author | Florian Pose <fp@igh-essen.com> |
Tue, 25 Nov 2008 16:23:46 +0000 | |
changeset 1319 | 38da03647aee |
parent 1225 | 4d5b739edcb5 |
child 1326 | ef907b0b5125 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 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 |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; either version 2 of the |
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* License, or (at your option) any later version. |
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* |
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* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General 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 |
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* along 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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* The right to use EtherCAT Technology is granted and comes free of |
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* charge under condition of compatibility of product made by |
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* Licensee. People intending to distribute/sell products based on the |
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* code, have to sign an agreement to guarantee that products using |
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* software based on IgH EtherCAT master stay compatible with the actual |
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* EtherCAT specification (which are released themselves as an open |
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* standard) as the (only) precondition to have the right to use EtherCAT |
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* Technology, IP and trade marks. |
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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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diff
changeset
|
125 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
126 |
return fsm->state != ec_fsm_change_state_end |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
127 |
&& fsm->state != ec_fsm_change_state_error; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
128 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
129 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
130 |
/*****************************************************************************/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
131 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
132 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
133 |
Returns, if the state machine terminated with success. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
134 |
\return non-zero if successful. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
135 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
136 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
137 |
int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */) |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
138 |
{ |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
139 |
return fsm->state == ec_fsm_change_state_end; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
140 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
141 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
142 |
/****************************************************************************** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
143 |
* state change state machine |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
144 |
*****************************************************************************/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
145 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
146 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
147 |
Change state: START. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
148 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
149 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
150 |
void ec_fsm_change_state_start(ec_fsm_change_t *fsm |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
151 |
/**< finite state machine */) |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
152 |
{ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
153 |
ec_datagram_t *datagram = fsm->datagram; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
154 |
ec_slave_t *slave = fsm->slave; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
155 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
156 |
fsm->take_time = 1; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
157 |
fsm->old_state = fsm->slave->current_state; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
158 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
159 |
// write new state to slave |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
160 |
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
|
161 |
EC_WRITE_U16(datagram->data, fsm->requested_state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
162 |
fsm->retries = EC_FSM_RETRIES; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
163 |
fsm->state = ec_fsm_change_state_check; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
164 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
165 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
166 |
/*****************************************************************************/ |
0180d8277311
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
167 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
168 |
/** |
0180d8277311
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Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
169 |
Change state: CHECK. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
170 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
171 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
172 |
void ec_fsm_change_state_check(ec_fsm_change_t *fsm |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
173 |
/**< finite state machine */) |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
174 |
{ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
175 |
ec_datagram_t *datagram = fsm->datagram; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
176 |
ec_slave_t *slave = fsm->slave; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
177 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
178 |
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
|
179 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
180 |
|
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
181 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
182 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
183 |
EC_ERR("Failed to receive state datagram from slave %u" |
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
184 |
" (datagram state %u)!\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
185 |
fsm->slave->ring_position, datagram->state); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
186 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
187 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
188 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
189 |
if (fsm->take_time) { |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
190 |
fsm->take_time = 0; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
191 |
fsm->jiffies_start = datagram->jiffies_sent; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
192 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
193 |
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
194 |
if (datagram->working_counter == 0) { |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
195 |
if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) { |
438
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
196 |
char state_str[EC_STATE_STRING_SIZE]; |
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
197 |
ec_state_string(fsm->requested_state, state_str); |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
198 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
199 |
EC_ERR("Failed to set state %s on slave %u: ", |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
200 |
state_str, fsm->slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
201 |
ec_datagram_print_wc_error(datagram); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
202 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
203 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
