EtherCAT SoE state machines. More...

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	ec_soe_opcodes { 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_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_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

◆ ec_soe_opcodes

enum ec_soe_opcodes

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

◆ ec_fsm_soe_read_start()

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 252 of file fsm_soe.c.

◆ ec_fsm_soe_read_request()

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 283 of file fsm_soe.c.

◆ ec_fsm_soe_read_check()

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 338 of file fsm_soe.c.

◆ ec_fsm_soe_read_response()

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 394 of file fsm_soe.c.

◆ ec_fsm_soe_write_start()

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 567 of file fsm_soe.c.

◆ ec_fsm_soe_write_request()

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 603 of file fsm_soe.c.

◆ ec_fsm_soe_write_check()

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 663 of file fsm_soe.c.

◆ ec_fsm_soe_write_response()

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 717 of file fsm_soe.c.

◆ ec_fsm_soe_end()

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 835 of file fsm_soe.c.

◆ ec_fsm_soe_error()

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 824 of file fsm_soe.c.

◆ ec_fsm_soe_init()

void ec_fsm_soe_init ( ec_fsm_soe_t * fsm )

Constructor.

Parameters

fsm	finite state machine

Definition at line 105 of file fsm_soe.c.

◆ ec_fsm_soe_clear()

void ec_fsm_soe_clear ( ec_fsm_soe_t * fsm )

Destructor.

Parameters

fsm	finite state machine

Definition at line 118 of file fsm_soe.c.

◆ ec_fsm_soe_transfer()

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 128 of file fsm_soe.c.

◆ ec_fsm_soe_exec()

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 datagram was used, else 0.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 150 of file fsm_soe.c.

◆ ec_fsm_soe_success()

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 185 of file fsm_soe.c.

◆ ec_fsm_soe_print_error()

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 194 of file fsm_soe.c.

◆ ec_fsm_soe_prepare_read()

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 217 of file fsm_soe.c.

◆ ec_fsm_soe_write_next_fragment()

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 520 of file fsm_soe.c.

Macros

Enumerations

Functions

Variables

Detailed Description

Enumeration Type Documentation

◆ ec_soe_opcodes

Function Documentation

◆ ec_fsm_soe_read_start()

◆ ec_fsm_soe_read_request()

◆ ec_fsm_soe_read_check()

◆ ec_fsm_soe_read_response()

◆ ec_fsm_soe_write_start()

◆ ec_fsm_soe_write_request()

◆ ec_fsm_soe_write_check()

◆ ec_fsm_soe_write_response()

◆ ec_fsm_soe_end()

◆ ec_fsm_soe_error()

◆ ec_fsm_soe_init()

◆ ec_fsm_soe_clear()

◆ ec_fsm_soe_transfer()

◆ ec_fsm_soe_exec()

◆ ec_fsm_soe_success()

◆ ec_fsm_soe_print_error()

◆ ec_fsm_soe_prepare_read()

◆ ec_fsm_soe_write_next_fragment()