fsm_coe.c File Reference

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Detailed Description

EtherCAT CoE state machines.

Definition in file fsm_coe.c.

Go to the source code of this file.

Functions
void	ec_fsm_coe_dict_start (ec_fsm_coe_t *fsm)
	CoE state: DICT START.
void	ec_fsm_coe_dict_request (ec_fsm_coe_t *fsm)
	CoE state: DICT REQUEST.
void	ec_fsm_coe_dict_check (ec_fsm_coe_t *fsm)
	CoE state: DICT CHECK.
void	ec_fsm_coe_dict_response (ec_fsm_coe_t *fsm)
	CoE state: DICT RESPONSE.
void	ec_fsm_coe_dict_desc_request (ec_fsm_coe_t *fsm)
	CoE state: DICT DESC REQUEST.
void	ec_fsm_coe_dict_desc_check (ec_fsm_coe_t *fsm)
	CoE state: DICT DESC CHECK.
void	ec_fsm_coe_dict_desc_response (ec_fsm_coe_t *fsm)
	CoE state: DICT DESC RESPONSE.
void	ec_fsm_coe_dict_entry_request (ec_fsm_coe_t *fsm)
	CoE state: DICT ENTRY REQUEST.
void	ec_fsm_coe_dict_entry_check (ec_fsm_coe_t *fsm)
	CoE state: DICT ENTRY CHECK.
void	ec_fsm_coe_dict_entry_response (ec_fsm_coe_t *fsm)
	CoE state: DICT ENTRY RESPONSE.
void	ec_fsm_coe_down_start (ec_fsm_coe_t *fsm)
	CoE state: DOWN START.
void	ec_fsm_coe_down_request (ec_fsm_coe_t *fsm)
	CoE state: DOWN REQUEST.
void	ec_fsm_coe_down_check (ec_fsm_coe_t *fsm)
	CoE state: DOWN CHECK.
void	ec_fsm_coe_down_response (ec_fsm_coe_t *fsm)
	CoE state: DOWN RESPONSE.
void	ec_fsm_coe_up_start (ec_fsm_coe_t *fsm)
	CoE state: UP START.
void	ec_fsm_coe_up_request (ec_fsm_coe_t *fsm)
	CoE state: UP REQUEST.
void	ec_fsm_coe_up_check (ec_fsm_coe_t *fsm)
	CoE state: UP CHECK.
void	ec_fsm_coe_up_response (ec_fsm_coe_t *fsm)
	CoE state: UP RESPONSE.
void	ec_fsm_coe_up_seg_request (ec_fsm_coe_t *fsm)
	CoE state: UP REQUEST.
void	ec_fsm_coe_up_seg_check (ec_fsm_coe_t *fsm)
	CoE state: UP CHECK.
void	ec_fsm_coe_up_seg_response (ec_fsm_coe_t *fsm)
	CoE state: UP RESPONSE.
void	ec_fsm_coe_end (ec_fsm_coe_t *fsm)
	State: END.
void	ec_fsm_coe_error (ec_fsm_coe_t *fsm)
	State: ERROR.
void	ec_canopen_abort_msg (uint32_t abort_code)
	Outputs an SDO abort message.
void	ec_fsm_coe_init (ec_fsm_coe_t *fsm, ec_datagram_t *datagram)
	Constructor.
void	ec_fsm_coe_clear (ec_fsm_coe_t *fsm)
	Destructor.
void	ec_fsm_coe_dictionary (ec_fsm_coe_t *fsm, ec_slave_t *slave)
	Starts reading a slaves' SDO dictionary.
void	ec_fsm_coe_download (ec_fsm_coe_t *fsm, ec_slave_t *slave, ec_sdo_data_t *sdodata)
	Starts to download an SDO to a slave.
void	ec_fsm_coe_upload (ec_fsm_coe_t *fsm, ec_slave_t *slave, ec_sdo_request_t *request)
	Starts to upload an SDO from a slave.
int	ec_fsm_coe_exec (ec_fsm_coe_t *fsm)
	Executes the current state of the state machine.
int	ec_fsm_coe_success (ec_fsm_coe_t *fsm)
	Returns, if the state machine terminated with success.
Variables
const ec_code_msg_t	sdo_abort_messages []
	SDO abort messages.

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Function Documentation

void ec_fsm_coe_dict_start (  ec_fsm_coe_t *   )

CoE state: DICT START. Parameters: fsm  finite state machine Definition at line 246 of file fsm_coe.c.

void ec_fsm_coe_dict_request (  ec_fsm_coe_t *   )

CoE state: DICT REQUEST. Parameters: fsm  finite state machine Definition at line 273 of file fsm_coe.c.

void ec_fsm_coe_dict_check (  ec_fsm_coe_t *   )

CoE state: DICT CHECK. Parameters: fsm  finite state machine Definition at line 299 of file fsm_coe.c.

void ec_fsm_coe_dict_response (  ec_fsm_coe_t *   )

CoE state: DICT RESPONSE. Parameters: fsm  finite state machine Definition at line 338 of file fsm_coe.c.

void ec_fsm_coe_dict_desc_request (  ec_fsm_coe_t *   )

CoE state: DICT DESC REQUEST. Parameters: fsm  finite state machine Definition at line 457 of file fsm_coe.c.

void ec_fsm_coe_dict_desc_check (  ec_fsm_coe_t *   )

CoE state: DICT DESC CHECK. Parameters: fsm  finite state machine Definition at line 483 of file fsm_coe.c.

