ecx_readstate

该函数在ethercatmain.h文件中，用于读取从站的状态

/** Read all slave states in ec_slave.* @param[in] context = context struct* @return lowest state found*/
int ecx_readstate(ecx_contextt *context);

实现代码如下所示：

/** Read all slave states in ec_slave.* @param[in] context = context struct* @return lowest state found*/
int ecx_readstate(ecx_contextt *context)
{uint16 slave, fslave, lslave, configadr, lowest, rval, bitwisestate;ec_alstatust sl[MAX_FPRD_MULTI];uint16 slca[MAX_FPRD_MULTI];boolean noerrorflag, allslavessamestate;boolean allslavespresent = FALSE;int wkc;/* Try to establish the state of all slaves sending only one broadcast datagram.* This way a number of datagrams equal to the number of slaves will be sent only if needed.*/rval = 0;wkc = ecx_BRD(context->port, 0, ECT_REG_ALSTAT, sizeof(rval), &rval, EC_TIMEOUTRET);if(wkc >= *(context->slavecount)){allslavespresent = TRUE;}rval = etohs(rval);bitwisestate = (rval & 0x0f);if ((rval & EC_STATE_ERROR) == 0){noerrorflag = TRUE;context->slavelist[0].ALstatuscode = 0;}   else{noerrorflag = FALSE;}switch (bitwisestate){case EC_STATE_INIT:case EC_STATE_PRE_OP:case EC_STATE_BOOT:case EC_STATE_SAFE_OP:case EC_STATE_OPERATIONAL:allslavessamestate = TRUE;context->slavelist[0].state = bitwisestate;break;default:allslavessamestate = FALSE;break;}if (noerrorflag && allslavessamestate && allslavespresent){/* No slave has toggled the error flag so the alstatuscode* (even if different from 0) should be ignored and* the slaves have reached the same state so the internal state* can be updated without sending any datagram. */for (slave = 1; slave <= *(context->slavecount); slave++){context->slavelist[slave].ALstatuscode = 0x0000;context->slavelist[slave].state = bitwisestate;}lowest = bitwisestate;}else{/* Not all slaves have the same state or at least one is in error so one datagram per slave* is needed. */context->slavelist[0].ALstatuscode = 0;lowest = 0xff;fslave = 1;do{lslave = *(context->slavecount);if ((lslave - fslave) >= MAX_FPRD_MULTI){lslave = fslave + MAX_FPRD_MULTI - 1;}for (slave = fslave; slave <= lslave; slave++){const ec_alstatust zero = { 0, 0, 0 };configadr = context->slavelist[slave].configadr;slca[slave - fslave] = configadr;sl[slave - fslave] = zero;}ecx_FPRD_multi(context, (lslave - fslave) + 1, &(slca[0]), &(sl[0]), EC_TIMEOUTRET3);for (slave = fslave; slave <= lslave; slave++){configadr = context->slavelist[slave].configadr;rval = etohs(sl[slave - fslave].alstatus);context->slavelist[slave].ALstatuscode = etohs(sl[slave - fslave].alstatuscode);if ((rval & 0xf) < lowest){lowest = (rval & 0xf);}context->slavelist[slave].state = rval;context->slavelist[0].ALstatuscode |= context->slavelist[slave].ALstatuscode;}fslave = lslave + 1;} while (lslave < *(context->slavecount));context->slavelist[0].state = lowest;}return lowest;
}

ecx_writestate

该函数也在ethercatmain.h文件中，用于写入从站的状态。

/** Write slave state, if slave = 0 then write to all slaves.* The function does not check if the actual state is changed.* @param[in]  context        = context struct* @param[in] slave    = Slave number, 0 = master* @return Workcounter or EC_NOFRAME*/
int ecx_writestate(ecx_contextt *context, uint16 slave)

实现源代码：

/** Write slave state, if slave = 0 then write to all slaves.* The function does not check if the actual state is changed.* @param[in]  context        = context struct* @param[in] slave    = Slave number, 0 = master* @return Workcounter or EC_NOFRAME*/
int ecx_writestate(ecx_contextt *context, uint16 slave)
{int ret;uint16 configadr, slstate;if (slave == 0){slstate = htoes(context->slavelist[slave].state);ret = ecx_BWR(context->port, 0, ECT_REG_ALCTL, sizeof(slstate),&slstate, EC_TIMEOUTRET3);}else{configadr = context->slavelist[slave].configadr;ret = ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL,htoes(context->slavelist[slave].state), EC_TIMEOUTRET3);}return ret;
}

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EtherCAT主站SOEM函数详解---- ecx_readstate、ecx_writestate

EtherCAT主站SOEM函数详解----状态读取函数

ecx_readstate

ecx_writestate

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