EtherCAT PDO configuration state machine. More...

Functions
void	ec_fsm_pdo_print (const ec_fsm_pdo_t *fsm)
	Print the current and desired PDO assignment. More...

int	ec_fsm_pdo_running (const ec_fsm_pdo_t *fsm)
	Get running state. More...

ec_pdo_t *	ec_fsm_pdo_conf_action_next_pdo (const ec_fsm_pdo_t fsm, const struct list_head list)
	Assign next PDO. More...

void	ec_fsm_pdo_read_state_start (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Start reading PDO assignment. More...

void	ec_fsm_pdo_read_state_pdo_count (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Count assigned PDOs. More...

void	ec_fsm_pdo_read_state_pdo (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Fetch PDO information. More...

void	ec_fsm_pdo_read_state_pdo_entries (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Fetch PDO information. More...

void	ec_fsm_pdo_read_action_next_sync (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Read PDO assignment of next sync manager. More...

void	ec_fsm_pdo_read_action_next_pdo (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Read next PDO. More...

void	ec_fsm_pdo_conf_state_start (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Start PDO configuration. More...

void	ec_fsm_pdo_conf_state_read_mapping (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Execute the PDO entry state machine to read the current PDO's mapping. More...

void	ec_fsm_pdo_conf_state_mapping (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Let the PDO entry state machine configure the current PDO's mapping. More...

void	ec_fsm_pdo_conf_state_zero_pdo_count (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Set the number of assigned PDOs to zero. More...

void	ec_fsm_pdo_conf_state_assign_pdo (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Add a PDO to the sync managers PDO assignment. More...

void	ec_fsm_pdo_conf_state_set_pdo_count (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Set the number of assigned PDOs. More...

void	ec_fsm_pdo_conf_action_next_sync (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Get the next sync manager for a pdo configuration. More...

void	ec_fsm_pdo_conf_action_pdo_mapping (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Check if the mapping has to be read, otherwise start to configure it. More...

void	ec_fsm_pdo_conf_action_check_mapping (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Check if the mapping has to be re-configured. More...

void	ec_fsm_pdo_conf_action_next_pdo_mapping (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Check mapping of next PDO, otherwise configure assignment. More...

void	ec_fsm_pdo_conf_action_check_assignment (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Check if the PDO assignment of the current SM has to be re-configured. More...

void	ec_fsm_pdo_conf_action_assign_pdo (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Assign a PDO. More...

void	ec_fsm_pdo_state_end (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	State: END. More...

void	ec_fsm_pdo_state_error (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	State: ERROR. More...

void	ec_fsm_pdo_init (ec_fsm_pdo_t fsm, ec_fsm_coe_t fsm_coe)
	Constructor. More...

void	ec_fsm_pdo_clear (ec_fsm_pdo_t *fsm)
	Destructor. More...

void	ec_fsm_pdo_start_reading (ec_fsm_pdo_t fsm, ec_slave_t slave)
	Start reading the PDO configuration. More...

void	ec_fsm_pdo_start_configuration (ec_fsm_pdo_t fsm, ec_slave_t slave)
	Start writing the PDO configuration. More...

int	ec_fsm_pdo_exec (ec_fsm_pdo_t fsm, ec_datagram_t datagram)
	Executes the current state of the state machine. More...

int	ec_fsm_pdo_success (const ec_fsm_pdo_t *fsm)
	Get execution result. More...

Detailed Description

EtherCAT PDO configuration state machine.

Definition in file fsm_pdo.c.

Function Documentation

◆ ec_fsm_pdo_print()

void ec_fsm_pdo_print ( const ec_fsm_pdo_t * fsm )

Print the current and desired PDO assignment.

Parameters

fsm	PDO configuration state machine.

Definition at line 104 of file fsm_pdo.c.

◆ ec_fsm_pdo_running()

int ec_fsm_pdo_running ( const ec_fsm_pdo_t * fsm )

Get running state.

Returns: false, if state machine has terminated

Parameters

fsm	PDO configuration state machine.

Definition at line 147 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_next_pdo()

ec_pdo_t * ec_fsm_pdo_conf_action_next_pdo	(	const ec_fsm_pdo_t *	fsm,
		const struct list_head *	list
	)

Assign next PDO.

Returns: Next PDO, or NULL.

Parameters

fsm	PDO configuration state machine.
list	current PDO list item

Definition at line 403 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_state_start()

void ec_fsm_pdo_read_state_start	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Start reading PDO assignment.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 193 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_state_pdo_count()

void ec_fsm_pdo_read_state_pdo_count	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Count assigned PDOs.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 243 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_state_pdo()

void ec_fsm_pdo_read_state_pdo	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Fetch PDO information.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 307 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_state_pdo_entries()

void ec_fsm_pdo_read_state_pdo_entries	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Fetch PDO information.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 356 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_action_next_sync()

void ec_fsm_pdo_read_action_next_sync	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Read PDO assignment of next sync manager.

Parameters

fsm	finite state machine.
datagram	Datagram to use.

Definition at line 207 of file fsm_pdo.c.

