fsm_foe.c File Reference

EtherCAT FoE state machines. More...

Go to the source code of this file.

Defines
#define	EC_FSM_FOE_TIMEOUT   3000
	Maximum time in ms to wait for responses when reading out the dictionary.
#define	EC_MBOX_TYPE_FILEACCESS   0x04
	Mailbox type FoE.
#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.
int	ec_foe_prepare_wrq_send (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Prepare a write request (WRQ) with filename.
int	ec_foe_prepare_rrq_send (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Prepare a read request (RRQ) with filename.
int	ec_foe_prepare_send_ack (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Prepare to send an acknowledge.
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.
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.
void	ec_fsm_foe_end (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	State: END.
void	ec_fsm_foe_error (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	State: ERROR.
void	ec_fsm_foe_state_wrq_sent (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	State: WRQ SENT.
void	ec_fsm_foe_state_rrq_sent (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	State: RRQ SENT.
void	ec_fsm_foe_state_ack_check (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Check for acknowledge.
void	ec_fsm_foe_state_ack_read (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Acknowledge a read operation.
void	ec_fsm_foe_state_data_sent (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	State: WRQ SENT.
void	ec_fsm_foe_state_data_check (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Check for data.
void	ec_fsm_foe_state_data_read (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Start reading data.
void	ec_fsm_foe_state_sent_ack (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Sent an acknowledge.
void	ec_fsm_foe_write_start (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Initializes the FoE write state machine.
void	ec_fsm_foe_read_start (ec_fsm_foe_t *fsm,ec_datagram_t *datagram)
	Starting state for read operations.
void	ec_fsm_foe_init (ec_fsm_foe_t *fsm)
	Constructor.
void	ec_fsm_foe_clear (ec_fsm_foe_t *fsm)
	Destructor.
int	ec_fsm_foe_exec (ec_fsm_foe_t *fsm, ec_datagram_t *datagram)
	Executes the current state of the state machine.
int	ec_fsm_foe_success (const ec_fsm_foe_t *fsm)
	Returns, if the state machine terminated with success.
void	ec_fsm_foe_transfer (ec_fsm_foe_t *fsm, ec_slave_t *slave, ec_foe_request_t *request)
	Prepares an FoE transfer.
Variables
enum { ... }	ec_foe_opcode_t
	FoE OpCodes.

---

Detailed Description

EtherCAT FoE state machines.

Definition in file fsm_foe.c.

---

Enumeration Type Documentation

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 66 of file fsm_foe.c.

---

Function Documentation

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 236 of file fsm_foe.c.

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 278 of file fsm_foe.c.

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 555 of file fsm_foe.c.

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 589 of file fsm_foe.c.

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 905 of file fsm_foe.c.

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 918 of file fsm_foe.c.

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 220 of file fsm_foe.c.

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 206 of file fsm_foe.c.

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 477 of file fsm_foe.c.

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 615 of file fsm_foe.c.

void ec_fsm_foe_state_ack_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for acknowledge.

Parameters:

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 345 of file fsm_foe.c.

void ec_fsm_foe_state_ack_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Acknowledge a read operation.

Parameters:

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 397 of file fsm_foe.c.

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 518 of file fsm_foe.c.

void ec_fsm_foe_state_data_check	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Check for data.

Parameters:

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 686 of file fsm_foe.c.

void ec_fsm_foe_state_data_read	(	ec_fsm_foe_t *	fsm,
		ec_datagram_t *	datagram
	)

Start reading data.

Parameters:

fsm	FoE statemachine.
datagram	Datagram to use.

Definition at line 736 of file fsm_foe.c.

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 859 of file fsm_foe.c.

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 311 of file fsm_foe.c.

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 653 of file fsm_foe.c.

void ec_fsm_foe_init

(

ec_fsm_foe_t *

fsm

)

Constructor.

Parameters:

fsm	finite state machine

Definition at line 107 of file fsm_foe.c.

void ec_fsm_foe_clear

(

ec_fsm_foe_t *

fsm

)

Destructor.

Parameters:

fsm	finite state machine

Definition at line 119 of file fsm_foe.c.

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 datagram was used, else 0.

Parameters:

fsm	finite state machine
datagram	Datagram to use.

Definition at line 129 of file fsm_foe.c.

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 163 of file fsm_foe.c.

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 172 of file fsm_foe.c.