fsm_foe.c File Reference

EtherCAT FoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_FSM_FOE_TIMEOUT   3000
	Maximum time in ms to wait for responses when reading out the dictionary.
#define	EC_FOE_HEADER_SIZE   6
	Size of the FoE header.

Enumerations
enum	{   EC_FOE_OPCODE_RRQ = 1, EC_FOE_OPCODE_WRQ = 2, EC_FOE_OPCODE_DATA = 3, EC_FOE_OPCODE_ACK = 4,   EC_FOE_OPCODE_ERR = 5, EC_FOE_OPCODE_BUSY = 6 }
	FoE OpCodes. More...

Functions
int	ec_foe_prepare_data_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Sends a file or the next fragment. More...
int	ec_foe_prepare_wrq_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Prepare a write request (WRQ) with filename. More...
int	ec_foe_prepare_rrq_send (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Prepare a read request (RRQ) with filename. More...
int	ec_foe_prepare_send_ack (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Prepare to send an acknowledge. More...
void	ec_foe_set_tx_error (ec_fsm_foe_t *fsm, uint32_t errorcode)
	Set an error code and go to the send error state. More...
void	ec_foe_set_rx_error (ec_fsm_foe_t *fsm, uint32_t errorcode)
	Set an error code and go to the receive error state. More...
void	ec_fsm_foe_end (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_foe_error (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_foe_state_wrq_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: WRQ SENT. More...
void	ec_fsm_foe_state_rrq_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: RRQ SENT. More...
void	ec_fsm_foe_state_ack_read (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: ACK READ. More...
void	ec_fsm_foe_state_data_sent (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: WRQ SENT. More...
void	ec_fsm_foe_state_data_read (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	State: DATA READ. More...
void	ec_fsm_foe_state_sent_ack (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Sent an acknowledge. More...
void	ec_fsm_foe_write_start (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Initializes the FoE write state machine. More...
void	ec_fsm_foe_read_start (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Starting state for read operations. More...
void	ec_fsm_foe_init (ec_fsm_foe_t *fsm)
	Constructor. More...
void	ec_fsm_foe_clear (ec_fsm_foe_t *fsm)
	Destructor. More...
int	ec_fsm_foe_exec (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_foe_success (const ec_fsm_foe_t *fsm)
	Returns, if the state machine terminated with success. More...
void	ec_fsm_foe_transfer (ec_fsm_foe_t *fsm, ec_slave_t *slave, ec_foe_request_t *request)
	Prepares an FoE transfer. More...
static void	ec_fsm_foe_wait (ec_fsm_foe_t *fsm, void(*state)(ec_fsm_foe_t *, ec_datagram_t *))
	Starts waiting for an FoE response. More...
static void	ec_fsm_foe_receive (ec_fsm_foe_t *fsm, ec_datagram_t *datagram, void(*state)(ec_fsm_foe_t *, ec_datagram_t *))
	Waits for an FoE response. More...

Detailed Description

EtherCAT FoE state machines.

Definition in file fsm_foe.c.

Enumeration Type Documentation

anonymous enum

anonymous enum

FoE OpCodes.

Enumerator
EC_FOE_OPCODE_RRQ	Read request.
EC_FOE_OPCODE_WRQ	Write request.
EC_FOE_OPCODE_DATA	Data.
EC_FOE_OPCODE_ACK	Acknowledge.
EC_FOE_OPCODE_ERR	Error.
EC_FOE_OPCODE_BUSY	Busy.

Definition at line 54 of file fsm_foe.c.

Function Documentation

ec_foe_prepare_data_send()

int ec_foe_prepare_data_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sends a file or the next fragment.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 224 of file fsm_foe.c.

ec_foe_prepare_wrq_send()

int ec_foe_prepare_wrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a write request (WRQ) with filename.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 265 of file fsm_foe.c.

ec_foe_prepare_rrq_send()

int ec_foe_prepare_rrq_send	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a read request (RRQ) with filename.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 526 of file fsm_foe.c.

ec_foe_prepare_send_ack()

int ec_foe_prepare_send_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare to send an acknowledge.

