Ethercat解析（十三）之fsm_master状态机

最新推荐文章于 2025-08-06 11:12:55 发布

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最新推荐文章于 2025-08-06 11:12:55 发布 · 2.3k 阅读

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#Ethercat解析 #十三 #fsm_master #状态机

1. fsm_master结构体

struct ec_fsm_master {
    ec_master_t *master; /**< master the FSM runs on */
    ec_datagram_t *datagram; /**< datagram used in the state machine */
    unsigned int retries; /**< retries on datagram timeout. */

    void (*state)(ec_fsm_master_t *); /**< master state function */
    ec_device_index_t dev_idx; /**< Current device index (for scanning etc.).
                            */
    int idle; /**< state machine is in idle phase */
    unsigned long scan_jiffies; /**< beginning of slave scanning */
    uint8_t link_state[EC_MAX_NUM_DEVICES]; /**< Last link state for every
                                          device. */
    unsigned int slaves_responding[EC_MAX_NUM_DEVICES]; /**< Number of
                                                      responding slaves
                                                      for every device. */
    unsigned int rescan_required; /**< A bus rescan i