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src/states.c
changeset 378 d2abf6c8c27b
parent 370 6fecf36df407
child 381 854c43cdc24a
equal deleted inserted replaced
377:bea5a1576cbd 378:d2abf6c8c27b 
    27 ** @brief
 
    27 ** @brief
 
    28 **
 
    28 **
 
    29 **
 
    29 **
 
    30 */
 
    30 */
 
    31 
    31 
    32 #include "states.h"
 
    32 #include "data.h"
 
    33 #include "def.h"
 
       
    34 #include "dcf.h"
 
       
    35 #include "nmtSlave.h"
 
       
    36 #include "emcy.h"
 
       
    37 #ifdef CO_ENABLE_LSS
 
       
    38 #include "lss.h"
 
       
    39 #endif
 
       
    40 #include "sysdep.h"
 
    33 #include "sysdep.h"
 
    41 
    34 
    42 /** Prototypes for internals functions */
 
    35 /** Prototypes for internals functions */
 
    43 /*!                                                                                                
    36 /*!                                                                                                
    44 **                                                                                                 
    37 **                                                                                                 
   162 **                                                                                                 
   155 **                                                                                                 
   163 ** @return                                                                                         
   156 ** @return                                                                                         
   164 **/  
   157 **/  
   165 UNS8 setState(CO_Data* d, e_nodeState newState)
 
   158 UNS8 setState(CO_Data* d, e_nodeState newState)
 
   166 {
 
   159 {
 
   167 	while(newState != d->nodeState){
 
   160 	if(newState != d->nodeState){
 
   168 		switch( newState ){
 
   161 		switch( newState ){
 
   169 			case Initialisation:
 
   162 			case Initialisation:
 
   170 			{
 
   163 			{
 
   171 				s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0, 0};
 
   164 				s_state_communication newCommunicationState = {1, 0, 0, 0, 0, 0, 0};
 
   172 				/* This will force a second loop for the state switch */
 
       
   173 				d->nodeState = Initialisation;
 
   165 				d->nodeState = Initialisation;
 
   174 				newState = Pre_operational;
 
   166 				switchCommunicationState(d, &newCommunicationState);
 
   175 				switchCommunicationState(d, &newCommunicationState);
 
   167 				/* call user app init callback now. */
 
   176 				/* call user app related state func. */
 
   168 				/* d->initialisation MUST NOT CALL SetState */
 
   177 				(*d->initialisation)();
 
   169 				(*d->initialisation)(d);				
   178 				
   170 			}
 
   179 			}
 
   171 
   180 			break;
 
   172 			/* Automatic transition - No break statement ! */
 
       
   173 			/* Transition from Initialisation to Pre_operational */
 
       
   174 			/* is automatic as defined in DS301. */
 
       
   175 			/* App don't have to call SetState(d, Pre_operational) */
 
   181 								
   176 								
   182 			case Pre_operational:
 
   177 			case Pre_operational:
 
   183 			{
 
   178 			{
 
   184 				
   179 				
   185 				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0, 1};
 
   180 				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 0, 1};
 
   186 				d->nodeState = Pre_operational;
 
   181 				d->nodeState = Pre_operational;
 
   187 				newState = Pre_operational;
 
       
   188 				switchCommunicationState(d, &newCommunicationState);
 
   182 				switchCommunicationState(d, &newCommunicationState);
 
   189 				if (!(*(d->iam_a_slave)))
 
   183 				if (!(*(d->iam_a_slave)))
 
   190 				{
 
   184 				{
 
   191 					//send_consise_dcf(d,0x01);
 
       
   192 					masterSendNMTstateChange (d, 0, NMT_Reset_Node);
 
   185 					masterSendNMTstateChange (d, 0, NMT_Reset_Node);
 
   193                     (*d->preOperational)(); 
       
   194 				}
 
   186 				}
 
   195 				else 
   187                 (*d->preOperational)(d);
 
