fsm_sii.c File Reference

EtherCAT slave information interface FSM. More...

Go to the source code of this file.

Macros
#define	SII_LOAD_TIMEOUT   500
	EEPROM load timeout [ms]. More...
#define	SII_TIMEOUT   20
	Read/write timeout [ms]. More...
#define	SII_INHIBIT   5
	Time before evaluating answer at writing [ms].

Functions
void	ec_fsm_sii_state_start_reading (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: START READING. More...
void	ec_fsm_sii_state_read_check (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: READ CHECK. More...
void	ec_fsm_sii_state_read_fetch (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: READ FETCH. More...
void	ec_fsm_sii_state_start_writing (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: START WRITING. More...
void	ec_fsm_sii_state_write_check (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: WRITE CHECK. More...
void	ec_fsm_sii_state_write_check2 (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	SII state: WRITE CHECK 2. More...
void	ec_fsm_sii_state_end (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	State: END. More...
void	ec_fsm_sii_state_error (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	State: ERROR. More...
void	ec_fsm_sii_init (ec_fsm_sii_t *fsm)
	Constructor. More...
void	ec_fsm_sii_clear (ec_fsm_sii_t *fsm)
	Destructor. More...
void	ec_fsm_sii_read (ec_fsm_sii_t *fsm, ec_slave_t *slave, uint16_t word_offset, ec_fsm_sii_addressing_t mode)
	Initializes the SII read state machine. More...
void	ec_fsm_sii_write (ec_fsm_sii_t *fsm, ec_slave_t *slave, uint16_t word_offset, const uint16_t *value, ec_fsm_sii_addressing_t mode)
	Initializes the SII write state machine. More...
int	ec_fsm_sii_exec (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	Executes the SII state machine. More...
int	ec_fsm_sii_success (ec_fsm_sii_t *fsm)
	Returns, if the master startup state machine terminated with success. More...
static void	ec_fsm_sii_prepare_read (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_sii_prepare_read_check (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_sii_prepare_write (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
static void	ec_fsm_sii_prepare_write_check (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)

Detailed Description

EtherCAT slave information interface FSM.

Definition in file fsm_sii.c.

Macro Definition Documentation

SII_LOAD_TIMEOUT

#define SII_LOAD_TIMEOUT   500

EEPROM load timeout [ms].

Used to calculate timeouts bsed on the jiffies counter.

Attention

Must be more than 10 to avoid problems on kernels that run with a timer interupt frequency of 100 Hz.

Definition at line 49 of file fsm_sii.c.

SII_TIMEOUT

#define SII_TIMEOUT   20

Read/write timeout [ms].

Used to calculate timeouts bsed on the jiffies counter.

Attention

Must be more than 10 to avoid problems on kernels that run with a timer interupt frequency of 100 Hz.

Definition at line 58 of file fsm_sii.c.

Function Documentation

ec_fsm_sii_state_start_reading()

void ec_fsm_sii_state_start_reading	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: START READING.

Starts reading the slave information interface.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 266 of file fsm_sii.c.

ec_fsm_sii_state_read_check()

void ec_fsm_sii_state_read_check	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: READ CHECK.

Checks, if the SII-read-datagram has been sent and issues a fetch datagram.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 290 of file fsm_sii.c.

ec_fsm_sii_state_read_fetch()

void ec_fsm_sii_state_read_fetch	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: READ FETCH.

Fetches the result of an SII-read datagram.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 329 of file fsm_sii.c.

ec_fsm_sii_state_start_writing()

void ec_fsm_sii_state_start_writing	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: START WRITING.

Starts writing a word through the slave information interface.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 439 of file fsm_sii.c.

ec_fsm_sii_state_write_check()

void ec_fsm_sii_state_write_check	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: WRITE CHECK.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 461 of file fsm_sii.c.

ec_fsm_sii_state_write_check2()

void ec_fsm_sii_state_write_check2	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

SII state: WRITE CHECK 2.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 499 of file fsm_sii.c.

ec_fsm_sii_state_end()

void ec_fsm_sii_state_end	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

State: END.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 598 of file fsm_sii.c.

ec_fsm_sii_state_error()

void ec_fsm_sii_state_error	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

State: ERROR.

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 585 of file fsm_sii.c.

ec_fsm_sii_init()

void ec_fsm_sii_init

(

ec_fsm_sii_t *

fsm

)

Constructor.

Parameters

fsm	finite state machine

Definition at line 83 of file fsm_sii.c.

ec_fsm_sii_clear()

void ec_fsm_sii_clear

(

ec_fsm_sii_t *

fsm

)

Destructor.

Parameters

fsm	finite state machine

Definition at line 96 of file fsm_sii.c.

ec_fsm_sii_read()

void ec_fsm_sii_read	(	ec_fsm_sii_t *	fsm,
		ec_slave_t *	slave,
		uint16_t	word_offset,
		ec_fsm_sii_addressing_t	mode
	)

Initializes the SII read state machine.

Parameters

fsm	finite state machine
slave	slave to read from
word_offset	offset to read from
mode	addressing scheme

Definition at line 106 of file fsm_sii.c.

ec_fsm_sii_write()

void ec_fsm_sii_write	(	ec_fsm_sii_t *	fsm,
		ec_slave_t *	slave,
		uint16_t	word_offset,
		const uint16_t *	value,
		ec_fsm_sii_addressing_t	mode
	)

Initializes the SII write state machine.

Parameters

fsm	finite state machine
slave	slave to read from
word_offset	offset to read from
value	pointer to 2 bytes of data
mode	addressing scheme

Definition at line 124 of file fsm_sii.c.

ec_fsm_sii_exec()

int ec_fsm_sii_exec	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

Executes the SII state machine.

Returns

false, if the state machine has terminated

Parameters

fsm	finite state machine
datagram	datagram structure to use

Definition at line 145 of file fsm_sii.c.

ec_fsm_sii_success()

int ec_fsm_sii_success

(

ec_fsm_sii_t *

fsm

)

Returns, if the master startup state machine terminated with success.

Returns

non-zero if successful.

Parameters

fsm	Finite state machine

Definition at line 179 of file fsm_sii.c.

ec_fsm_sii_prepare_read()

static void ec_fsm_sii_prepare_read ( ec_fsm_sii_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 188 of file fsm_sii.c.

ec_fsm_sii_prepare_read_check()

static void ec_fsm_sii_prepare_read_check ( ec_fsm_sii_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 210 of file fsm_sii.c.

ec_fsm_sii_prepare_write()

static void ec_fsm_sii_prepare_write ( ec_fsm_sii_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 230 of file fsm_sii.c.

ec_fsm_sii_prepare_write_check()

static void ec_fsm_sii_prepare_write_check ( ec_fsm_sii_t *  fsm, ec_datagram_t *  datagram  )

static

Parameters

fsm	finite state machine
datagram	Datagram to use.

Definition at line 247 of file fsm_sii.c.