204 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
205 |
// repeat writing new state to slave |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
206 |
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
|
207 |
EC_WRITE_U16(datagram->data, fsm->requested_state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
208 |
fsm->retries = EC_FSM_RETRIES; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
209 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
210 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
211 |
|
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
212 |
if (unlikely(datagram->working_counter > 1)) { |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
213 |
char state_str[EC_STATE_STRING_SIZE]; |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
214 |
ec_state_string(fsm->requested_state, state_str); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
215 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
216 |
EC_ERR("Failed to set state %s on slave %u: ", |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
217 |
state_str, fsm->slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
218 |
ec_datagram_print_wc_error(datagram); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
219 |
return; |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
220 |
} |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
221 |
|
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
222 |
fsm->take_time = 1; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
223 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
224 |
// read AL status from slave |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
225 |
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
|
226 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
227 |
fsm->retries = EC_FSM_RETRIES; |
738
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
228 |
fsm->spontaneous_change = 0; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
229 |
fsm->state = ec_fsm_change_state_status; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
230 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
231 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
232 |
/*****************************************************************************/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
233 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
234 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
235 |
Change state: STATUS. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
236 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
237 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
238 |
void ec_fsm_change_state_status(ec_fsm_change_t *fsm |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
239 |
/**< finite state machine */) |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
240 |
{ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
241 |
ec_datagram_t *datagram = fsm->datagram; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
242 |
ec_slave_t *slave = fsm->slave; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
243 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
244 |
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
|
245 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
246 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
247 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
248 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
249 |
EC_ERR("Failed to receive state checking datagram from slave %u" |
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
250 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
251 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
252 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
253 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
254 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
255 |
if (datagram->working_counter != 1) { |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
256 |
char req_state[EC_STATE_STRING_SIZE]; |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
257 |
ec_state_string(fsm->requested_state, req_state); |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
258 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
259 |
EC_ERR("Failed to check state %s on slave %u: ", |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
260 |
req_state, slave->ring_position); |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
261 |
ec_datagram_print_wc_error(datagram); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
262 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
263 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
264 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
265 |
if (fsm->take_time) { |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
266 |
fsm->take_time = 0; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
267 |
fsm->jiffies_start = datagram->jiffies_sent; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
268 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
269 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
270 |
slave->current_state = EC_READ_U8(datagram->data); |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
271 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
272 |
if (slave->current_state == fsm->requested_state) { |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
273 |
// state has been set successfully |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
274 |
fsm->state = ec_fsm_change_state_end; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
275 |
return; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
276 |
} |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
277 |
|
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
278 |
if (slave->current_state != fsm->old_state) { // state changed |
438
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
279 |
char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE]; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
280 |
|
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
281 |
ec_state_string(slave->current_state, cur_state); |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
282 |
|
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
283 |
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
|
284 |
// 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
|
285 |
// 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
|
286 |
// state change |
738
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
287 |
fsm->spontaneous_change = 1; |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
288 |
fsm->old_state = slave->current_state; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
289 |
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
|
290 |
slave->ring_position, cur_state); |
738
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
291 |
goto check_again; |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
292 |
} |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
293 |
|
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
294 |
// state change error |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
295 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
296 |
slave->error_flag = 1; |
438
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
297 |
ec_state_string(fsm->requested_state, req_state); |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
298 |
|
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
299 |
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
|
300 |
req_state, slave->ring_position, cur_state); |
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
301 |
// fetch AL status error code |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
302 |
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
|
303 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
304 |
fsm->retries = EC_FSM_RETRIES; |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
305 |
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
|
306 |
return; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
307 |
} |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
308 |
|
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
309 |
// still old state |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
310 |
|
439
0f5a3d983908
Increased state change checking timeout to 1s.
