EtherCAT mailbox receive state machine. More...

Functions
void	ec_fsm_mbox_state_start (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	State: START. More...

void	ec_fsm_mbox_state_check (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	State: CHECK. More...

void	ec_fsm_mbox_state_fetch (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	State: FETCH. More...

void	ec_fsm_mbox_state_end (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	State: END. More...

void	ec_fsm_mbox_state_error (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	State: ERROR. More...

void	ec_fsm_mbox_init (ec_fsm_mbox_t *fsm)
	Constructor. More...

void	ec_fsm_mbox_clear (ec_fsm_mbox_t *fsm)
	Destructor. More...

static void	ec_fsm_mbox_start (ec_fsm_mbox_t fsm, ec_slave_t slave, ec_mbox_data_t *mbox_data, ec_fsm_mbox_mode_t mode, unsigned long jiffies_start, unsigned long timeout_ms)
	Starts the state machine in the given mode. More...

void	ec_fsm_mbox_receive (ec_fsm_mbox_t fsm, ec_slave_t slave, ec_mbox_data_t *mbox_data, unsigned long jiffies_start, unsigned long timeout_ms)
	Starts waiting for a mailbox response. More...

void	ec_fsm_mbox_poll (ec_fsm_mbox_t fsm, ec_slave_t slave, ec_mbox_data_t *mbox_data)
	Starts a single mailbox check without waiting. More...

void	ec_fsm_mbox_fetch_nosync (ec_fsm_mbox_t fsm, ec_slave_t slave, ec_mbox_data_t *mbox_data, unsigned long jiffies_start, unsigned long timeout_ms)
	Starts a single mailbox fetch without a preceding check. More...

int	ec_fsm_mbox_exec (ec_fsm_mbox_t fsm, ec_datagram_t datagram)
	Executes the current state of the state machine. More...

int	ec_fsm_mbox_result (const ec_fsm_mbox_t *fsm)
	Returns the result of the terminated state machine. More...

int	ec_fsm_mbox_holds_lock (const ec_fsm_mbox_t *fsm)
	Checks, if the state machine holds the slave's mailbox read lock. More...

void	ec_fsm_mbox_abort (ec_fsm_mbox_t *fsm)
	Aborts the state machine and releases the mailbox read lock, if held. More...

static int	ec_fsm_mbox_data_available (const ec_fsm_mbox_t *fsm)
	Checks, if a message for the protocol is available. More...

static int	ec_fsm_mbox_timed_out (const ec_fsm_mbox_t *fsm, unsigned long now)
	Checks, if the timeout elapsed. More...

static void	ec_fsm_mbox_fail (ec_fsm_mbox_t fsm, ec_datagram_t datagram, int result)
	Releases the mailbox read lock and terminates with an error. More...

Detailed Description

EtherCAT mailbox receive state machine.

Definition in file fsm_mbox.c.

Function Documentation

◆ ec_fsm_mbox_state_start()

void ec_fsm_mbox_state_start	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

State: START.

Takes the mailbox read lock and checks (or fetches) the mailbox. If another state machine holds the lock, waits for the lock or the response.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 286 of file fsm_mbox.c.

◆ ec_fsm_mbox_state_check()

void ec_fsm_mbox_state_check	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

State: CHECK.

Evaluates the mailbox check datagram. The mailbox read lock is held.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 331 of file fsm_mbox.c.

◆ ec_fsm_mbox_state_fetch()

void ec_fsm_mbox_state_fetch	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

State: FETCH.

Evaluates the mailbox fetch datagram. The receive path already stored the message in the response buffer of its protocol. The mailbox read lock is held.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 403 of file fsm_mbox.c.

◆ ec_fsm_mbox_state_end()

void ec_fsm_mbox_state_end	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 471 of file fsm_mbox.c.

◆ ec_fsm_mbox_state_error()

void ec_fsm_mbox_state_error	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 482 of file fsm_mbox.c.

◆ ec_fsm_mbox_init()

void ec_fsm_mbox_init ( ec_fsm_mbox_t * fsm )

Constructor.

Parameters

fsm	Finite state machine.

Definition at line 45 of file fsm_mbox.c.

◆ ec_fsm_mbox_clear()

void ec_fsm_mbox_clear ( ec_fsm_mbox_t * fsm )

Destructor.

Parameters

fsm	Finite state machine.

Definition at line 64 of file fsm_mbox.c.

◆ ec_fsm_mbox_start()

static void ec_fsm_mbox_start	(	ec_fsm_mbox_t *	fsm,
		ec_slave_t *	slave,
		ec_mbox_data_t *	mbox_data,
		ec_fsm_mbox_mode_t	mode,
		unsigned long	jiffies_start,
		unsigned long	timeout_ms
	)

static

Starts the state machine in the given mode.

Parameters

fsm	Finite state machine.
slave	EtherCAT slave.
mbox_data	Response buffer of the protocol.
mode	Receive mode.
jiffies_start	Reference time for the timeout.
timeout_ms	Response timeout in [ms].

Definition at line 75 of file fsm_mbox.c.

◆ ec_fsm_mbox_receive()

void ec_fsm_mbox_receive	(	ec_fsm_mbox_t *	fsm,
		ec_slave_t *	slave,
		ec_mbox_data_t *	mbox_data,
		unsigned long	jiffies_start,
		unsigned long	timeout_ms
	)

Starts waiting for a mailbox response.

