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_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_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

ec_fsm_slave_scan_state_start()

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 174 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_address()

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 189 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_state()

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 227 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_base()

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 271 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_dc_cap()

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 345 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_dc_times()

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 390 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_datalink()

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 492 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_assign_sii()

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 544 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_size()

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 580 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sii_data()

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 657 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_preop()

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 979 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_sync()

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 998 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_pdos()

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 1082 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_end()

void ec_fsm_slave_scan_state_end

(

ec_fsm_slave_scan_t *

fsm

)

State: END.

Parameters

fsm	slave state machine

Definition at line 1115 of file fsm_slave_scan.c.

ec_fsm_slave_scan_state_error()

void ec_fsm_slave_scan_state_error

(

ec_fsm_slave_scan_t *

fsm

)

State: ERROR.

Parameters

fsm	slave state machine

Definition at line 1105 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_datalink()

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 429 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_preop()

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 941 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_pdos()

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 1066 of file fsm_slave_scan.c.

ec_fsm_slave_scan_init()

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 79 of file fsm_slave_scan.c.

ec_fsm_slave_scan_clear()

void ec_fsm_slave_scan_clear

(

ec_fsm_slave_scan_t *

fsm

)

Destructor.

Parameters

fsm	slave state machine

Definition at line 99 of file fsm_slave_scan.c.

ec_fsm_slave_scan_start()

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 111 of file fsm_slave_scan.c.

ec_fsm_slave_scan_running()

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 126 of file fsm_slave_scan.c.

ec_fsm_slave_scan_exec()

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 141 of file fsm_slave_scan.c.

ec_fsm_slave_scan_success()

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 159 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_sii_size()

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 447 of file fsm_slave_scan.c.

ec_fsm_slave_scan_enter_assign_sii()

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 468 of file fsm_slave_scan.c.