fsm_master.c File Reference

EtherCAT master state machine. More...

Go to the source code of this file.

Macros
#define	EC_SYSTEM_TIME_TOLERANCE_NS   1000000
	Time difference [ns] to tolerate without setting a new system time offset.

Functions
void	ec_fsm_master_restart (ec_fsm_master_t *fsm)
	Restarts the master state machine. More...
int	ec_fsm_master_action_process_sii (ec_fsm_master_t *fsm)
	Check for pending SII write requests and process one. More...
int	ec_fsm_master_action_process_int_request (ec_fsm_master_t *fsm)
	Check for pending internal SDO/SoE requests and process one. More...
void	ec_fsm_master_action_idle (ec_fsm_master_t *fsm)
	Master action: IDLE. More...
void	ec_fsm_master_action_next_slave_state (ec_fsm_master_t *fsm)
	Master action: Get state of next slave. More...
void	ec_fsm_master_action_configure (ec_fsm_master_t *fsm)
	Master action: Configure. More...
u64	ec_fsm_master_dc_offset32 (ec_fsm_master_t *fsm, u64 system_time, u64 old_offset, unsigned long jiffies_since_read)
	Configure 32 bit time offset. More...
u64	ec_fsm_master_dc_offset64 (ec_fsm_master_t *fsm, u64 system_time, u64 old_offset, unsigned long jiffies_since_read)
	Configure 64 bit time offset. More...
void	ec_fsm_master_state_start (ec_fsm_master_t *fsm)
	Master state: START. More...
void	ec_fsm_master_state_broadcast (ec_fsm_master_t *fsm)
	Master state: BROADCAST. More...
void	ec_fsm_master_state_read_state (ec_fsm_master_t *fsm)
	Master state: READ STATE. More...
void	ec_fsm_master_state_acknowledge (ec_fsm_master_t *fsm)
	Master state: ACKNOWLEDGE. More...
void	ec_fsm_master_state_configure_slave (ec_fsm_master_t *fsm)
	Master state: CONFIGURE SLAVE. More...
void	ec_fsm_master_state_clear_addresses (ec_fsm_master_t *fsm)
	Master state: CLEAR ADDRESSES. More...
void	ec_fsm_master_state_dc_measure_delays (ec_fsm_master_t *fsm)
	Master state: DC MEASURE DELAYS. More...
void	ec_fsm_master_state_scan_slave (ec_fsm_master_t *fsm)
	Master state: SCAN SLAVE. More...
void	ec_fsm_master_state_dc_read_offset (ec_fsm_master_t *fsm)
	Master state: DC READ OFFSET. More...
void	ec_fsm_master_state_dc_write_offset (ec_fsm_master_t *fsm)
	Master state: DC WRITE OFFSET. More...
void	ec_fsm_master_state_assign_sii (ec_fsm_master_t *fsm)
	Master state: ASSIGN SII. More...
void	ec_fsm_master_state_write_sii (ec_fsm_master_t *fsm)
	Master state: WRITE SII. More...
void	ec_fsm_master_state_sdo_dictionary (ec_fsm_master_t *fsm)
	Master state: SDO DICTIONARY. More...
void	ec_fsm_master_state_sdo_request (ec_fsm_master_t *fsm)
	Master state: SDO REQUEST. More...
void	ec_fsm_master_state_soe_request (ec_fsm_master_t *fsm)
	Master state: SoE REQUEST. More...
void	ec_fsm_master_enter_clear_addresses (ec_fsm_master_t *fsm)
	Start clearing slave addresses. More...
void	ec_fsm_master_enter_write_system_times (ec_fsm_master_t *fsm)
	Start writing DC system times. More...
void	ec_fsm_master_init (ec_fsm_master_t *fsm, ec_master_t *master, ec_datagram_t *datagram)
	Constructor. More...
void	ec_fsm_master_clear (ec_fsm_master_t *fsm)
	Destructor. More...
void	ec_fsm_master_reset (ec_fsm_master_t *fsm)
	Reset state machine. More...
int	ec_fsm_master_exec (ec_fsm_master_t *fsm)
	Executes the current state of the state machine. More...
int	ec_fsm_master_idle (const ec_fsm_master_t *fsm)

Detailed Description

EtherCAT master state machine.

Definition in file fsm_master.c.

