master/fsm_change.c
author Florian Pose <fp@igh-essen.com>
Wed, 29 Apr 2009 09:43:04 +0000
changeset 1421 043a518831b2
parent 1363 11c0b2caa253
child 1445 45c5f5560274
permissions -rw-r--r--
Bus topology calculation.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT state change FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "fsm_change.h"
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/*****************************************************************************/
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void ec_fsm_change_state_start(ec_fsm_change_t *);
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void ec_fsm_change_state_check(ec_fsm_change_t *);
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void ec_fsm_change_state_status(ec_fsm_change_t *);
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void ec_fsm_change_state_code(ec_fsm_change_t *);
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void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_end(ec_fsm_change_t *);
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void ec_fsm_change_state_error(ec_fsm_change_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */
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                        ec_datagram_t *datagram /**< datagram */
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                        )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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    fsm->spontaneous_change = 0;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine.
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*/
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void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
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                         ec_slave_t *slave, /**< EtherCAT slave */
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                         ec_slave_state_t state /**< requested state */
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                         )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_FULL;
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    fsm->slave = slave;
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    fsm->requested_state = state;
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    fsm->state = ec_fsm_change_state_start;
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine to only acknowlegde a slave's state.
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*/
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void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
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                       ec_slave_t *slave /**< EtherCAT slave */
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                       )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
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    fsm->slave = slave;
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    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    fsm->state = ec_fsm_change_state_start_ack;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_change_state_end
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        && fsm->state != ec_fsm_change_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_change_state_end;
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}
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/******************************************************************************
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 *  state change state machine
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 *****************************************************************************/
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/**
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   Change state: START.
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*/
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454
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void ec_fsm_change_state_start(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    fsm->take_time = 1;
454
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    fsm->old_state = fsm->slave->current_state;
434
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    // write new state to slave
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    ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
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    EC_WRITE_U16(datagram->data, fsm->requested_state);
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    fsm->retries = EC_FSM_RETRIES;
454
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    fsm->state = ec_fsm_change_state_check;
434
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}
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/*****************************************************************************/
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/**
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   Change state: CHECK.
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*/
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454
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void ec_fsm_change_state_check(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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637
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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434
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
454
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        fsm->state = ec_fsm_change_state_error;
986
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        EC_ERR("Failed to receive state datagram from slave %u"
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                " (datagram state %u)!\n",
594
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               fsm->slave->ring_position, datagram->state);
434
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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    }
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713
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    if (datagram->working_counter == 0) {
434
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        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
438
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            char state_str[EC_STATE_STRING_SIZE];
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            ec_state_string(fsm->requested_state, state_str, 0);
454
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            fsm->state = ec_fsm_change_state_error;
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            EC_ERR("Failed to set state %s on slave %u: ",
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                    state_str, fsm->slave->ring_position);
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            ec_datagram_print_wc_error(datagram);
434
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            return;
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        }
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        // repeat writing new state to slave
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        ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
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        EC_WRITE_U16(datagram->data, fsm->requested_state);
505
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        fsm->retries = EC_FSM_RETRIES;
434
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        return;
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    }
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713
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    if (unlikely(datagram->working_counter > 1)) {
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        char state_str[EC_STATE_STRING_SIZE];
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        ec_state_string(fsm->requested_state, state_str, 0);
713
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        fsm->state = ec_fsm_change_state_error;
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        EC_ERR("Failed to set state %s on slave %u: ",
713
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                state_str, fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
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        return;
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    }
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434
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    fsm->take_time = 1;
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    // read AL status from slave
815
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    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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    ec_datagram_zero(datagram);
505
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    fsm->retries = EC_FSM_RETRIES;
738
880c6153101f Improved handling for spontaneous AL state changes.
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    fsm->spontaneous_change = 0;
454
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    fsm->state = ec_fsm_change_state_status;
434
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}
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/*****************************************************************************/
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/**
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   Change state: STATUS.
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*/
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454
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void ec_fsm_change_state_status(ec_fsm_change_t *fsm
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   235
                                /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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bc443ca0077f State machines re-send datagrams on timeout.
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   243
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_change_state_error;
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a486591ba86b Replaced misleading %i by %u.
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        EC_ERR("Failed to receive state checking datagram from slave %u"
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                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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   247
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
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        return;
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   249
    }
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bc443ca0077f State machines re-send datagrams on timeout.
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   251
    if (datagram->working_counter != 1) {
469
a9c7991dca6b Fixed state change FSM again.
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        char req_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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   253
        ec_state_string(fsm->requested_state, req_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
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   254
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
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   255
        EC_ERR("Failed to check state %s on slave %u: ",
469
a9c7991dca6b Fixed state change FSM again.
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   256
               req_state, slave->ring_position);
713
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        ec_datagram_print_wc_error(datagram);
434
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        return;
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   259
    }
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   261
    if (fsm->take_time) {
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   262
        fsm->take_time = 0;
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   263
        fsm->jiffies_start = datagram->jiffies_sent;
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   264
    }
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    slave->current_state = EC_READ_U8(datagram->data);
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   267
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   268
    if (slave->current_state == fsm->requested_state) {
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        // state has been set successfully
454
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        fsm->state = ec_fsm_change_state_end;
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   271
        return;
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   272
    }
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   273
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   274
    if (slave->current_state != fsm->old_state) { // state changed
438
64edce89fe9b Output state names instead of codes in change FSM.
