etherlabmaster: master/fsm_change.c@6210c4260899 (annotated)

434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT state change FSM.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "fsm_change.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	47	void ec_fsm_change_state_start(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	48	void ec_fsm_change_state_check(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	49	void ec_fsm_change_state_status(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	50	void ec_fsm_change_state_code(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	51	void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	52	void ec_fsm_change_state_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	53	void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	54	void ec_fsm_change_state_end(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	55	void ec_fsm_change_state_error(ec_fsm_change_t *);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	Constructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_change_init(ec_fsm_change_t fsm, /< finite state machine /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	ec_datagram_t datagram /< datagram /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->state = NULL;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	fsm->datagram = datagram;
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	69	fsm->spontaneous_change = 0;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	71
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	72	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	75	Destructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	void ec_fsm_change_clear(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	81
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	/**
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	85	Starts the change state machine.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	86	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	87
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	88	void ec_fsm_change_start(ec_fsm_change_t fsm, /< finite state machine /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	89	ec_slave_t slave, /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	90	ec_slave_state_t state /*< requested state /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	91	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	92	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	93	fsm->mode = EC_FSM_CHANGE_MODE_FULL;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	fsm->slave = slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	fsm->requested_state = state;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	96	fsm->state = ec_fsm_change_state_start;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	97	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	98
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	99	/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	100
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	101	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	102	Starts the change state machine to only acknowlegde a slave's state.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	103	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	104
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	105	void ec_fsm_change_ack(ec_fsm_change_t fsm, /< finite state machine /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	106	ec_slave_t slave /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	107	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	108	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	109	fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	110	fsm->slave = slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	111	fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	112	fsm->state = ec_fsm_change_state_start_ack;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	118	Executes the current state of the state machine.
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	119	\return false, if the state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	120	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	121
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	122	int ec_fsm_change_exec(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	123	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	fsm->state(fsm);
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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 Layed out state change state machine. 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 Layed out state change state machine. 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;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	183	EC_ERR("Failed to receive state datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	184	" (datagram state %i)!\n",
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;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	199	EC_ERR("Failed to set state %s on slave %i: ",
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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;
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	216	EC_ERR("Failed to set state %s on slave %i: ",
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	226	fsm->retries = EC_FSM_RETRIES;
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	227	fsm->spontaneous_change = 0;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	228	fsm->state = ec_fsm_change_state_status;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	}
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	Change state: STATUS.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	236
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	237	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	238	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	240	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	243	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	244	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	245
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	246	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	247	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	248	EC_ERR("Failed to receive state checking datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	249	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	250	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	251	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	252	}
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	if (datagram->working_counter != 1) {
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	255	char req_state[EC_STATE_STRING_SIZE];
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	256	ec_state_string(fsm->requested_state, req_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	257	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	258	EC_ERR("Failed to check state %s on slave %i: ",
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	259	req_state, slave->ring_position);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	260	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	}
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	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	}
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	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	// state has been set successfully
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	273	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	274	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	275	}
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	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	278	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	279
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	280	ec_state_string(slave->current_state, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	281
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	282	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	283	// 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	284	// 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	285	// state change
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	286	fsm->spontaneous_change = 1;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	287	fsm->old_state = slave->current_state;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	288	EC_WARN("Slave %i changed to %s in the meantime.\n",
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	289	slave->ring_position, cur_state);
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	290	goto check_again;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	291	}
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	// state change error
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	294
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	295	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	296	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	297
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	298	EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	299	req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	300	// fetch AL status error code
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	301	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	302	fsm->retries = EC_FSM_RETRIES;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	303	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	304	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	305	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	306
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	307	// still old state
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308
439 0f5a3d983908 Increased state change checking timeout to 1s. Florian Pose <fp@igh-essen.com> parents: 438 diff changeset	309	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	310	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	311	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	312	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	313	fsm->state = ec_fsm_change_state_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	314	EC_ERR("Timeout while setting state %s on slave %i.\n",
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	315	state_str, slave->ring_position);
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	316	return;
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	317	}
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	318
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	319	check_again:
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	320	// no timeout yet. check again
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	322	fsm->retries = EC_FSM_RETRIES;
434 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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	Application layer status messages.
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	const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	{0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	{0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	{0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	{0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	{0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	{0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	{0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	{0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	{0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	{0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	{0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	{0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	{0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	{0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	{0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	{0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	{0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	{0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	{0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	{0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	{0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	{0x0032, "PLL error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	{0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	{0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	{0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	{0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	{0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	{0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	{0x004F, "MBOX VOE"},
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	368	Change state: CODE.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	371	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	372	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	373	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	374	ec_datagram_t *datagram = fsm->datagram;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	uint32_t code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	377
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	378	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	379	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	380
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	381	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	382	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	383	EC_ERR("Failed to receive AL status code datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	384	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	385	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	386	return;
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
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	389	if (datagram->working_counter != 1) {
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	390	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	391	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	393	else {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	for (al_msg = al_status_messages; al_msg->code; al_msg++) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	EC_ERR("AL status message 0x%04X: \"%s\".\n",
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	break;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	if (!al_msg->code)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	EC_ERR("Unknown AL status code 0x%04X.\n", code);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	}
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	// acknowledge "old" slave state
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	407	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	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	/*****************************************************************************/
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	Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	414	*/
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	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	417	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	418	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	419	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	420	ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	421
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	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	424	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	425	fsm->state = ec_fsm_change_state_ack;
434 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	/*****************************************************************************/
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	Change state: ACK.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	434	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	435	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	437	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	438
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	439	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	440	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	441
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	442	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	443	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	444	EC_ERR("Failed to receive state ack datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	445	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	446	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	447	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	448	}
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	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	451	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	452	EC_ERR("Reception of state ack datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	453	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	454	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	return;
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	459
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	// read new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	462	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	463	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	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
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	Change state: CHECK ACK.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	472	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	473	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	474	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	475	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	476	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	477
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	478	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	479	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	480
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	481	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	482	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	483	EC_ERR("Failed to receive state ack check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	484	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	485	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	486	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	487	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	488
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	489	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	490	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	491	EC_ERR("Reception of state ack check datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	492	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	493	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	495	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	496
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	498	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	}
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	slave->current_state = EC_READ_U8(datagram->data);
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	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	505	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	506	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	507	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	508	fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	509	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	510	else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	511	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	512	}
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	513	EC_INFO("Acknowledged state %s on slave %i.\n",
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	514	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	515	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	516	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	517
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	518	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	519	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	520	char state_str[EC_STATE_STRING_SIZE];
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	521	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	522	fsm->state = ec_fsm_change_state_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	523	EC_ERR("Timeout while acknowledging state %s on slave %i.\n",
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	524	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	526	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	527
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	// reread new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	529	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	530	fsm->retries = EC_FSM_RETRIES;
434 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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	536	State: ERROR.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	539	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	540	/*< finite state machine /)
434 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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	547	State: END.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	550	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	551	/*< finite state machine /)
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
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	555	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 24 Sep 2007 10:35:00 +0000
changeset 757	6210c4260899
parent 738	880c6153101f
child 798	5a58606726f3
permissions	-rw-r--r--