Function Documentation

ec_fsm_master_restart()

void ec_fsm_master_restart

(

ec_fsm_master_t *

fsm

)

Restarts the master state machine.

Parameters

fsm	Master state machine.

Definition at line 205 of file fsm_master.c.

ec_fsm_master_action_process_sii()

int ec_fsm_master_action_process_sii

(

ec_fsm_master_t *

fsm

)

Check for pending SII write requests and process one.

Returns

non-zero, if an SII write request is processed.

Parameters

fsm	Master state machine.

Definition at line 464 of file fsm_master.c.

ec_fsm_master_action_process_int_request()

int ec_fsm_master_action_process_int_request

(

ec_fsm_master_t *

fsm

)

Check for pending internal SDO/SoE requests and process one.

Returns

non-zero, if an SDO request is processed.

Parameters

fsm	Master state machine.

Definition at line 526 of file fsm_master.c.

ec_fsm_master_action_idle()

void ec_fsm_master_action_idle

(

ec_fsm_master_t *

fsm

)

Master action: IDLE.

Does secondary work.

Parameters

fsm	Master state machine.

Definition at line 606 of file fsm_master.c.

ec_fsm_master_action_next_slave_state()

void ec_fsm_master_action_next_slave_state

(

ec_fsm_master_t *

fsm

)

Master action: Get state of next slave.

Parameters

fsm	Master state machine.

Definition at line 665 of file fsm_master.c.

ec_fsm_master_action_configure()

void ec_fsm_master_action_configure

(

ec_fsm_master_t *

fsm

)

Master action: Configure.

Parameters

fsm	Master state machine.

Definition at line 693 of file fsm_master.c.

ec_fsm_master_dc_offset32()

u64 ec_fsm_master_dc_offset32	(	ec_fsm_master_t *	fsm,
		u64	system_time,
		u64	old_offset,
		unsigned long	jiffies_since_read
	)

Configure 32 bit time offset.

Returns

New offset.

Parameters

fsm	Master state machine.
system_time	System time register.
old_offset	Time offset register.
jiffies_since_read	Jiffies for correction.

Definition at line 1094 of file fsm_master.c.

ec_fsm_master_dc_offset64()

u64 ec_fsm_master_dc_offset64	(	ec_fsm_master_t *	fsm,
		u64	system_time,
		u64	old_offset,
		unsigned long	jiffies_since_read
	)

Configure 64 bit time offset.

Returns

New offset.

Parameters

fsm	Master state machine.
system_time	System time register.
old_offset	Time offset register.
jiffies_since_read	Jiffies for correction.

Definition at line 1136 of file fsm_master.c.

ec_fsm_master_state_start()

void ec_fsm_master_state_start

(

ec_fsm_master_t *

fsm

)

Master state: START.

Starts with getting slave count and slave states.

Parameters

fsm	Master state machine.

Definition at line 222 of file fsm_master.c.

ec_fsm_master_state_broadcast()

void ec_fsm_master_state_broadcast

(

ec_fsm_master_t *

fsm

)

Master state: BROADCAST.

Processes the broadcast read slave count and slaves states.

Parameters

fsm	Master state machine.

Definition at line 280 of file fsm_master.c.

ec_fsm_master_state_read_state()

void ec_fsm_master_state_read_state

(

ec_fsm_master_t *

fsm

)

Master state: READ STATE.

Fetches the AL state of a slave.

Parameters

fsm	Master state machine.

Definition at line 750 of file fsm_master.c.

ec_fsm_master_state_acknowledge()

void ec_fsm_master_state_acknowledge

(

ec_fsm_master_t *

fsm

)

Master state: ACKNOWLEDGE.

Parameters

fsm	Master state machine.

Definition at line 804 of file fsm_master.c.

ec_fsm_master_state_configure_slave()

void ec_fsm_master_state_configure_slave

(

ec_fsm_master_t *

fsm

)

Master state: CONFIGURE SLAVE.

Starts configuring a slave.

Parameters

fsm	Master state machine.

Definition at line 1017 of file fsm_master.c.

ec_fsm_master_state_clear_addresses()

void ec_fsm_master_state_clear_addresses

(

ec_fsm_master_t *

fsm

)

Master state: CLEAR ADDRESSES.

Parameters

fsm	Master state machine.