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   275
        char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
454
25cc4a3b9e0a State acknowledgement in master state machine.
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   276
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   277
        ec_state_string(slave->current_state, cur_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   278
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   279
        if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   280
            // Slave spontaneously changed its state just before the new state
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   281
            // was written. Accept current state as old state and wait for
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   282
            // state change
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   283
            fsm->spontaneous_change = 1;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   284
            fsm->old_state = slave->current_state;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   285
            EC_WARN("Slave %u changed to %s in the meantime.\n",
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   286
                    slave->ring_position, cur_state);
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   287
            goto check_again;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   288
        }
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   289
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   290
        // state change error
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   291
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   292
        slave->error_flag = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   293
        ec_state_string(fsm->requested_state, req_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   294
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   295
        EC_ERR("Failed to set %s state, slave %u refused state change (%s).\n",
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   296
               req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   297
        // fetch AL status error code
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   298
        ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   299
        ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   300
        fsm->retries = EC_FSM_RETRIES;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   301
        fsm->state = ec_fsm_change_state_code;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   302
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   303
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   304
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   305
    // still old state
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
439
0f5a3d983908 Increased state change checking timeout to 1s.
Florian Pose <fp@igh-essen.com>
parents: 438
diff changeset
   307
    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   309
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   310
        ec_state_string(fsm->requested_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   311
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   312
        EC_ERR("Timeout while setting state %s on slave %u.\n",
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   313
                state_str, slave->ring_position);
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   314
        return;
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   315
    }
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   316
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   317
 check_again:
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   318
    // no timeout yet. check again
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   319
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   320
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   321
    fsm->retries = EC_FSM_RETRIES;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
   Application layer status messages.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
    {0x0001, "Unspecified error"},
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   332
    {0x0011, "Invalid requested state change"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    {0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
    {0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
    {0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
    {0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    {0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
    {0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    {0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    {0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    {0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    {0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    {0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    {0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
    {0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    {0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    {0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    {0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    {0x0022, "Slave needs PREOP"},
813
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 798
diff changeset
   350
    {0x0023, "Slave needs SAFEOP"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    {0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    {0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    {0x0032, "PLL error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    {0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    {0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    {0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    {0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    {0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    {0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    {0x004F, "MBOX VOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    {}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
};
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
   Change state: CODE.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   370
void ec_fsm_change_state_code(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   371
                              /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   372
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   373
    ec_datagram_t *datagram = fsm->datagram;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   374
    uint32_t code;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   377
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   378
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   379
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   380
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   381
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   382
        EC_ERR("Failed to receive AL status code datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   383
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   384
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   385
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   386
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   387
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   388
    if (datagram->working_counter != 1) {
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   389
        EC_WARN("Reception of AL status code datagram failed: ");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   390
        ec_datagram_print_wc_error(datagram);
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   391
    } else {
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   392
        code = EC_READ_U16(datagram->data);
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   393
        for (al_msg = al_status_messages; al_msg->code; al_msg++) {
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   394
            if (al_msg->code != code) continue;
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   395
            EC_ERR("AL status message 0x%04X: \"%s\".\n",
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   396
                    al_msg->code, al_msg->message);
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   397
            break;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
        }
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   399
        if (!al_msg->code)
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   400
            EC_ERR("Unknown AL status code 0x%04X.\n", code);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    // acknowledge "old" slave state
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   404
    ec_fsm_change_state_start_ack(fsm); // execute immediately
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   405
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   406
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   407
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   408
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   409
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   410
   Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   411
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   412
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   413
void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   414
                                   /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   415
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   416
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   417
    ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   418
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   419
    ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    EC_WRITE_U16(datagram->data, slave->current_state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   421
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   422
    fsm->state = ec_fsm_change_state_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
   Change state: ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   431
void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   436
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   437
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   438
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   439
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   440
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   441
        EC_ERR("Failed to receive state ack datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   442
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   443
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   444
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   445
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   446
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   447
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   448
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   449
        EC_ERR("Reception of state ack datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   450
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   451
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   454
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
    // read new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   458
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   459
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   460
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   461
    fsm->state = ec_fsm_change_state_check_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
   Change state: CHECK ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   470
void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   471
                                   /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   476
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   477
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   478
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   479
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   480
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   481
        EC_ERR("Failed to receive state ack check datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   482
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   483
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   484
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   485
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   486
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   487
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   488
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   489
        EC_ERR("Reception of state ack check datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   490
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   491
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   492
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
    slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
    if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   503
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   504
        ec_state_string(slave->current_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   505
        if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   506
            fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   507
        }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   508
        else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   509
            fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   510
        }
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   511
        EC_INFO("Acknowledged state %s on slave %u.\n",
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   512
                state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   516
    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   517
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   518
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   519
        ec_state_string(slave->current_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   520
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   521
        EC_ERR("Timeout while acknowledging state %s on slave %u.\n",
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   522
               state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   523
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   524
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
    // reread new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   527
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   528
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   529
    fsm->retries = EC_FSM_RETRIES;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
   State: ERROR.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   538
void ec_fsm_change_state_error(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   539
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
   State: END.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   549
void ec_fsm_change_state_end(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   550
                             /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   551
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   552
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   553
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   554
/*****************************************************************************/