EtherCAT CoE state machines. More...

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. More...

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. More...

int	ec_fsm_coe_prepare_dict (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare a dictionary request. More...

int	ec_fsm_coe_dict_prepare_desc (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare an object description request. More...

int	ec_fsm_coe_dict_prepare_entry (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare an entry description request. More...

int	ec_fsm_coe_prepare_down_start (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare a donwnload request. More...

void	ec_fsm_coe_down_prepare_segment_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare a download segment request. More...

int	ec_fsm_coe_prepare_up (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare an upload request. More...

void	ec_fsm_coe_up_prepare_segment_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Prepare an SDO upload segment request. More...

void	ec_fsm_coe_dict_start (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT START. More...

void	ec_fsm_coe_dict_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT REQUEST. More...

void	ec_fsm_coe_dict_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT RESPONSE. More...

void	ec_fsm_coe_dict_desc_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT DESC REQUEST. More...

void	ec_fsm_coe_dict_desc_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT DESC RESPONSE. More...

void	ec_fsm_coe_dict_entry_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT ENTRY REQUEST. More...

void	ec_fsm_coe_dict_entry_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DICT ENTRY RESPONSE. More...

void	ec_fsm_coe_down_start (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DOWN START. More...

void	ec_fsm_coe_down_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DOWN REQUEST. More...

void	ec_fsm_coe_down_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DOWN RESPONSE. More...

void	ec_fsm_coe_down_seg_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DOWN SEG REQUEST. More...

void	ec_fsm_coe_down_seg_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: DOWN SEG RESPONSE. More...

void	ec_fsm_coe_up_start (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: UP START. More...

void	ec_fsm_coe_up_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: UP REQUEST. More...

void	ec_fsm_coe_up_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: UP RESPONSE. More...

void	ec_fsm_coe_up_seg_request (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: UP REQUEST. More...

void	ec_fsm_coe_up_seg_response (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	CoE state: UP SEG RESPONSE. More...

void	ec_fsm_coe_end (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	State: END. More...

void	ec_fsm_coe_error (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	State: ERROR. More...

void	ec_fsm_coe_init (ec_fsm_coe_t *fsm)
	Constructor. More...

void	ec_fsm_coe_clear (ec_fsm_coe_t *fsm)
	Destructor. More...

void	ec_fsm_coe_dictionary (ec_fsm_coe_t fsm, ec_slave_t slave)
	Starts reading a slaves' SDO dictionary. More...

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. More...

int	ec_fsm_coe_exec (ec_fsm_coe_t fsm, ec_datagram_t datagram)
	Executes the current state of the state machine. More...

int	ec_fsm_coe_success (const ec_fsm_coe_t *fsm)
	Returns, if the state machine terminated with success. More...

void	ec_fsm_coe_abort (ec_fsm_coe_t *fsm)
	Aborts a running transfer. More...

static void	ec_fsm_coe_receive (ec_fsm_coe_t fsm, ec_datagram_t datagram, unsigned long timeout_ms, void(state)(ec_fsm_coe_t , ec_datagram_t *))
	Waits for a CoE response. More...

static unsigned long	ec_fsm_coe_elapsed_ms (const ec_fsm_coe_t *fsm)
	Time elapsed since the request was sent. More...

Variables
const ec_code_msg_t	sdo_abort_messages []
	SDO abort messages. More...

Detailed Description

EtherCAT CoE state machines.

Definition in 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 147 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 293 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 370 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 469 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 685 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 1051 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 1264 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 1610 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 1744 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 396 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 428 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.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 497 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 643 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.

Parameters

fsm	Finite state machine
datagram	Datagram to use.

Definition at line 715 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 842 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.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 883 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 1146 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 1197 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.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1329 of file fsm_coe.c.

◆ ec_fsm_coe_down_seg_request()

void ec_fsm_coe_down_seg_request	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram
	)

CoE state: DOWN SEG REQUEST.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1445 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.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1487 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 1647 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 1679 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.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 1775 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 1964 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 SEG RESPONSE.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 2006 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 2156 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 2143 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 169 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 182 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 193 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 206 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 state machine is still in progress, else 0.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 229 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 262 of file fsm_coe.c.

◆ ec_fsm_coe_abort()

void ec_fsm_coe_abort ( ec_fsm_coe_t * fsm )

Aborts a running transfer.

Releases the mailbox read lock, if the state machine holds it, i. e. if a mailbox check or fetch is in progress.

Parameters

fsm	Finite state machine

Definition at line 276 of file fsm_coe.c.

◆ ec_fsm_coe_receive()

static void ec_fsm_coe_receive	(	ec_fsm_coe_t *	fsm,
		ec_datagram_t *	datagram,
		unsigned long	timeout_ms,
		void()(ec_fsm_coe_t , ec_datagram_t *)	state
	)

static

Waits for a CoE response.

Starts the mailbox receive state machine and executes the given response state immediately. The response state is left, as soon as a CoE response is available, or receiving failed.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.
timeout_ms	Response timeout in [ms], counted from jiffies_start.
state	Response state.

Definition at line 336 of file fsm_coe.c.

◆ ec_fsm_coe_elapsed_ms()

static unsigned long ec_fsm_coe_elapsed_ms ( const ec_fsm_coe_t * fsm )

static

Time elapsed since the request was sent.

Returns: Elapsed time in milliseconds.

Parameters

fsm	Finite state machine.

Definition at line 355 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 106 of file fsm_coe.c.

Macros

Functions

Variables

Detailed Description

Function Documentation

◆ ec_canopen_abort_msg()

◆ ec_fsm_coe_check_emergency()

◆ ec_fsm_coe_prepare_dict()

◆ ec_fsm_coe_dict_prepare_desc()

◆ ec_fsm_coe_dict_prepare_entry()

◆ ec_fsm_coe_prepare_down_start()

◆ ec_fsm_coe_down_prepare_segment_request()

◆ ec_fsm_coe_prepare_up()

◆ ec_fsm_coe_up_prepare_segment_request()

◆ ec_fsm_coe_dict_start()

◆ ec_fsm_coe_dict_request()

◆ ec_fsm_coe_dict_response()

◆ ec_fsm_coe_dict_desc_request()

◆ ec_fsm_coe_dict_desc_response()

◆ ec_fsm_coe_dict_entry_request()

◆ ec_fsm_coe_dict_entry_response()

◆ ec_fsm_coe_down_start()

◆ ec_fsm_coe_down_request()

◆ ec_fsm_coe_down_response()

◆ ec_fsm_coe_down_seg_request()

◆ ec_fsm_coe_down_seg_response()

◆ ec_fsm_coe_up_start()

◆ ec_fsm_coe_up_request()

◆ ec_fsm_coe_up_response()

◆ ec_fsm_coe_up_seg_request()

◆ ec_fsm_coe_up_seg_response()

◆ ec_fsm_coe_end()

◆ ec_fsm_coe_error()

◆ ec_fsm_coe_init()

◆ ec_fsm_coe_clear()

◆ ec_fsm_coe_dictionary()

◆ ec_fsm_coe_transfer()

◆ ec_fsm_coe_exec()

◆ ec_fsm_coe_success()

◆ ec_fsm_coe_abort()

◆ ec_fsm_coe_receive()

◆ ec_fsm_coe_elapsed_ms()

Variable Documentation

◆ sdo_abort_messages