fsm_soe.c File Reference

EtherCAT SoE state machines. More...

Go to the source code of this file.

Macros
#define	EC_SOE_SIZE   0x04
	Size of all SoE headers.
#define	EC_SOE_HEADER_SIZE   (EC_MBOX_HEADER_SIZE + EC_SOE_SIZE)
	SoE header size.
#define	EC_SOE_RESPONSE_TIMEOUT   1000
	SoE response timeout [ms].

Enumerations
enum	{ OPCODE_READ_REQUEST = 0x01, OPCODE_READ_RESPONSE = 0x02, OPCODE_WRITE_REQUEST = 0x03, OPCODE_WRITE_RESPONSE = 0x04 }
	SoE operations. More...

Functions
void	ec_print_soe_error (const ec_slave_t *slave, uint16_t error_code)
	Outputs an SoE error code.
void	ec_fsm_soe_print_error (ec_fsm_soe_t *fsm)
	Output information about a failed SoE transfer. More...
int	ec_fsm_soe_prepare_read (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Prepare a read operation. More...
void	ec_fsm_soe_write_next_fragment (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Write next fragment. More...
void	ec_fsm_soe_read_start (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: READ START. More...
void	ec_fsm_soe_read_request (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: READ REQUEST. More...
void	ec_fsm_soe_read_response (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: READ RESPONSE. More...
void	ec_fsm_soe_write_start (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: WRITE START. More...
void	ec_fsm_soe_write_request (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: WRITE REQUEST. More...
void	ec_fsm_soe_write_response (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	SoE state: WRITE RESPONSE. More...
void	ec_fsm_soe_end (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_soe_error (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_soe_init (ec_fsm_soe_t *fsm)
	Constructor. More...
void	ec_fsm_soe_clear (ec_fsm_soe_t *fsm)
	Destructor. More...
void	ec_fsm_soe_transfer (ec_fsm_soe_t *fsm, ec_slave_t *slave, ec_soe_request_t *request)
	Starts to transfer an IDN to/from a slave. More...
int	ec_fsm_soe_exec (ec_fsm_soe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine. More...
int	ec_fsm_soe_success (const ec_fsm_soe_t *fsm)
	Returns, if the state machine terminated with success. More...
void	ec_fsm_soe_abort (ec_fsm_soe_t *fsm)
	Aborts a running transfer. More...
static void	ec_fsm_soe_receive (ec_fsm_soe_t *fsm, ec_datagram_t *datagram, void(*state)(ec_fsm_soe_t *, ec_datagram_t *))
	Waits for an SoE response. More...
static unsigned long	ec_fsm_soe_elapsed_ms (const ec_fsm_soe_t *fsm)
	Time elapsed since the request was sent. More...

Variables
const ec_code_msg_t	soe_error_codes []
	SoE error codes.

Detailed Description

EtherCAT SoE state machines.

Definition in file fsm_soe.c.

Enumeration Type Documentation

anonymous enum

anonymous enum

SoE operations.

Enumerator
OPCODE_READ_REQUEST	Read request.
OPCODE_READ_RESPONSE	Read response.
OPCODE_WRITE_REQUEST	Write request.
OPCODE_WRITE_RESPONSE	Write response.

Definition at line 38 of file fsm_soe.c.

Function Documentation

ec_fsm_soe_print_error()

void ec_fsm_soe_print_error

(

ec_fsm_soe_t *

fsm

)

Output information about a failed SoE transfer.

Parameters

fsm	Finite state machine

Definition at line 210 of file fsm_soe.c.

ec_fsm_soe_prepare_read()

int ec_fsm_soe_prepare_read	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

Prepare a read operation.

Returns

0 on success, otherwise a negative error code.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 268 of file fsm_soe.c.

ec_fsm_soe_write_next_fragment()

void ec_fsm_soe_write_next_fragment	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

Write next fragment.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 506 of file fsm_soe.c.

ec_fsm_soe_read_start()

void ec_fsm_soe_read_start	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 303 of file fsm_soe.c.

ec_fsm_soe_read_request()

void ec_fsm_soe_read_request	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ REQUEST.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 334 of file fsm_soe.c.

ec_fsm_soe_read_response()

void ec_fsm_soe_read_response	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: READ RESPONSE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 388 of file fsm_soe.c.

ec_fsm_soe_write_start()

void ec_fsm_soe_write_start	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE START.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 554 of file fsm_soe.c.

ec_fsm_soe_write_request()

void ec_fsm_soe_write_request	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE REQUEST.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 590 of file fsm_soe.c.

ec_fsm_soe_write_response()

void ec_fsm_soe_write_response	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

SoE state: WRITE RESPONSE.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 649 of file fsm_soe.c.

ec_fsm_soe_end()

void ec_fsm_soe_end	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 760 of file fsm_soe.c.

ec_fsm_soe_error()

void ec_fsm_soe_error	(	ec_fsm_soe_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 749 of file fsm_soe.c.

ec_fsm_soe_init()

void ec_fsm_soe_init

(

ec_fsm_soe_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 105 of file fsm_soe.c.

ec_fsm_soe_clear()

void ec_fsm_soe_clear

(

ec_fsm_soe_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 119 of file fsm_soe.c.

ec_fsm_soe_transfer()

void ec_fsm_soe_transfer	(	ec_fsm_soe_t *	fsm,
		ec_slave_t *	slave,
		ec_soe_request_t *	request
	)

Starts to transfer an IDN to/from a slave.

Parameters

fsm	State machine.
slave	EtherCAT slave.
request	SoE request.

Definition at line 130 of file fsm_soe.c.

ec_fsm_soe_exec()

int ec_fsm_soe_exec	(	ec_fsm_soe_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 152 of file fsm_soe.c.

ec_fsm_soe_success()

int ec_fsm_soe_success

(

const ec_fsm_soe_t *

fsm

)

Returns, if the state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 187 of file fsm_soe.c.

ec_fsm_soe_abort()

void ec_fsm_soe_abort

(

ec_fsm_soe_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 199 of file fsm_soe.c.

ec_fsm_soe_receive()

static void ec_fsm_soe_receive ( ec_fsm_soe_t *  fsm, ec_datagram_t *  datagram, void(*)(ec_fsm_soe_t *, ec_datagram_t *)  state  )

static

Waits for an SoE response.

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

Parameters

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

Definition at line 233 of file fsm_soe.c.

ec_fsm_soe_elapsed_ms()

static unsigned long ec_fsm_soe_elapsed_ms ( const ec_fsm_soe_t *  fsm )

static

Time elapsed since the request was sent.

Returns

Elapsed time in milliseconds.

Parameters

fsm	Finite state machine.

Definition at line 253 of file fsm_soe.c.