Florian Pose <fp@igh-essen.com>
parents:
438
diff
changeset
|
311 |
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
|
312 |
// timeout while checking |
438
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
313 |
char state_str[EC_STATE_STRING_SIZE]; |
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
314 |
ec_state_string(fsm->requested_state, state_str); |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
315 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
316 |
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
|
317 |
state_str, slave->ring_position); |
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
318 |
return; |
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
319 |
} |
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
320 |
|
880c6153101f
Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents:
713
diff
changeset
|
321 |
check_again: |
469
a9c7991dca6b
Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents:
454
diff
changeset
|
322 |
// no timeout yet. check again |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
323 |
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
|
324 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
325 |
fsm->retries = EC_FSM_RETRIES; |
434
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 |
|
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 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
331 |
Application layer status messages. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
332 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
333 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
334 |
const ec_code_msg_t al_status_messages[] = { |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
335 |
{0x0001, "Unspecified error"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
336 |
{0x0011, "Invalud requested state change"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
337 |
{0x0012, "Unknown requested state"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
338 |
{0x0013, "Bootstrap not supported"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
339 |
{0x0014, "No valid firmware"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
340 |
{0x0015, "Invalid mailbox configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
341 |
{0x0016, "Invalid mailbox configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
342 |
{0x0017, "Invalid sync manager configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
343 |
{0x0018, "No valid inputs available"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
344 |
{0x0019, "No valid outputs"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
345 |
{0x001A, "Synchronisation error"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
346 |
{0x001B, "Sync manager watchdog"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
347 |
{0x001C, "Invalid sync manager types"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
348 |
{0x001D, "Invalid output configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
349 |
{0x001E, "Invalid input configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
350 |
{0x001F, "Invalid watchdog configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
351 |
{0x0020, "Slave needs cold start"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
352 |
{0x0021, "Slave needs INIT"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
353 |
{0x0022, "Slave needs PREOP"}, |
813
bfc3f1ab52de
Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents:
798
diff
changeset
|
354 |
{0x0023, "Slave needs SAFEOP"}, |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
355 |
{0x0030, "Invalid DC SYNCH configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
356 |
{0x0031, "Invalid DC latch configuration"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
357 |
{0x0032, "PLL error"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
358 |
{0x0033, "Invalid DC IO error"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
359 |
{0x0034, "Invalid DC timeout error"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
360 |
{0x0042, "MBOX EOE"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
361 |
{0x0043, "MBOX COE"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
362 |
{0x0044, "MBOX FOE"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
363 |
{0x0045, "MBOX SOE"}, |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
364 |
{0x004F, "MBOX VOE"}, |
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 |
|
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 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
370 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
371 |
Change state: CODE. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
372 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
373 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
374 |
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
|
375 |
/**< finite state machine */) |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
376 |
{ |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
377 |
ec_datagram_t *datagram = fsm->datagram; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
378 |
uint32_t code; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
379 |
const ec_code_msg_t *al_msg; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
380 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
381 |
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
|
382 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
383 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
384 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
385 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
386 |
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
|
387 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
388 |
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
|
389 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
390 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
391 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
392 |
if (datagram->working_counter != 1) { |
713
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
393 |
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
|
394 |
ec_datagram_print_wc_error(datagram); |
798
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
395 |
} else { |
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
396 |
code = EC_READ_U16(datagram->data); |
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
397 |
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
|
398 |
if (al_msg->code != code) continue; |
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
399 |
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
|
400 |
al_msg->code, al_msg->message); |
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
401 |
break; |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
402 |
} |
798
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
403 |
if (!al_msg->code) |
5a58606726f3
Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents:
738
diff
changeset
|
404 |
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
|
405 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
406 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
407 |
// acknowledge "old" slave state |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
408 |
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
|
409 |
} |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
410 |
|
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 |
/** |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
414 |
Change state: START ACK. |
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 |
|
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
417 |
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
|
418 |
/**< finite state machine */) |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
419 |
{ |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
420 |
ec_slave_t *slave = fsm->slave; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
421 |
ec_datagram_t *datagram = fsm->datagram; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
422 |
|
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
423 |
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
|
424 |
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
|
425 |
fsm->retries = EC_FSM_RETRIES; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
426 |
fsm->state = ec_fsm_change_state_ack; |
434
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 |
|
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 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
431 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
432 |
