(	ec_fsm_master_t *	fsm,
		u64	system_time,
		u64	old_offset,
		u64	app_time_sent
	)

Configure 64 bit time offset.

Returns

New offset.

Parameters

fsm	Master state machine.
system_time	System time register.
old_offset	Time offset register.
app_time_sent	Master app time by reading.

Definition at line 1327 of file fsm_master.c.