fsm_coe.c File Reference

EtherCAT CoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_FSM_COE_DICT_TIMEOUT   1000
	Maximum time in ms to wait for responses when reading out the dictionary.
#define	EC_COE_DOWN_REQ_HEADER_SIZE   10
	CoE download request header size.
#define	EC_COE_DOWN_SEG_REQ_HEADER_SIZE   3
	CoE download segment request header size.
#define	EC_COE_DOWN_SEG_MIN_DATA_SIZE   7
	Minimum size of download segment.
#define	DEBUG_RETRIES   0
	Enable debug output for CoE retries.
#define	DEBUG_LONG   0
	Enable warning output if transfers take too long.

Functions
void	ec_canopen_abort_msg (const ec_slave_t *slave, uint32_t abort_code)
	Outputs an SDO abort message.
int	ec_fsm_coe_check_emergency (const ec_fsm_coe_t *fsm, const uint8_t *data, size_t size)
	Check if the received data are a CoE emergency request.
int	ec_fsm_coe_prepare_dict (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare a dictionary request.
int	ec_fsm_coe_dict_prepare_desc (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare an object description request.
int	ec_fsm_coe_dict_prepare_entry (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare an entry description request.
int	ec_fsm_coe_prepare_down_start (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare a donwnload request.
void	ec_fsm_coe_down_prepare_segment_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare a download segment request.
int	ec_fsm_coe_prepare_up (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare an upload request.
void	ec_fsm_coe_up_prepare_segment_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Prepare an SDO upload segment request.
void	ec_fsm_coe_dict_start (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT START.
void	ec_fsm_coe_dict_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT REQUEST.
void	ec_fsm_coe_dict_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT CHECK.
void	ec_fsm_coe_dict_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT RESPONSE.
void	ec_fsm_coe_dict_desc_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT DESC REQUEST.
void	ec_fsm_coe_dict_desc_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT DESC CHECK.
void	ec_fsm_coe_dict_desc_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT DESC RESPONSE.
void	ec_fsm_coe_dict_entry_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT ENTRY REQUEST.
void	ec_fsm_coe_dict_entry_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT ENTRY CHECK.
void	ec_fsm_coe_dict_entry_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DICT ENTRY RESPONSE.
void	ec_fsm_coe_down_start (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN START.
void	ec_fsm_coe_down_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN REQUEST.
void	ec_fsm_coe_down_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN CHECK.
void	ec_fsm_coe_down_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN RESPONSE.
void	ec_fsm_coe_down_seg_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN SEG CHECK.
void	ec_fsm_coe_down_seg_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: DOWN SEG RESPONSE.
void	ec_fsm_coe_up_start (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP START.
void	ec_fsm_coe_up_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP REQUEST.
void	ec_fsm_coe_up_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP CHECK.
void	ec_fsm_coe_up_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP RESPONSE.
void	ec_fsm_coe_up_seg_request (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP REQUEST.
void	ec_fsm_coe_up_seg_check (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP CHECK.
void	ec_fsm_coe_up_seg_response (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	CoE state: UP RESPONSE.
void	ec_fsm_coe_end (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	State: END.
void	ec_fsm_coe_error (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	State: ERROR.
void	ec_fsm_coe_init (ec_fsm_coe_t *fsm)
	Constructor.
void	ec_fsm_coe_clear (ec_fsm_coe_t *fsm)
	Destructor.
void	ec_fsm_coe_dictionary (ec_fsm_coe_t *fsm, ec_slave_t *slave)
	Starts reading a slaves' SDO dictionary.
void	ec_fsm_coe_transfer (ec_fsm_coe_t *fsm, ec_slave_t *slave, ec_sdo_request_t *request)
	Starts to transfer an SDO to/from a slave.
int	ec_fsm_coe_exec (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine.
int	ec_fsm_coe_success (const ec_fsm_coe_t *fsm)
	Returns, if the state machine terminated with success.

Variables
const ec_code_msg_t	sdo_abort_messages []
	SDO abort messages.

Detailed Description

EtherCAT CoE state machines.

Definition in file fsm_coe.c.

