fsm_soe.c File Reference
EtherCAT SoE state machines.
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Go to the source code of this file.
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Defines |
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#define | EC_MBOX_TYPE_SOE 0x05 |
| | Mailbox type for SoE.
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#define | EC_SOE_SIZE 0x04 |
| | Size of all SoE headers.
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#define | EC_SOE_HEADER_SIZE (EC_MBOX_HEADER_SIZE + EC_SOE_SIZE) |
| | SoE header size.
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#define | EC_SOE_RESPONSE_TIMEOUT 1000 |
| | SoE response timeout [ms].
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Enumerations |
| enum | ec_soe_opcodes { OPCODE_READ_REQUEST = 0x01,
OPCODE_READ_RESPONSE = 0x02,
OPCODE_WRITE_REQUEST = 0x03,
OPCODE_WRITE_RESPONSE = 0x04
} |
| | SoE operations. More...
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Functions |
| void | ec_fsm_soe_read_start (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: READ START.
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| void | ec_fsm_soe_read_request (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: READ REQUEST.
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| void | ec_fsm_soe_read_check (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | CoE state: READ CHECK.
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| void | ec_fsm_soe_read_response (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: READ RESPONSE.
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| void | ec_fsm_soe_write_start (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: WRITE START.
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| void | ec_fsm_soe_write_request (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: WRITE REQUEST.
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| void | ec_fsm_soe_write_check (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | CoE state: WRITE CHECK.
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| void | ec_fsm_soe_write_response (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | SoE state: WRITE RESPONSE.
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| void | ec_fsm_soe_end (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | State: END.
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| void | ec_fsm_soe_error (ec_fsm_soe_t *fsm,ec_datagram_t *datagram) |
| | State: ERROR.
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void | ec_print_soe_error (const ec_slave_t *slave, uint16_t error_code) |
| | Outputs an SoE error code.
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| void | ec_fsm_soe_init (ec_fsm_soe_t *fsm) |
| | Constructor.
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| void | ec_fsm_soe_clear (ec_fsm_soe_t *fsm) |
| | Destructor.
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| 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.
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| int | ec_fsm_soe_exec (ec_fsm_soe_t *fsm, ec_datagram_t *datagram) |
| | Executes the current state of the state machine.
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| int | ec_fsm_soe_success (const ec_fsm_soe_t *fsm) |
| | Returns, if the state machine terminated with success.
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| void | ec_fsm_soe_print_error (ec_fsm_soe_t *fsm) |
| | Output information about a failed SoE transfer.
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| int | ec_fsm_soe_prepare_read (ec_fsm_soe_t *fsm, ec_datagram_t *datagram) |
| | Prepare a read operation.
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| void | ec_fsm_soe_write_next_fragment (ec_fsm_soe_t *fsm, ec_datagram_t *datagram) |
| | Write next fragment.
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Variables |
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const ec_code_msg_t | soe_error_codes [] |
| | SoE error codes.
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Detailed Description
EtherCAT SoE state machines.
Definition in file fsm_soe.c.
Enumeration Type Documentation
SoE operations.
- Enumerator:
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| OPCODE_READ_REQUEST |
Read request.
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| OPCODE_READ_RESPONSE |
Read response.
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| OPCODE_WRITE_REQUEST |
Write request.
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| OPCODE_WRITE_RESPONSE |
Write response.
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Definition at line 50 of file fsm_soe.c.
Function Documentation
SoE state: READ START.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 258 of file fsm_soe.c.
SoE state: READ REQUEST.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 289 of file fsm_soe.c.
CoE state: READ CHECK.
- Parameters:
-
| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 344 of file fsm_soe.c.
SoE state: READ RESPONSE.
- Parameters:
-
| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 400 of file fsm_soe.c.
SoE state: WRITE START.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 574 of file fsm_soe.c.
SoE state: WRITE REQUEST.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 609 of file fsm_soe.c.
CoE state: WRITE CHECK.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 668 of file fsm_soe.c.
SoE state: WRITE RESPONSE.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 722 of file fsm_soe.c.
State: END.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 840 of file fsm_soe.c.
State: ERROR.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 829 of file fsm_soe.c.
Constructor.
- Parameters:
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Definition at line 111 of file fsm_soe.c.
Destructor.
- Parameters:
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Definition at line 124 of file fsm_soe.c.
Starts to transfer an IDN to/from a slave.
- Parameters:
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| fsm |
State machine. |
| slave |
EtherCAT slave. |
| request |
SoE request. |
Definition at line 134 of file fsm_soe.c.
Executes the current state of the state machine.
- Returns:
- 1 if the datagram was used, else 0.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 156 of file fsm_soe.c.
Returns, if the state machine terminated with success.
- Returns:
- non-zero if successful.
- Parameters:
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Definition at line 191 of file fsm_soe.c.
Output information about a failed SoE transfer.
- Parameters:
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Definition at line 200 of file fsm_soe.c.
Prepare a read operation.
- Returns:
- 0 on success, otherwise a negative error code.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 223 of file fsm_soe.c.
Write next fragment.
- Parameters:
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| fsm |
finite state machine |
| datagram |
Datagram to use. |
Definition at line 526 of file fsm_soe.c.