   196 				{
 
       
   197 					(*d->preOperational)();
 
       
   198 				}
 
       
   199 			}
 
   188 			}
 
   200 			break;
 
   189 			break;
 
   201 								
   190 								
   202 			case Operational:
 
   191 			case Operational:
 
   203 			if(d->nodeState == Initialisation) return 0xFF;
 
   192 			if(d->nodeState == Initialisation) return 0xFF;
 
   204 			{
 
   193 			{
 
   205 				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1, 0};
 
   194 				s_state_communication newCommunicationState = {0, 1, 1, 1, 1, 1, 0};
 
   206 				d->nodeState = Operational;
 
   195 				d->nodeState = Operational;
 
   207 				newState = Operational;
 
   196 				newState = Operational;
 
   208 				switchCommunicationState(d, &newCommunicationState);
 
   197 				switchCommunicationState(d, &newCommunicationState);
 
   209 				(*d->operational)();
 
   198 				(*d->operational)(d);
 
   210 			}
 
   199 			}
 
   211 			break;
 
   200 			break;
 
   212 						
   201 						
   213 			case Stopped:
 
   202 			case Stopped:
 
   214 			if(d->nodeState == Initialisation) return 0xFF;
 
   203 			if(d->nodeState == Initialisation) return 0xFF;
 
   215 			{
 
   204 			{
 
   216 				s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0, 1};
 
   205 				s_state_communication newCommunicationState = {0, 0, 0, 0, 1, 0, 1};
 
   217 				d->nodeState = Stopped;
 
   206 				d->nodeState = Stopped;
 
   218 				newState = Stopped;
 
   207 				newState = Stopped;
 
   219 				switchCommunicationState(d, &newCommunicationState);
 
   208 				switchCommunicationState(d, &newCommunicationState);
 
   220 				(*d->stopped)();
 
   209 				(*d->stopped)(d);
 
   221 			}
 
   210 			}
 
   222 			break;
 
   211 			break;
 
   223 #ifdef CO_ENABLE_LSS
 
   212 #ifdef CO_ENABLE_LSS
 
   224 			case LssTimingDelay:
 
   213 			case LssTimingDelay:
 
   225 			{
 
   214 			{
 
   228 				newState = LssTimingDelay;
 
   217 				newState = LssTimingDelay;
 
   229 				switchCommunicationState(d, &newCommunicationState);
 
   218 				switchCommunicationState(d, &newCommunicationState);
 
   230 			}
 
   219 			}
 
   231 			break;
 
   220 			break;
 
   232 #endif
 
   221 #endif
 
   233 			
       
   234 			default:
 
       
   235 				return 0xFF;
 
       
   236 		}/* end switch case */
 
   222 		}/* end switch case */
 
   237 	
   223 	
   238 	}
 
   224 	}
 
   239 	return 0;
 
   225 	/* d->nodeState contains the final state */
 
       
   226 	/* may not be the requested state */
 
       
   227     return d->nodeState;  
   240 }
 
   228 }
 
   241 
   229 
   242 /*!                                                                                                
   230 /*!                                                                                                
   243 **                                                                                                 
   231 **                                                                                                 
   244 **                                                                                                 
   232 **                                                                                                 
   325 
   313 
   326   /* bDeviceNodeId is defined in the object dictionary. */
 
   314   /* bDeviceNodeId is defined in the object dictionary. */
 
   327   *d->bDeviceNodeId = nodeId;
 
   315   *d->bDeviceNodeId = nodeId;
 
   328 }
 
   316 }
 
   329 
   317 
   330 void _initialisation(){}
 
   318 void _initialisation(CO_Data* d){}
 
   331 void _preOperational(){}
 
   319 void _preOperational(CO_Data* d){}
 
   332 void _operational(){}
 
   320 void _operational(CO_Data* d){}
 
   333 void _stopped(){}
 
   321 void _stopped(CO_Data* d){}
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