fsm_eoe.c File Reference

EtherCAT EoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_EOE_RESPONSE_TIMEOUT   3000
	Maximum time to wait for a set IP parameter response.

Functions
void	memcpy_swap32 (void *dst, const void *src)
	Host-architecture-independent 32-bit swap function. More...
int	ec_fsm_eoe_prepare_set (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	Prepare a set IP parameters operation. More...
void	ec_fsm_eoe_set_ip_start (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	EoE state: SET IP START. More...
void	ec_fsm_eoe_set_ip_request (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	EoE state: SET IP REQUEST. More...
void	ec_fsm_eoe_set_ip_response (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	EoE state: SET IP RESPONSE. More...
void	ec_fsm_eoe_end (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_eoe_error (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_eoe_init (ec_fsm_eoe_t *fsm)
	Constructor. More...
void	ec_fsm_eoe_clear (ec_fsm_eoe_t *fsm)
	Destructor. More...
void	ec_fsm_eoe_set_ip_param (ec_fsm_eoe_t *fsm, ec_slave_t *slave, ec_eoe_request_t *request)
	Starts to set the EoE IP partameters of a slave. More...
int	ec_fsm_eoe_exec (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_eoe_success (const ec_fsm_eoe_t *fsm)
	Returns, if the state machine terminated with success. More...
static void	ec_fsm_eoe_receive (ec_fsm_eoe_t *fsm, ec_datagram_t *datagram)
	Waits for the set IP parameter response. More...

Detailed Description

EtherCAT EoE state machines.

Definition in file fsm_eoe.c.

Function Documentation

memcpy_swap32()

void memcpy_swap32	(	void *	dst,
		const void *	src
	)

Host-architecture-independent 32-bit swap function.

The internal storage of struct in_addr is always big-endian. The mailbox protocol format to supply IPv4 adresses is little-endian (Yuck!). So we need a swap function, that is independent of the CPU architecture. ntohl()/htonl() can not be used, because they evaluate to NOPs if the host architecture matches the target architecture!

Definition at line 64 of file fsm_eoe.c.

ec_fsm_eoe_prepare_set()

int ec_fsm_eoe_prepare_set	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a set IP parameters operation.

Returns

0 on success, otherwise a negative error code.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 189 of file fsm_eoe.c.

ec_fsm_eoe_set_ip_start()

void ec_fsm_eoe_set_ip_start	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

EoE state: SET IP START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 282 of file fsm_eoe.c.

ec_fsm_eoe_set_ip_request()

void ec_fsm_eoe_set_ip_request	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

EoE state: SET IP REQUEST.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 310 of file fsm_eoe.c.

ec_fsm_eoe_set_ip_response()

void ec_fsm_eoe_set_ip_response	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

EoE state: SET IP RESPONSE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 362 of file fsm_eoe.c.

ec_fsm_eoe_end()

void ec_fsm_eoe_end	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 462 of file fsm_eoe.c.

ec_fsm_eoe_error()

void ec_fsm_eoe_error	(	ec_fsm_eoe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 451 of file fsm_eoe.c.

ec_fsm_eoe_init()

void ec_fsm_eoe_init

(

ec_fsm_eoe_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 76 of file fsm_eoe.c.

ec_fsm_eoe_clear()

void ec_fsm_eoe_clear

(

ec_fsm_eoe_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 94 of file fsm_eoe.c.

ec_fsm_eoe_set_ip_param()

void ec_fsm_eoe_set_ip_param	(	ec_fsm_eoe_t *	fsm,
		ec_slave_t *	slave,
		ec_eoe_request_t *	request
	)

Starts to set the EoE IP partameters of a slave.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	EoE request.

Definition at line 105 of file fsm_eoe.c.

ec_fsm_eoe_exec()

int ec_fsm_eoe_exec	(	ec_fsm_eoe_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 122 of file fsm_eoe.c.

ec_fsm_eoe_success()

int ec_fsm_eoe_success

(

const ec_fsm_eoe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 157 of file fsm_eoe.c.

ec_fsm_eoe_receive()

static void ec_fsm_eoe_receive ( ec_fsm_eoe_t *  fsm, ec_datagram_t *  datagram  )

static

Waits for the set IP parameter response.

Starts the mailbox receive state machine and executes the response state immediately.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 169 of file fsm_eoe.c.