Change state: ACK. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
433 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
434 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
435 |
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
|
436 |
{ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
437 |
ec_datagram_t *datagram = fsm->datagram; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
438 |
ec_slave_t *slave = fsm->slave; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
439 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
440 |
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
|
441 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
442 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
443 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
444 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
445 |
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
|
446 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
447 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
448 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
449 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
450 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
451 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
452 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
453 |
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
|
454 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
455 |
ec_datagram_print_wc_error(datagram); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
456 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
457 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
458 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
459 |
fsm->take_time = 1; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
460 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
461 |
// read new AL status |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
462 |
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
|
463 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
464 |
fsm->retries = EC_FSM_RETRIES; |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
465 |
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
|
466 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
467 |
|
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 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
470 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
471 |
Change state: CHECK ACK. |
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 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
474 |
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
|
475 |
/**< finite state machine */) |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
476 |
{ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
477 |
ec_datagram_t *datagram = fsm->datagram; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
478 |
ec_slave_t *slave = fsm->slave; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
479 |
|
637
d5d04c868e0e
Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents:
594
diff
changeset
|
480 |
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
|
481 |
return; |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
482 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
483 |
if (datagram->state != EC_DATAGRAM_RECEIVED) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
484 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
485 |
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
|
486 |
" (datagram state %u).\n", |
594
07dd2a7df66e
Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents:
505
diff
changeset
|
487 |
slave->ring_position, datagram->state); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
488 |
return; |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
489 |
} |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
490 |
|
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
491 |
if (datagram->working_counter != 1) { |
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
492 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
493 |
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
|
494 |
slave->ring_position); |
ae41cadd25b6
Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents:
637
diff
changeset
|
495 |
ec_datagram_print_wc_error(datagram); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
496 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
497 |
} |
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 |
if (fsm->take_time) { |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
500 |
fsm->take_time = 0; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
501 |
fsm->jiffies_start = datagram->jiffies_sent; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
502 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
503 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
504 |
slave->current_state = EC_READ_U8(datagram->data); |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
505 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
506 |
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
|
507 |
char state_str[EC_STATE_STRING_SIZE]; |
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
508 |
ec_state_string(slave->current_state, state_str); |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
509 |
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
|
510 |
fsm->state = ec_fsm_change_state_error; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
511 |
} |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
512 |
else { // EC_FSM_CHANGE_MODE_ACK_ONLY |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
513 |
fsm->state = ec_fsm_change_state_end; |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
514 |
} |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
515 |
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
|
516 |
state_str, slave->ring_position); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
517 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
518 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
519 |
|
443 | 520 |
if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s |
521 |
// timeout while checking |
|
438
64edce89fe9b
Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents:
435
diff
changeset
|
522 |
char state_str[EC_STATE_STRING_SIZE]; |
443 | 523 |
ec_state_string(slave->current_state, state_str); |
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
524 |
fsm->state = ec_fsm_change_state_error; |
986
a486591ba86b
Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents:
815
diff
changeset
|
525 |
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
|
526 |
state_str, slave->ring_position); |
434
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
527 |
return; |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
528 |
} |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
529 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
530 |
// reread new AL status |
815
002fe9ec778f
Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents:
813
diff
changeset
|
531 |
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
|
532 |
ec_datagram_zero(datagram); |
505
bc443ca0077f
State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents:
469
diff
changeset
|
533 |
fsm->retries = EC_FSM_RETRIES; |
434
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 |
|
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 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
538 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
539 |
State: ERROR. |
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 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
542 |
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
|
543 |
/**< finite state machine */) |
434
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 |
|
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 |
|
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
549 |
/** |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
550 |
State: END. |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
551 |
*/ |
0180d8277311
Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff
changeset
|
552 |
|
454
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
553 |
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
|
554 |
/**< finite state machine */) |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
555 |
{ |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
556 |
} |
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
557 |
|
25cc4a3b9e0a
State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents:
443
diff
changeset
|
558 |
/*****************************************************************************/ |