Returns

Zero on success, otherwise a negative error code.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 560 of file fsm_foe.c.

ec_foe_set_tx_error()

void ec_foe_set_tx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the send error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 834 of file fsm_foe.c.

ec_foe_set_rx_error()

void ec_foe_set_rx_error	(	ec_fsm_foe_t *	fsm,
		uint32_t	errorcode
	)

Set an error code and go to the receive error state.

Parameters

fsm	FoE statemachine.
errorcode	FoE error code.

Definition at line 847 of file fsm_foe.c.

ec_fsm_foe_end()

void ec_fsm_foe_end	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 208 of file fsm_foe.c.

ec_fsm_foe_error()

void ec_fsm_foe_error	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 194 of file fsm_foe.c.

ec_fsm_foe_state_wrq_sent()

void ec_fsm_foe_state_wrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 452 of file fsm_foe.c.

ec_fsm_foe_state_rrq_sent()

void ec_fsm_foe_state_rrq_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: RRQ SENT.

Checks is the previous transmit datagram succeeded and sends the next fragment, if necessary.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 586 of file fsm_foe.c.

ec_fsm_foe_state_ack_read()

void ec_fsm_foe_state_ack_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ACK READ.

Waits for an acknowledge and processes it.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 372 of file fsm_foe.c.

ec_fsm_foe_state_data_sent()

void ec_fsm_foe_state_data_sent	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: WRQ SENT.

Checks is the previous transmit datagram succeded and sends the next fragment, if necessary.

Parameters

fsm	Foe statemachine.
datagram	Datagram to use.

Definition at line 490 of file fsm_foe.c.

ec_fsm_foe_state_data_read()

void ec_fsm_foe_state_data_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: DATA READ.

Waits for data and processes them.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 656 of file fsm_foe.c.

ec_fsm_foe_state_sent_ack()

void ec_fsm_foe_state_sent_ack	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Sent an acknowledge.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 790 of file fsm_foe.c.

ec_fsm_foe_write_start()

void ec_fsm_foe_write_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Initializes the FoE write state machine.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 298 of file fsm_foe.c.

ec_fsm_foe_read_start()

void ec_fsm_foe_read_start	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Starting state for read operations.

Parameters

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 621 of file fsm_foe.c.

ec_fsm_foe_init()

void ec_fsm_foe_init

(

ec_fsm_foe_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 93 of file fsm_foe.c.

ec_fsm_foe_clear()

void ec_fsm_foe_clear

(

ec_fsm_foe_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 106 of file fsm_foe.c.

ec_fsm_foe_exec()

int ec_fsm_foe_exec	(	ec_fsm_foe_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 117 of file fsm_foe.c.

ec_fsm_foe_success()

int ec_fsm_foe_success

(

const ec_fsm_foe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 151 of file fsm_foe.c.

ec_fsm_foe_transfer()

void ec_fsm_foe_transfer	(	ec_fsm_foe_t *	fsm,
		ec_slave_t *	slave,
		ec_foe_request_t *	request
	)

Prepares an FoE transfer.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	Sdo request.

Definition at line 160 of file fsm_foe.c.

ec_fsm_foe_wait()

static void ec_fsm_foe_wait ( ec_fsm_foe_t *  fsm, void(*)(ec_fsm_foe_t *, ec_datagram_t *)  state  )

static

Starts waiting for an FoE response.

Starts the mailbox receive state machine. The response is awaited in the given state, starting with the next execution.

Parameters

fsm	Finite state machine.
state	Response state.

Definition at line 335 of file fsm_foe.c.

ec_fsm_foe_receive()

static void ec_fsm_foe_receive ( ec_fsm_foe_t *  fsm, ec_datagram_t *  datagram, void(*)(ec_fsm_foe_t *, ec_datagram_t *)  state  )

static

Waits for an FoE response.

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

Parameters

fsm	Finite state machine.
datagram	Datagram to use.
state	Response state.

Definition at line 355 of file fsm_foe.c.