void ec_fsm_coe_dict_desc_response (  ec_fsm_coe_t *   )

CoE state: DICT DESC RESPONSE. Parameters: fsm  finite state machine Definition at line 522 of file fsm_coe.c.

void ec_fsm_coe_dict_entry_request (  ec_fsm_coe_t *   )

CoE state: DICT ENTRY REQUEST. Parameters: fsm  finite state machine Definition at line 627 of file fsm_coe.c.

void ec_fsm_coe_dict_entry_check (  ec_fsm_coe_t *   )

CoE state: DICT ENTRY CHECK. Parameters: fsm  finite state machine Definition at line 654 of file fsm_coe.c.

void ec_fsm_coe_dict_entry_response (  ec_fsm_coe_t *   )

CoE state: DICT ENTRY RESPONSE. Parameters: fsm  finite state machine Definition at line 694 of file fsm_coe.c.

void ec_fsm_coe_down_start (  ec_fsm_coe_t *   )

CoE state: DOWN START. Parameters: fsm  finite state machine Definition at line 837 of file fsm_coe.c.

void ec_fsm_coe_down_request (  ec_fsm_coe_t *   )

CoE state: DOWN REQUEST. Parameters: fsm  finite state machine Definition at line 878 of file fsm_coe.c.

void ec_fsm_coe_down_check (  ec_fsm_coe_t *   )

CoE state: DOWN CHECK. Parameters: fsm  finite state machine Definition at line 903 of file fsm_coe.c.

void ec_fsm_coe_down_response (  ec_fsm_coe_t *   )

CoE state: DOWN RESPONSE. Parameters: fsm  finite state machine Definition at line 941 of file fsm_coe.c.

void ec_fsm_coe_up_start (  ec_fsm_coe_t *   )

CoE state: UP START. Parameters: fsm  finite state machine Definition at line 1012 of file fsm_coe.c.

void ec_fsm_coe_up_request (  ec_fsm_coe_t *   )

CoE state: UP REQUEST. Parameters: fsm  finite state machine Definition at line 1052 of file fsm_coe.c.

void ec_fsm_coe_up_check (  ec_fsm_coe_t *   )

CoE state: UP CHECK. Parameters: fsm  finite state machine Definition at line 1077 of file fsm_coe.c.

void ec_fsm_coe_up_response (  ec_fsm_coe_t *   )

CoE state: UP RESPONSE. Parameters: fsm  finite state machine Definition at line 1115 of file fsm_coe.c.

void ec_fsm_coe_up_seg_request (  ec_fsm_coe_t *   )

CoE state: UP REQUEST. Parameters: fsm  finite state machine Definition at line 1256 of file fsm_coe.c.

void ec_fsm_coe_up_seg_check (  ec_fsm_coe_t *   )

CoE state: UP CHECK. Parameters: fsm  finite state machine Definition at line 1281 of file fsm_coe.c.

void ec_fsm_coe_up_seg_response (  ec_fsm_coe_t *   )

CoE state: UP RESPONSE. Parameters: fsm  finite state machine Definition at line 1319 of file fsm_coe.c.

void ec_fsm_coe_end (  ec_fsm_coe_t *   )

State: END. Parameters: fsm  finite state machine Definition at line 1436 of file fsm_coe.c.

void ec_fsm_coe_error (  ec_fsm_coe_t *   )

State: ERROR. Parameters: fsm  finite state machine Definition at line 1426 of file fsm_coe.c.

void ec_fsm_coe_init (  ec_fsm_coe_t *  fsm, ec_datagram_t *  datagram )

Constructor. Parameters: fsm  finite state machine datagram  datagram Definition at line 148 of file fsm_coe.c.

void ec_fsm_coe_clear (  ec_fsm_coe_t *  fsm  )

Destructor. Parameters: fsm  finite state machine Definition at line 162 of file fsm_coe.c.

void ec_fsm_coe_dictionary (  ec_fsm_coe_t *  fsm, ec_slave_t *  slave )

Starts reading a slaves' SDO dictionary. Parameters: fsm  finite state machine slave  EtherCAT slave Definition at line 172 of file fsm_coe.c.

void ec_fsm_coe_download (  ec_fsm_coe_t *  fsm, ec_slave_t *  slave, ec_sdo_data_t *  sdodata )

Starts to download an SDO to a slave. Parameters: fsm  finite state machine slave  EtherCAT slave sdodata  SDO data object Definition at line 186 of file fsm_coe.c.

void ec_fsm_coe_upload (  ec_fsm_coe_t *  fsm, ec_slave_t *  slave, ec_sdo_request_t *  request )

Starts to upload an SDO from a slave. Parameters: fsm  finite state machine slave  EtherCAT slave request  SDO request Definition at line 202 of file fsm_coe.c.

int ec_fsm_coe_exec (  ec_fsm_coe_t *  fsm  )

Executes the current state of the state machine. Returns: false, if state machine has terminated Parameters: fsm  finite state machine Definition at line 219 of file fsm_coe.c.

int ec_fsm_coe_success (  ec_fsm_coe_t *  fsm  )

Returns, if the state machine terminated with success. Returns: non-zero if successful. Parameters: fsm  Finite state machine Definition at line 233 of file fsm_coe.c.

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Variable Documentation

const ec_code_msg_t sdo_abort_messages[]

SDO abort messages. The "abort SDO transfer request" supplies an abort code, which can be translated to clear text. This table does the mapping of the codes and messages. Definition at line 84 of file fsm_coe.c.

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