fsm_slave_scan.c File Reference

EtherCAT slave state machines. More...

Go to the source code of this file.

Functions
void	ec_fsm_slave_scan_state_start (ec_fsm_slave_scan_t *fsm)
	Slave scan state: START. More...
void	ec_fsm_slave_scan_state_address (ec_fsm_slave_scan_t *fsm )
	Slave scan state: ADDRESS. More...
void	ec_fsm_slave_scan_state_state (ec_fsm_slave_scan_t *fsm )
	Slave scan state: STATE. More...
void	ec_fsm_slave_scan_state_base (ec_fsm_slave_scan_t *fsm )
	Slave scan state: BASE. More...
void	ec_fsm_slave_scan_state_dc_cap (ec_fsm_slave_scan_t *fsm )
	Slave scan state: DC CAPABILITIES. More...
void	ec_fsm_slave_scan_state_dc_times (ec_fsm_slave_scan_t *fsm )
	Slave scan state: DC TIMES. More...
void	ec_fsm_slave_scan_state_datalink (ec_fsm_slave_scan_t *fsm )
	Slave scan state: DATALINK. More...
void	ec_fsm_slave_scan_state_assign_sii (ec_fsm_slave_scan_t *fsm )
	Slave scan state: ASSIGN_SII. More...
void	ec_fsm_slave_scan_state_sii_size (ec_fsm_slave_scan_t *fsm )
	Slave scan state: SII SIZE. More...
void	ec_fsm_slave_scan_state_sii_data (ec_fsm_slave_scan_t *fsm)
	Slave scan state: SII DATA. More...
void	ec_fsm_slave_scan_state_mailbox_cleared (ec_fsm_slave_scan_t *fsm)
	Slave scan state: Mailbox cleared. More...
void	ec_fsm_slave_scan_state_preop (ec_fsm_slave_scan_t *fsm )
	Slave scan state: PREOP. More...
void	ec_fsm_slave_scan_state_sync (ec_fsm_slave_scan_t *fsm )
	Slave scan state: SYNC. More...
void	ec_fsm_slave_scan_state_pdos (ec_fsm_slave_scan_t *fsm )
	Slave scan state: PDOS. More...
void	ec_fsm_slave_scan_state_end (ec_fsm_slave_scan_t *fsm )
	State: END. More...
void	ec_fsm_slave_scan_state_error (ec_fsm_slave_scan_t *fsm )
	State: ERROR. More...
void	ec_fsm_slave_scan_enter_datalink (ec_fsm_slave_scan_t *fsm )
	Slave scan entry function: DATALINK. More...
void	ec_fsm_slave_scan_enter_preop (ec_fsm_slave_scan_t *fsm )
	Enter slave scan state PREOP. More...
void	ec_fsm_slave_scan_enter_clear_mailbox (ec_fsm_slave_scan_t *fsm )
	Enter slave scan state: Clear Mailbox. More...
void	ec_fsm_slave_scan_enter_pdos (ec_fsm_slave_scan_t *fsm )
	Enter slave scan state PDOS. More...
void	ec_fsm_slave_scan_init (ec_fsm_slave_scan_t *fsm, ec_datagram_t *datagram, 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, ec_slave_t *slave)
	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)
	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_sii_size (ec_fsm_slave_scan_t *fsm)
	Enter slave scan state SII_SIZE. More...
void	ec_fsm_slave_scan_enter_assign_sii (ec_fsm_slave_scan_t *fsm)
	Enter slave scan state ASSIGN_SII. More...

Detailed Description

EtherCAT slave state machines.

Definition in file fsm_slave_scan.c.

Function Documentation

void ec_fsm_slave_scan_state_start

(

ec_fsm_slave_scan_t *

fsm

)

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

Definition at line 176 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_address

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: ADDRESS.

Parameters

fsm	slave state machine

Definition at line 191 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_state

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: STATE.

Parameters

fsm	slave state machine

Definition at line 229 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_base

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: BASE.

Parameters

fsm	slave state machine

Definition at line 273 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_dc_cap

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: DC CAPABILITIES.

Parameters

fsm	slave state machine

Definition at line 347 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_dc_times

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: DC TIMES.

Parameters

fsm	slave state machine

Definition at line 392 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_datalink

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: DATALINK.

Parameters

fsm	slave state machine

Definition at line 494 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_assign_sii

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: ASSIGN_SII.

Parameters

fsm	slave state machine

Definition at line 536 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_sii_size

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: SII SIZE.

Parameters

fsm	slave state machine

Definition at line 572 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_sii_data

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: SII DATA.

Parameters

fsm	slave state machine

Definition at line 649 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_mailbox_cleared

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: Mailbox cleared.

Parameters

fsm	slave state machine

Definition at line 1100 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_preop

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: PREOP.

Parameters

fsm	slave state machine

Definition at line 989 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_sync

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: SYNC.

Parameters

fsm	slave state machine

Definition at line 1008 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_pdos

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan state: PDOS.

Parameters

fsm	slave state machine

Definition at line 1140 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_end

(

ec_fsm_slave_scan_t *

fsm

)

State: END.

Parameters

fsm	slave state machine

Definition at line 1173 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_state_error

(

ec_fsm_slave_scan_t *

fsm

)

State: ERROR.

Parameters

fsm	slave state machine

Definition at line 1163 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_datalink

(

ec_fsm_slave_scan_t *

fsm

)

Slave scan entry function: DATALINK.

Parameters

fsm	slave state machine

Definition at line 431 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_preop

(

ec_fsm_slave_scan_t *

fsm

)

Enter slave scan state PREOP.

Parameters

fsm	slave state machine

Definition at line 950 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_clear_mailbox

(

ec_fsm_slave_scan_t *

fsm

)

Enter slave scan state: Clear Mailbox.

Parameters

fsm	slave state machine

Definition at line 1079 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_pdos

(

ec_fsm_slave_scan_t *

fsm

)

Enter slave scan state PDOS.

Parameters

fsm	slave state machine

Definition at line 1124 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_init	(	ec_fsm_slave_scan_t *	fsm,
		ec_datagram_t *	datagram,
		ec_fsm_slave_config_t *	fsm_slave_config,
		ec_fsm_pdo_t *	fsm_pdo
	)

Constructor.

Parameters

fsm	Slave scanning state machine.
datagram	Datagram to use.
fsm_slave_config	Slave configuration state machine to use.
fsm_pdo	PDO configuration machine to use.

Definition at line 81 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_clear

(

ec_fsm_slave_scan_t *

fsm

)

Destructor.

Parameters

fsm	slave state machine

Definition at line 101 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_start	(	ec_fsm_slave_scan_t *	fsm,
		ec_slave_t *	slave
	)

Start slave scan state machine.

Parameters

fsm	slave state machine
slave	slave to configure

Definition at line 113 of file fsm_slave_scan.c.

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 128 of file fsm_slave_scan.c.

int ec_fsm_slave_scan_exec

(

ec_fsm_slave_scan_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 143 of file fsm_slave_scan.c.

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 161 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_sii_size

(

ec_fsm_slave_scan_t *

fsm

)

Enter slave scan state SII_SIZE.

Parameters

fsm	slave state machine

Definition at line 449 of file fsm_slave_scan.c.

void ec_fsm_slave_scan_enter_assign_sii

(

ec_fsm_slave_scan_t *

fsm

)

Enter slave scan state ASSIGN_SII.

Parameters

fsm	slave state machine

Definition at line 470 of file fsm_slave_scan.c.