Macro Definition Documentation

EC_FSM_COE_DICT_TIMEOUT

#define EC_FSM_COE_DICT_TIMEOUT   1000

Maximum time in ms to wait for responses when reading out the dictionary.

Definition at line 38 of file fsm_coe.c.

EC_COE_DOWN_REQ_HEADER_SIZE

#define EC_COE_DOWN_REQ_HEADER_SIZE   10

CoE download request header size.

Definition at line 42 of file fsm_coe.c.

EC_COE_DOWN_SEG_REQ_HEADER_SIZE

#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE   3

CoE download segment request header size.

Definition at line 46 of file fsm_coe.c.

EC_COE_DOWN_SEG_MIN_DATA_SIZE

#define EC_COE_DOWN_SEG_MIN_DATA_SIZE   7

Minimum size of download segment.

Definition at line 50 of file fsm_coe.c.

DEBUG_RETRIES

#define DEBUG_RETRIES   0

Enable debug output for CoE retries.

Definition at line 54 of file fsm_coe.c.

DEBUG_LONG

#define DEBUG_LONG   0

Enable warning output if transfers take too long.

Definition at line 58 of file fsm_coe.c.

Function Documentation

ec_canopen_abort_msg()

void ec_canopen_abort_msg	(	const ec_slave_t *	slave,
		uint32_t	abort_code )

Outputs an SDO abort message.

Parameters

slave	Slave.
abort_code	Abort code to search for.

Definition at line 153 of file fsm_coe.c.

ec_fsm_coe_check_emergency()

int ec_fsm_coe_check_emergency	(	const ec_fsm_coe_t *	fsm,
		const uint8_t *	data,
		size_t	size )

Check if the received data are a CoE emergency request.

If the check is positive, the emergency request is output.

Returns

The data were an emergency request.

Parameters

fsm	Finite state machine
data	CoE mailbox data.
size	CoE mailbox data size.

Definition at line 282 of file fsm_coe.c.

ec_fsm_coe_prepare_dict()

int ec_fsm_coe_prepare_dict	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare a dictionary request.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 320 of file fsm_coe.c.

ec_fsm_coe_dict_prepare_desc()

int ec_fsm_coe_dict_prepare_desc	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare an object description request.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 473 of file fsm_coe.c.

ec_fsm_coe_dict_prepare_entry()

int ec_fsm_coe_dict_prepare_entry	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare an entry description request.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine
datagram	Datagram to use.

Definition at line 766 of file fsm_coe.c.

ec_fsm_coe_prepare_down_start()

int ec_fsm_coe_prepare_down_start	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare a donwnload request.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1230 of file fsm_coe.c.

ec_fsm_coe_down_prepare_segment_request()

void ec_fsm_coe_down_prepare_segment_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare a download segment request.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1502 of file fsm_coe.c.

ec_fsm_coe_prepare_up()

int ec_fsm_coe_prepare_up	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare an upload request.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1897 of file fsm_coe.c.

ec_fsm_coe_up_prepare_segment_request()

void ec_fsm_coe_up_prepare_segment_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Prepare an SDO upload segment request.

Parameters

fsm	Finite state machine
datagram	Datagram to use.

Definition at line 2092 of file fsm_coe.c.

ec_fsm_coe_dict_start()

void ec_fsm_coe_dict_start	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT START.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 346 of file fsm_coe.c.

ec_fsm_coe_dict_request()

void ec_fsm_coe_dict_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 378 of file fsm_coe.c.

ec_fsm_coe_dict_check()

void ec_fsm_coe_dict_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 418 of file fsm_coe.c.

ec_fsm_coe_dict_response()

void ec_fsm_coe_dict_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 502 of file fsm_coe.c.

ec_fsm_coe_dict_desc_request()

void ec_fsm_coe_dict_desc_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT DESC REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 667 of file fsm_coe.c.

ec_fsm_coe_dict_desc_check()

void ec_fsm_coe_dict_desc_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT DESC CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 710 of file fsm_coe.c.

ec_fsm_coe_dict_desc_response()

void ec_fsm_coe_dict_desc_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT DESC RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine
datagram	Datagram to use.

