fsm_sii.c File Reference

EtherCAT slave information interface FSM. More...

Go to the source code of this file.

Defines
#define	SII_TIMEOUT   20
	Read/write timeout [ms].
#define	SII_INHIBIT   5
	Time before evaluating answer at writing [ms].
Functions
void	ec_fsm_sii_state_start_reading (ec_fsm_sii_t *fsm)
	SII state: START READING.
void	ec_fsm_sii_state_read_check (ec_fsm_sii_t *fsm)
	SII state: READ CHECK.
void	ec_fsm_sii_state_read_fetch (ec_fsm_sii_t *fsm)
	SII state: READ FETCH.
void	ec_fsm_sii_state_start_writing (ec_fsm_sii_t *fsm)
	SII state: START WRITING.
void	ec_fsm_sii_state_write_check (ec_fsm_sii_t *fsm)
	SII state: WRITE CHECK.
void	ec_fsm_sii_state_write_check2 (ec_fsm_sii_t *fsm)
	SII state: WRITE CHECK 2.
void	ec_fsm_sii_state_end (ec_fsm_sii_t *fsm)
	State: END.
void	ec_fsm_sii_state_error (ec_fsm_sii_t *fsm)
	State: ERROR.
void	ec_fsm_sii_init (ec_fsm_sii_t *fsm, ec_datagram_t *datagram)
	Constructor.
void	ec_fsm_sii_clear (ec_fsm_sii_t *fsm)
	Destructor.
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.
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.
int	ec_fsm_sii_exec (ec_fsm_sii_t *fsm)
	Executes the SII state machine.
int	ec_fsm_sii_success (ec_fsm_sii_t *fsm)
	Returns, if the master startup state machine terminated with success.

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Detailed Description

EtherCAT slave information interface FSM.

Definition in file fsm_sii.c.

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Define Documentation

#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 49 of file fsm_sii.c.

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Function Documentation

void ec_fsm_sii_state_start_reading

(

ec_fsm_sii_t *

fsm

)

SII state: START READING.

Starts reading the slave information interface.

Parameters:

fsm	finite state machine

Definition at line 166 of file fsm_sii.c.

void ec_fsm_sii_state_read_check

(

ec_fsm_sii_t *

fsm

)

SII state: READ CHECK.

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

Parameters:

fsm	finite state machine

Definition at line 203 of file fsm_sii.c.

void ec_fsm_sii_state_read_fetch

(

ec_fsm_sii_t *

fsm

)

SII state: READ FETCH.

Fetches the result of an SII-read datagram.

Parameters:

fsm	finite state machine

Definition at line 250 of file fsm_sii.c.

void ec_fsm_sii_state_start_writing

(

ec_fsm_sii_t *

fsm

)

SII state: START WRITING.

Starts writing a word through the slave information interface.

Parameters:

fsm	finite state machine

Definition at line 320 of file fsm_sii.c.

void ec_fsm_sii_state_write_check

(

ec_fsm_sii_t *

fsm

)

SII state: WRITE CHECK.

Parameters:

fsm	finite state machine

Definition at line 350 of file fsm_sii.c.

void ec_fsm_sii_state_write_check2

(

ec_fsm_sii_t *

fsm

)

SII state: WRITE CHECK 2.

Parameters:

fsm	finite state machine

Definition at line 389 of file fsm_sii.c.

void ec_fsm_sii_state_end

(

ec_fsm_sii_t *

fsm

)

State: END.

Parameters:

fsm	finite state machine

Definition at line 484 of file fsm_sii.c.

void ec_fsm_sii_state_error

(

ec_fsm_sii_t *

fsm

)

State: ERROR.

Parameters:

fsm	finite state machine

Definition at line 472 of file fsm_sii.c.

void ec_fsm_sii_init	(	ec_fsm_sii_t *	fsm,
		ec_datagram_t *	datagram
	)

Constructor.

Parameters:

fsm	finite state machine
datagram	datagram structure to use

Definition at line 74 of file fsm_sii.c.

void ec_fsm_sii_clear

(

ec_fsm_sii_t *

fsm

)

Destructor.

Parameters:

fsm	finite state machine

Definition at line 88 of file fsm_sii.c.

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 98 of file fsm_sii.c.

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 116 of file fsm_sii.c.

int ec_fsm_sii_exec

(

ec_fsm_sii_t *

fsm

)

Executes the SII state machine.

Returns:

false, if the state machine has terminated

Parameters:

fsm	finite state machine

Definition at line 137 of file fsm_sii.c.

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 152 of file fsm_sii.c.