The state machine checks the mailbox until a response for the protocol is stored in mbox_data, or the timeout elapsed.

Parameters

fsm	Finite state machine.
slave	EtherCAT slave.
mbox_data	Response buffer of the protocol.
jiffies_start	Reference time for the timeout, usually the time the request was sent.
timeout_ms	Response timeout in [ms].

Definition at line 102 of file fsm_mbox.c.

◆ ec_fsm_mbox_poll()

void ec_fsm_mbox_poll	(	ec_fsm_mbox_t *	fsm,
		ec_slave_t *	slave,
		ec_mbox_data_t *	mbox_data
	)

Starts a single mailbox check without waiting.

If no message for the protocol is available, or another state machine reads the mailbox, the state machine fails with -EAGAIN or -EBUSY.

Parameters

fsm	Finite state machine.
slave	EtherCAT slave.
mbox_data	Response buffer of the protocol.

Definition at line 123 of file fsm_mbox.c.

◆ ec_fsm_mbox_fetch_nosync()

void ec_fsm_mbox_fetch_nosync	(	ec_fsm_mbox_t *	fsm,
		ec_slave_t *	slave,
		ec_mbox_data_t *	mbox_data,
		unsigned long	jiffies_start,
		unsigned long	timeout_ms
	)

Starts a single mailbox fetch without a preceding check.

Waits for the mailbox read lock until the timeout elapsed. If the fetched mailbox contains no message for the protocol, the state machine fails with -EAGAIN.

Parameters

fsm	Finite state machine.
slave	EtherCAT slave.
mbox_data	Response buffer of the protocol.
jiffies_start	Reference time for the timeout.
timeout_ms	Timeout in [ms].

Definition at line 140 of file fsm_mbox.c.

◆ ec_fsm_mbox_exec()

int ec_fsm_mbox_exec	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the current state of the state machine.

Every state either uses the datagram, or marks it as unused.

Returns: 1, if the state machine is still running, 0 if it terminated. Use ec_fsm_mbox_result() to get the result.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.

Definition at line 161 of file fsm_mbox.c.

◆ ec_fsm_mbox_result()

int ec_fsm_mbox_result ( const ec_fsm_mbox_t * fsm )

Returns the result of the terminated state machine.

Return values

0	A message for the protocol is available in the response buffer.
-EIO	Mailbox check or fetch failed.
-ETIMEDOUT	No response within the timeout.
-EAGAIN	No message for the protocol (poll and nosync mode).
-EBUSY	Another state machine reads the mailbox (poll mode).

Parameters

fsm	Finite state machine.

Definition at line 195 of file fsm_mbox.c.

◆ ec_fsm_mbox_holds_lock()

int ec_fsm_mbox_holds_lock ( const ec_fsm_mbox_t * fsm )

Checks, if the state machine holds the slave's mailbox read lock.

Returns: Non-zero, if the lock is held.

Parameters

fsm	Finite state machine.

Definition at line 208 of file fsm_mbox.c.

◆ ec_fsm_mbox_abort()

void ec_fsm_mbox_abort ( ec_fsm_mbox_t * fsm )

Aborts the state machine and releases the mailbox read lock, if held.

Parameters

fsm	Finite state machine.

Definition at line 220 of file fsm_mbox.c.

◆ ec_fsm_mbox_data_available()

static int ec_fsm_mbox_data_available ( const ec_fsm_mbox_t * fsm )

static

Checks, if a message for the protocol is available.

Returns: Non-zero, if the response buffer contains a message.

Parameters

fsm	Finite state machine.

Definition at line 242 of file fsm_mbox.c.

◆ ec_fsm_mbox_timed_out()

static int ec_fsm_mbox_timed_out	(	const ec_fsm_mbox_t *	fsm,
		unsigned long	now
	)

static

Checks, if the timeout elapsed.

Returns: Non-zero, if the timeout elapsed.

Parameters

fsm	Finite state machine.
now	Current time in jiffies.

Definition at line 255 of file fsm_mbox.c.

◆ ec_fsm_mbox_fail()

static void ec_fsm_mbox_fail	(	ec_fsm_mbox_t *	fsm,
		ec_datagram_t *	datagram,
		int	result
	)

static

Releases the mailbox read lock and terminates with an error.

Parameters

fsm	Finite state machine.
datagram	Datagram to use.
result	Negative error code.

Definition at line 267 of file fsm_mbox.c.

Functions

Detailed Description

Function Documentation

◆ ec_fsm_mbox_state_start()

◆ ec_fsm_mbox_state_check()

◆ ec_fsm_mbox_state_fetch()

◆ ec_fsm_mbox_state_end()

◆ ec_fsm_mbox_state_error()

◆ ec_fsm_mbox_init()

◆ ec_fsm_mbox_clear()

◆ ec_fsm_mbox_start()

◆ ec_fsm_mbox_receive()

◆ ec_fsm_mbox_poll()

◆ ec_fsm_mbox_fetch_nosync()

◆ ec_fsm_mbox_exec()

◆ ec_fsm_mbox_result()

◆ ec_fsm_mbox_holds_lock()

◆ ec_fsm_mbox_abort()

◆ ec_fsm_mbox_data_available()

◆ ec_fsm_mbox_timed_out()

◆ ec_fsm_mbox_fail()