Definition at line 797 of file fsm_coe.c.

ec_fsm_coe_dict_entry_request()

void ec_fsm_coe_dict_entry_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT ENTRY REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 942 of file fsm_coe.c.

ec_fsm_coe_dict_entry_check()

void ec_fsm_coe_dict_entry_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT ENTRY CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 984 of file fsm_coe.c.

ec_fsm_coe_dict_entry_response()

void ec_fsm_coe_dict_entry_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DICT ENTRY RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1041 of file fsm_coe.c.

ec_fsm_coe_down_start()

void ec_fsm_coe_down_start	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN START.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1325 of file fsm_coe.c.

ec_fsm_coe_down_request()

void ec_fsm_coe_down_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1376 of file fsm_coe.c.

ec_fsm_coe_down_check()

void ec_fsm_coe_down_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1444 of file fsm_coe.c.

ec_fsm_coe_down_response()

void ec_fsm_coe_down_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1568 of file fsm_coe.c.

ec_fsm_coe_down_seg_check()

void ec_fsm_coe_down_seg_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN SEG CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1699 of file fsm_coe.c.

ec_fsm_coe_down_seg_response()

void ec_fsm_coe_down_seg_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: DOWN SEG RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine
datagram	Datagram to use.

Definition at line 1756 of file fsm_coe.c.

ec_fsm_coe_up_start()

void ec_fsm_coe_up_start	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP START.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1934 of file fsm_coe.c.

ec_fsm_coe_up_request()

void ec_fsm_coe_up_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1966 of file fsm_coe.c.

ec_fsm_coe_up_check()

void ec_fsm_coe_up_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2035 of file fsm_coe.c.

ec_fsm_coe_up_response()

void ec_fsm_coe_up_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2124 of file fsm_coe.c.

ec_fsm_coe_up_seg_request()

void ec_fsm_coe_up_seg_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP REQUEST.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2329 of file fsm_coe.c.

ec_fsm_coe_up_seg_check()

void ec_fsm_coe_up_seg_check	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP CHECK.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2372 of file fsm_coe.c.

ec_fsm_coe_up_seg_response()

void ec_fsm_coe_up_seg_response	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

CoE state: UP RESPONSE.

Todo

Timeout behavior

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2432 of file fsm_coe.c.

ec_fsm_coe_end()

void ec_fsm_coe_end	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

State: END.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2601 of file fsm_coe.c.

ec_fsm_coe_error()

void ec_fsm_coe_error	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

State: ERROR.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2588 of file fsm_coe.c.

ec_fsm_coe_init()

void ec_fsm_coe_init

(

ec_fsm_coe_t *

fsm

)

Constructor.

Parameters

fsm	Finite state machine

Definition at line 175 of file fsm_coe.c.

ec_fsm_coe_clear()

void ec_fsm_coe_clear

(

ec_fsm_coe_t *

fsm

)

Destructor.

Parameters

fsm	Finite state machine

Definition at line 187 of file fsm_coe.c.

ec_fsm_coe_dictionary()

void ec_fsm_coe_dictionary	(	ec_fsm_coe_t *	fsm,
		ec_slave_t *	slave )

Starts reading a slaves' SDO dictionary.

Parameters

fsm	Finite state machine
slave	EtherCAT slave

Definition at line 197 of file fsm_coe.c.

ec_fsm_coe_transfer()

void ec_fsm_coe_transfer	(	ec_fsm_coe_t *	fsm,
		ec_slave_t *	slave,
		ec_sdo_request_t *	request )

Starts to transfer an SDO to/from a slave.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	SDO request.

Definition at line 210 of file fsm_coe.c.

ec_fsm_coe_exec()

int ec_fsm_coe_exec	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram )

Executes the current state of the state machine.

Returns

1 if the datagram was used, else 0.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 233 of file fsm_coe.c.

ec_fsm_coe_success()

int ec_fsm_coe_success

(

const ec_fsm_coe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 267 of file fsm_coe.c.

Variable Documentation

sdo_abort_messages

const ec_code_msg_t sdo_abort_messages[]

SDO abort messages.

The "abort SDO transfer request" supplies an abort code, which can be translated to clear text. This table does the mapping of the codes and messages.

Definition at line 112 of file fsm_coe.c.