◆ ec_fsm_pdo_read_action_next_pdo()

void ec_fsm_pdo_read_action_next_pdo	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

◆ ec_fsm_pdo_conf_state_start()

void ec_fsm_pdo_conf_state_start	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Start PDO configuration.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 383 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_state_read_mapping()

void ec_fsm_pdo_conf_state_read_mapping	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Execute the PDO entry state machine to read the current PDO's mapping.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 502 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_state_mapping()

void ec_fsm_pdo_conf_state_mapping	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Let the PDO entry state machine configure the current PDO's mapping.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 561 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_state_zero_pdo_count()

void ec_fsm_pdo_conf_state_zero_pdo_count	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Set the number of assigned PDOs to zero.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 648 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_state_assign_pdo()

void ec_fsm_pdo_conf_state_assign_pdo	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Add a PDO to the sync managers PDO assignment.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 710 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_state_set_pdo_count()

void ec_fsm_pdo_conf_state_set_pdo_count	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Set the number of assigned PDOs.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 755 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_next_sync()

void ec_fsm_pdo_conf_action_next_sync	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Get the next sync manager for a pdo configuration.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 418 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_pdo_mapping()

void ec_fsm_pdo_conf_action_pdo_mapping	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Check if the mapping has to be read, otherwise start to configure it.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 467 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_check_mapping()

void ec_fsm_pdo_conf_action_check_mapping	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Check if the mapping has to be re-configured.

Todo:: Display mapping differences.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 526 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_next_pdo_mapping()

void ec_fsm_pdo_conf_action_next_pdo_mapping	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Check mapping of next PDO, otherwise configure assignment.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 582 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_check_assignment()

void ec_fsm_pdo_conf_action_check_assignment	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Check if the PDO assignment of the current SM has to be re-configured.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 601 of file fsm_pdo.c.

◆ ec_fsm_pdo_conf_action_assign_pdo()

void ec_fsm_pdo_conf_action_assign_pdo	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

Assign a PDO.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 687 of file fsm_pdo.c.

◆ ec_fsm_pdo_state_end()

void ec_fsm_pdo_state_end	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 799 of file fsm_pdo.c.

◆ ec_fsm_pdo_state_error()

void ec_fsm_pdo_state_error	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 788 of file fsm_pdo.c.

◆ ec_fsm_pdo_init()

void ec_fsm_pdo_init	(	ec_fsm_pdo_t *	fsm,
		ec_fsm_coe_t *	fsm_coe
	)

Constructor.

Parameters

fsm	PDO configuration state machine.
fsm_coe	CoE state machine to use

Definition at line 74 of file fsm_pdo.c.

◆ ec_fsm_pdo_clear()

void ec_fsm_pdo_clear ( ec_fsm_pdo_t * fsm )

Destructor.

Parameters

fsm	PDO configuration state machine.

Definition at line 90 of file fsm_pdo.c.

◆ ec_fsm_pdo_start_reading()

void ec_fsm_pdo_start_reading	(	ec_fsm_pdo_t *	fsm,
		ec_slave_t *	slave
	)

Start reading the PDO configuration.

Parameters

fsm	PDO configuration state machine.
slave	slave to configure

Definition at line 119 of file fsm_pdo.c.

◆ ec_fsm_pdo_start_configuration()

void ec_fsm_pdo_start_configuration	(	ec_fsm_pdo_t *	fsm,
		ec_slave_t *	slave
	)

Start writing the PDO configuration.

Parameters

fsm	PDO configuration state machine.
slave	slave to configure

Definition at line 132 of file fsm_pdo.c.

◆ ec_fsm_pdo_exec()

int ec_fsm_pdo_exec	(	ec_fsm_pdo_t *	fsm,
		ec_datagram_t *	datagram
	)

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	PDO configuration state machine.
datagram	Datagram to use.

Definition at line 164 of file fsm_pdo.c.

◆ ec_fsm_pdo_success()

int ec_fsm_pdo_success ( const ec_fsm_pdo_t * fsm )

Get execution result.

Returns: true, if the state machine terminated gracefully

Parameters

fsm	PDO configuration state machine.

Definition at line 180 of file fsm_pdo.c.

Functions

Detailed Description

Function Documentation

◆ ec_fsm_pdo_print()

◆ ec_fsm_pdo_running()

◆ ec_fsm_pdo_conf_action_next_pdo()

◆ ec_fsm_pdo_read_state_start()

◆ ec_fsm_pdo_read_state_pdo_count()

◆ ec_fsm_pdo_read_state_pdo()

◆ ec_fsm_pdo_read_state_pdo_entries()

◆ ec_fsm_pdo_read_action_next_sync()

◆ ec_fsm_pdo_read_action_next_pdo()

◆ ec_fsm_pdo_conf_state_start()

◆ ec_fsm_pdo_conf_state_read_mapping()

◆ ec_fsm_pdo_conf_state_mapping()

◆ ec_fsm_pdo_conf_state_zero_pdo_count()

◆ ec_fsm_pdo_conf_state_assign_pdo()

◆ ec_fsm_pdo_conf_state_set_pdo_count()

◆ ec_fsm_pdo_conf_action_next_sync()

◆ ec_fsm_pdo_conf_action_pdo_mapping()

◆ ec_fsm_pdo_conf_action_check_mapping()

◆ ec_fsm_pdo_conf_action_next_pdo_mapping()

◆ ec_fsm_pdo_conf_action_check_assignment()

◆ ec_fsm_pdo_conf_action_assign_pdo()

◆ ec_fsm_pdo_state_end()

◆ ec_fsm_pdo_state_error()

◆ ec_fsm_pdo_init()

◆ ec_fsm_pdo_clear()

◆ ec_fsm_pdo_start_reading()

◆ ec_fsm_pdo_start_configuration()

◆ ec_fsm_pdo_exec()

◆ ec_fsm_pdo_success()