fsm_soe.c File Reference

EtherCAT SoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_SOE_SIZE   0x04
	Size of all SoE headers.
#define	EC_SOE_HEADER_SIZE   (EC_MBOX_HEADER_SIZE + EC_SOE_SIZE)
	SoE header size.
#define	EC_SOE_RESPONSE_TIMEOUT   1000
	SoE response timeout [ms].

Enumerations
enum	{ OPCODE_READ_REQUEST = 0x01, OPCODE_READ_RESPONSE = 0x02, OPCODE_WRITE_REQUEST = 0x03, OPCODE_WRITE_RESPONSE = 0x04 }
	SoE operations. More...

Functions
void	ec_fsm_soe_read_start (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: READ START. More...
void	ec_fsm_soe_read_request (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: READ REQUEST. More...
void	ec_fsm_soe_read_check (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	CoE state: READ CHECK. More...
void	ec_fsm_soe_read_response (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: READ RESPONSE. More...
void	ec_fsm_soe_read_response_data (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: READ RESPONSE DATA. More...
void	ec_fsm_soe_write_start (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: WRITE START. More...
void	ec_fsm_soe_write_request (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: WRITE REQUEST. More...
void	ec_fsm_soe_write_check (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	CoE state: WRITE CHECK. More...
void	ec_fsm_soe_write_response (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: WRITE RESPONSE. More...
void	ec_fsm_soe_write_response_data (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	SoE state: WRITE RESPONSE DATA. More...
void	ec_fsm_soe_end (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	State: END. More...
void	ec_fsm_soe_error (ec_fsm_soe_t *fsm, ec_datagram_t *datagram )
	State: ERROR. More...
void	ec_print_soe_error (const ec_slave_t *slave, uint16_t error_code)
	Outputs an SoE error code.
void	ec_fsm_soe_init (ec_fsm_soe_t *fsm)
	Constructor. More...
void	ec_fsm_soe_clear (ec_fsm_soe_t *fsm)
	Destructor. More...
void	ec_fsm_soe_transfer (ec_fsm_soe_t *fsm, ec_slave_t *slave, ec_soe_request_t *request)
	Starts to transfer an IDN to/from a slave. More...
int	ec_fsm_soe_exec (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_soe_success (const ec_fsm_soe_t *fsm)
	Returns, if the state machine terminated with success. More...
void	ec_fsm_soe_print_error (ec_fsm_soe_t *fsm)
	Output information about a failed SoE transfer. More...
int	ec_fsm_soe_prepare_read (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Prepare a read operation. More...
void	ec_fsm_soe_write_next_fragment (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Write next fragment. More...

Variables
const ec_code_msg_t	soe_error_codes []
	SoE error codes.

Detailed Description

EtherCAT SoE state machines.

Definition in file fsm_soe.c.

Enumeration Type Documentation

anonymous enum

SoE operations.

Enumerator
OPCODE_READ_REQUEST	Read request.
OPCODE_READ_RESPONSE	Read response.
OPCODE_WRITE_REQUEST	Write request.
OPCODE_WRITE_RESPONSE	Write response.

Definition at line 44 of file fsm_soe.c.

Function Documentation

void ec_fsm_soe_read_start	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 254 of file fsm_soe.c.

void ec_fsm_soe_read_request	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ REQUEST.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 285 of file fsm_soe.c.

void ec_fsm_soe_read_check	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

CoE state: READ CHECK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 348 of file fsm_soe.c.

void ec_fsm_soe_read_response	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ RESPONSE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 417 of file fsm_soe.c.

void ec_fsm_soe_read_response_data	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ RESPONSE DATA.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 462 of file fsm_soe.c.

void ec_fsm_soe_write_start	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 629 of file fsm_soe.c.

void ec_fsm_soe_write_request	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE REQUEST.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 665 of file fsm_soe.c.

void ec_fsm_soe_write_check	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

CoE state: WRITE CHECK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 733 of file fsm_soe.c.

void ec_fsm_soe_write_response	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE RESPONSE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 800 of file fsm_soe.c.

void ec_fsm_soe_write_response_data	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE RESPONSE DATA.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 846 of file fsm_soe.c.

void ec_fsm_soe_end	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 957 of file fsm_soe.c.

void ec_fsm_soe_error	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 946 of file fsm_soe.c.

void ec_fsm_soe_init

(

ec_fsm_soe_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 107 of file fsm_soe.c.

void ec_fsm_soe_clear

(

ec_fsm_soe_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 120 of file fsm_soe.c.

void ec_fsm_soe_transfer	(	ec_fsm_soe_t *	fsm,
		ec_slave_t *	slave,
		ec_soe_request_t *	request
	)

Starts to transfer an IDN to/from a slave.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	SoE request.

Definition at line 130 of file fsm_soe.c.

int ec_fsm_soe_exec	(	ec_fsm_soe_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 152 of file fsm_soe.c.

int ec_fsm_soe_success

(

const ec_fsm_soe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 187 of file fsm_soe.c.

void ec_fsm_soe_print_error

(

ec_fsm_soe_t *

fsm

)

Output information about a failed SoE transfer.

Parameters

fsm	Finite state machine

Definition at line 196 of file fsm_soe.c.

int ec_fsm_soe_prepare_read	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a read operation.

Returns

0 on success, otherwise a negative error code.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 219 of file fsm_soe.c.

void ec_fsm_soe_write_next_fragment	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

Write next fragment.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 582 of file fsm_soe.c.