Definition at line 842 of file fsm_master.c.

ec_fsm_master_state_dc_measure_delays()

void ec_fsm_master_state_dc_measure_delays

(

ec_fsm_master_t *

fsm

)

Master state: DC MEASURE DELAYS.

Parameters

fsm	Master state machine.

Definition at line 887 of file fsm_master.c.

ec_fsm_master_state_scan_slave()

void ec_fsm_master_state_scan_slave

(

ec_fsm_master_t *

fsm

)

Master state: SCAN SLAVE.

Executes the sub-statemachine for the scanning of a slave.

Parameters

fsm	Master state machine.

Definition at line 942 of file fsm_master.c.

ec_fsm_master_state_dc_read_offset()

void ec_fsm_master_state_dc_read_offset

(

ec_fsm_master_t *

fsm

)

Master state: DC READ OFFSET.

Parameters

fsm	Master state machine.

Definition at line 1174 of file fsm_master.c.

ec_fsm_master_state_dc_write_offset()

void ec_fsm_master_state_dc_write_offset

(

ec_fsm_master_t *

fsm

)

Master state: DC WRITE OFFSET.

Parameters

fsm	Master state machine.

Definition at line 1227 of file fsm_master.c.

ec_fsm_master_state_assign_sii()

void ec_fsm_master_state_assign_sii

(

ec_fsm_master_t *

fsm

)

Master state: ASSIGN SII.

Parameters

fsm	Master state machine.

Definition at line 1262 of file fsm_master.c.

ec_fsm_master_state_write_sii()

void ec_fsm_master_state_write_sii

(

ec_fsm_master_t *

fsm

)

Master state: WRITE SII.

Parameters

fsm	Master state machine.

Definition at line 1299 of file fsm_master.c.

ec_fsm_master_state_sdo_dictionary()

void ec_fsm_master_state_sdo_dictionary

(

ec_fsm_master_t *

fsm

)

Master state: SDO DICTIONARY.

Parameters

fsm	Master state machine.

Definition at line 1353 of file fsm_master.c.

ec_fsm_master_state_sdo_request()

void ec_fsm_master_state_sdo_request

(

ec_fsm_master_t *

fsm

)

Master state: SDO REQUEST.

Parameters

fsm	Master state machine.

Definition at line 1388 of file fsm_master.c.

ec_fsm_master_state_soe_request()

void ec_fsm_master_state_soe_request

(

ec_fsm_master_t *

fsm

)

Master state: SoE REQUEST.

Parameters

fsm	Master state machine.

Definition at line 1431 of file fsm_master.c.

ec_fsm_master_enter_clear_addresses()

void ec_fsm_master_enter_clear_addresses

(

ec_fsm_master_t *

fsm

)

Start clearing slave addresses.

Parameters

fsm	Master state machine.

Definition at line 826 of file fsm_master.c.

ec_fsm_master_enter_write_system_times()

void ec_fsm_master_enter_write_system_times

(

ec_fsm_master_t *

fsm

)

Start writing DC system times.

Parameters

fsm	Master state machine.

Definition at line 1045 of file fsm_master.c.

ec_fsm_master_init()

void ec_fsm_master_init	(	ec_fsm_master_t *	fsm,
		ec_master_t *	master,
		ec_datagram_t *	datagram
	)

Constructor.

Parameters

fsm	Master state machine.
master	EtherCAT master.
datagram	Datagram object to use.

Definition at line 83 of file fsm_master.c.

ec_fsm_master_clear()

void ec_fsm_master_clear

(

ec_fsm_master_t *

fsm

)

Destructor.

Parameters

fsm	Master state machine.

Definition at line 124 of file fsm_master.c.

ec_fsm_master_reset()

void ec_fsm_master_reset

(

ec_fsm_master_t *

fsm

)

Reset state machine.

Parameters

fsm	Master state machine.

Definition at line 145 of file fsm_master.c.

ec_fsm_master_exec()

int ec_fsm_master_exec

(

ec_fsm_master_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

true, if the state machine was executed

Parameters

fsm	Master state machine.

Definition at line 174 of file fsm_master.c.

ec_fsm_master_idle()

int ec_fsm_master_idle

(

const ec_fsm_master_t *

fsm

)

Returns

true, if the state machine is in an idle phase

Parameters

fsm	Master state machine.

Definition at line 194 of file fsm_master.c.