EC_ESM Class Reference

EtherCAT State Machine. More...

#include <ethercat_FSM.h>

Inheritance diagram for EC_ESM:

List of all members.

Public Member Functions
	EC_ESM (EtherCAT_SlaveHandler *a_SH, EtherCAT_DataLinkLayer *_m_dll_instance, EC_Logic *_m_logic_instance, EtherCAT_PD_Buffer *_m_pdbuf_instance)
EC_State	get_state ()
bool	to_state (EC_State a_state)
	State Transitions.
Protected Member Functions
void	setState (EC_ESM_State *a_esm_state)
	Set the internal state.
Private Attributes
EC_ESM_State *	m_esm_state
Friends
class	EC_ESM_InitState
class	EC_ESM_OpState
class	EC_ESM_PreOpState
class	EC_ESM_SafeOpState
class	EC_ESM_State

---

Detailed Description

EtherCAT State Machine.

Todo:

Unexpected transitions in the state of the slave (via slaves application, only for complex slaves) are not dealt with for now... This should probably be fixed using a special mailbox msg or a polling mechanism but AFAIS this is undocumented in the spec (see 8.2.4.4.6 Stop output update)...

Definition at line 142 of file ethercat_FSM.h.

---

Constructor & Destructor Documentation

EC_ESM::EC_ESM	(	EtherCAT_SlaveHandler *	a_SH,
		EtherCAT_DataLinkLayer *	_m_dll_instance,
		EC_Logic *	_m_logic_instance,
		EtherCAT_PD_Buffer *	_m_pdbuf_instance
	)

---

Member Function Documentation

EC_State EC_ESM::get_state

(

)

[inline]

Definition at line 168 of file ethercat_FSM.h.

void EC_ESM::setState

(

EC_ESM_State *

a_esm_state

)

[inline, protected]

Set the internal state.

Definition at line 175 of file ethercat_FSM.h.

bool EC_ESM::to_state

(

EC_State

a_state

)

[inline]

State Transitions.

Parameters:

a_state

state to go to. Possibilities are EC_INIT_STATE = 0x01, EC_PREOP_STATE = 0x02, EC_BOOTSTRAP_STATE = 0x03, EC_SAFEOP_STATE = 0x04, EC_OP_STATE = 0x08

Definition at line 164 of file ethercat_FSM.h.

---

Friends And Related Function Documentation

friend class EC_ESM_InitState [friend]

Definition at line 145 of file ethercat_FSM.h.

friend class EC_ESM_OpState [friend]

Definition at line 148 of file ethercat_FSM.h.

friend class EC_ESM_PreOpState [friend]

Definition at line 146 of file ethercat_FSM.h.

friend class EC_ESM_SafeOpState [friend]

Definition at line 147 of file ethercat_FSM.h.

friend class EC_ESM_State [friend]

Definition at line 144 of file ethercat_FSM.h.

---

Member Data Documentation

EC_ESM_State* EC_ESM::m_esm_state [private]

Definition at line 181 of file ethercat_FSM.h.

---

The documentation for this class was generated from the following file:

• ethercat_FSM.h