fsm_change.c File Reference

EtherCAT state change FSM. More...

Go to the source code of this file.

Functions
unsigned int	ec_fsm_change_timeout_ms (const ec_fsm_change_t *fsm)
	Get timeout in ms.
void	ec_fsm_change_state_start (ec_fsm_change_t *fsm)
	Change state: START.
void	ec_fsm_change_state_check (ec_fsm_change_t *fsm)
	Change state: CHECK.
void	ec_fsm_change_state_status (ec_fsm_change_t *fsm)
	Change state: STATUS.
void	ec_fsm_change_state_start_code (ec_fsm_change_t *fsm)
	Enter reading AL status code.
void	ec_fsm_change_state_code (ec_fsm_change_t *fsm)
	Change state: CODE.
void	ec_fsm_change_state_ack (ec_fsm_change_t *fsm)
	Change state: ACK.
void	ec_fsm_change_state_check_ack (ec_fsm_change_t *fsm)
	Change state: CHECK ACK.
void	ec_fsm_change_state_end (ec_fsm_change_t *fsm)
	State: END.
void	ec_fsm_change_state_error (ec_fsm_change_t *fsm)
	State: ERROR.
void	ec_fsm_change_init (ec_fsm_change_t *fsm, ec_datagram_t *datagram)
	Constructor.
void	ec_fsm_change_clear (ec_fsm_change_t *fsm)
	Destructor.
void	ec_fsm_change_start (ec_fsm_change_t *fsm, ec_slave_t *slave, ec_slave_state_t state)
	Starts the change state machine.
void	ec_fsm_change_ack (ec_fsm_change_t *fsm, ec_slave_t *slave)
	Starts the change state machine to only acknowlegde a slave's state.
int	ec_fsm_change_exec (ec_fsm_change_t *fsm)
	Executes the current state of the state machine.
int	ec_fsm_change_success (ec_fsm_change_t *fsm)
	Returns, if the state machine terminated with success.

Variables
const ec_code_msg_t	al_status_messages []
	Application layer status messages.

Detailed Description

EtherCAT state change FSM.

Definition in file fsm_change.c.

Function Documentation

ec_fsm_change_timeout_ms()

unsigned int ec_fsm_change_timeout_ms

(

const ec_fsm_change_t *

fsm

)

Get timeout in ms.

For defaults see ETG2000_S_R_V1i0i15 section 5.3.6.2.

Parameters

fsm	finite state machine

Definition at line 79 of file fsm_change.c.

ec_fsm_change_state_start()

void ec_fsm_change_state_start

(

ec_fsm_change_t *

fsm

)

Change state: START.

Parameters

fsm	finite state machine

Definition at line 185 of file fsm_change.c.

ec_fsm_change_state_check()

void ec_fsm_change_state_check

(

ec_fsm_change_t *

fsm

)

Change state: CHECK.

Parameters

fsm	finite state machine

Definition at line 207 of file fsm_change.c.

ec_fsm_change_state_status()

void ec_fsm_change_state_status

(

ec_fsm_change_t *

fsm

)

Change state: STATUS.

Parameters

fsm	finite state machine

Definition at line 270 of file fsm_change.c.

ec_fsm_change_state_start_code()

void ec_fsm_change_state_start_code

(

ec_fsm_change_t *

fsm

)

Enter reading AL status code.

Parameters

fsm	finite state machine

Definition at line 362 of file fsm_change.c.

ec_fsm_change_state_code()

void ec_fsm_change_state_code

(

ec_fsm_change_t *

fsm

)

Change state: CODE.

Parameters

fsm	finite state machine

Definition at line 442 of file fsm_change.c.

ec_fsm_change_state_ack()

void ec_fsm_change_state_ack

(

ec_fsm_change_t *

fsm

)

Change state: ACK.

Parameters

fsm	finite state machine

Definition at line 494 of file fsm_change.c.

ec_fsm_change_state_check_ack()

void ec_fsm_change_state_check_ack

(

ec_fsm_change_t *

fsm

)

Change state: CHECK ACK.

Parameters

fsm	finite state machine

Definition at line 531 of file fsm_change.c.

ec_fsm_change_state_end()

void ec_fsm_change_state_end

(

ec_fsm_change_t *

fsm

)

State: END.

Parameters

fsm	finite state machine

Definition at line 610 of file fsm_change.c.

ec_fsm_change_state_error()

void ec_fsm_change_state_error

(

ec_fsm_change_t *

fsm

)

State: ERROR.

Parameters

fsm	finite state machine

Definition at line 599 of file fsm_change.c.

ec_fsm_change_init()

void ec_fsm_change_init	(	ec_fsm_change_t *	fsm,
		ec_datagram_t *	datagram )

Constructor.

Parameters

fsm	finite state machine
datagram	datagram

Definition at line 54 of file fsm_change.c.

ec_fsm_change_clear()

void ec_fsm_change_clear

(

ec_fsm_change_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 69 of file fsm_change.c.

ec_fsm_change_start()

void ec_fsm_change_start	(	ec_fsm_change_t *	fsm,
		ec_slave_t *	slave,
		ec_slave_state_t	state )

Starts the change state machine.

Parameters

fsm	finite state machine
slave	EtherCAT slave
state	requested state

Definition at line 123 of file fsm_change.c.

ec_fsm_change_ack()

void ec_fsm_change_ack	(	ec_fsm_change_t *	fsm,
		ec_slave_t *	slave )

Starts the change state machine to only acknowlegde a slave's state.

Parameters

fsm	finite state machine
slave	EtherCAT slave

Definition at line 140 of file fsm_change.c.

ec_fsm_change_exec()

int ec_fsm_change_exec

(

ec_fsm_change_t *

fsm

)

Executes the current state of the state machine.

Returns

false, if the state machine has terminated

Parameters

fsm	finite state machine

Definition at line 157 of file fsm_change.c.

ec_fsm_change_success()

int ec_fsm_change_success

(

ec_fsm_change_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 172 of file fsm_change.c.

Variable Documentation

al_status_messages

const ec_code_msg_t al_status_messages[]

Application layer status messages.

Definition at line 382 of file fsm_change.c.