master/fsm_change.c
author Martin Troxler <ch1010277@ch10pc446>
Thu, 16 Dec 2010 09:52:17 +0100
changeset 2019 63177d870116
parent 1967 c41b4f4af645
child 2175 37a25c76987b
permissions -rw-r--r--
use ext_queue_sem for fsm datagram queue (instead of io_sem)
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006-2008  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it and/or
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 *  modify it under the terms of the GNU General Public License version 2, as
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 *  published by the Free Software Foundation.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be useful,
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 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General
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 *  Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License along
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 *  with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  ---
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 *
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 *  The license mentioned above concerns the source code only. Using the
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 *  EtherCAT technology and brand is only permitted in compliance with the
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 *  industrial property and similar rights of Beckhoff Automation GmbH.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT state change FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "fsm_change.h"
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/*****************************************************************************/
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/** Timeout while waiting for AL state change [s].
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 */
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#define EC_AL_STATE_CHANGE_TIMEOUT 5
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/*****************************************************************************/
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void ec_fsm_change_state_start(ec_fsm_change_t *);
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void ec_fsm_change_state_check(ec_fsm_change_t *);
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void ec_fsm_change_state_status(ec_fsm_change_t *);
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void ec_fsm_change_state_code(ec_fsm_change_t *);
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void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_end(ec_fsm_change_t *);
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void ec_fsm_change_state_error(ec_fsm_change_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */
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                        ec_datagram_t *datagram /**< datagram */
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                        )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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    fsm->spontaneous_change = 0;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine.
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*/
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void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
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                         ec_slave_t *slave, /**< EtherCAT slave */
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                         ec_slave_state_t state /**< requested state */
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                         )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_FULL;
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    fsm->slave = slave;
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    fsm->requested_state = state;
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    fsm->state = ec_fsm_change_state_start;
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine to only acknowlegde a slave's state.
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*/
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void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
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                       ec_slave_t *slave /**< EtherCAT slave */
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                       )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
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    fsm->slave = slave;
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    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    fsm->state = ec_fsm_change_state_start_ack;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_change_state_end
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        && fsm->state != ec_fsm_change_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_change_state_end;
434
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}
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/******************************************************************************
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 *  state change state machine
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 *****************************************************************************/
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/**
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   Change state: START.
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*/
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454
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void ec_fsm_change_state_start(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    fsm->take_time = 1;
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    fsm->old_state = fsm->slave->current_state;
434
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    // write new state to slave
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    ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
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    EC_WRITE_U16(datagram->data, fsm->requested_state);
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    fsm->retries = EC_FSM_RETRIES;
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    fsm->state = ec_fsm_change_state_check;
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}
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/*****************************************************************************/
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/**
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   Change state: CHECK.
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*/
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454
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void ec_fsm_change_state_check(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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434
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
454
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        fsm->state = ec_fsm_change_state_error;
1921
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        EC_SLAVE_ERR(slave, "Failed to receive state datagram: ");
1822
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        ec_datagram_print_state(datagram);
434
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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    }
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713
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    if (datagram->working_counter == 0) {
434
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        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
438
64edce89fe9b Output state names instead of codes in change FSM.
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            char state_str[EC_STATE_STRING_SIZE];
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            ec_state_string(fsm->requested_state, state_str, 0);
454
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            fsm->state = ec_fsm_change_state_error;
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            EC_SLAVE_ERR(slave, "Failed to set state %s: ", state_str);
713
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            ec_datagram_print_wc_error(datagram);
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            return;
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        }
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        // repeat writing new state to slave
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        ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
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        EC_WRITE_U16(datagram->data, fsm->requested_state);
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        fsm->retries = EC_FSM_RETRIES;
434
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        return;
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    }
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713
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    if (unlikely(datagram->working_counter > 1)) {
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        char state_str[EC_STATE_STRING_SIZE];
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        ec_state_string(fsm->requested_state, state_str, 0);
713
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        fsm->state = ec_fsm_change_state_error;
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        EC_SLAVE_ERR(slave, "Failed to set state %s: ", state_str);
713
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        ec_datagram_print_wc_error(datagram);
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        return;
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    }
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434
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    fsm->take_time = 1;
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    // read AL status from slave
815
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    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
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    ec_datagram_zero(datagram);
505
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    fsm->retries = EC_FSM_RETRIES;
738
880c6153101f Improved handling for spontaneous AL state changes.
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    fsm->spontaneous_change = 0;
454
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    fsm->state = ec_fsm_change_state_status;
434
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}
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/*****************************************************************************/
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/**
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   Change state: STATUS.
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*/
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454
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void ec_fsm_change_state_status(ec_fsm_change_t *fsm
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                                /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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   246
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   248
        EC_SLAVE_ERR(slave, "Failed to receive state checking datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
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        ec_datagram_print_state(datagram);
505
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        return;
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    }
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bc443ca0077f State machines re-send datagrams on timeout.
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   253
    if (datagram->working_counter != 1) {
469
a9c7991dca6b Fixed state change FSM again.
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   254
        char req_state[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
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        ec_state_string(fsm->requested_state, req_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
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   256
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
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diff changeset
   257
        EC_SLAVE_ERR(slave, "Failed to check state %s: ", req_state);
713
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   258
        ec_datagram_print_wc_error(datagram);
434
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        return;
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    }
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   262
    if (fsm->take_time) {
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   263
        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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   265
    }
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   266
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    slave->current_state = EC_READ_U8(datagram->data);
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   269
    if (slave->current_state == fsm->requested_state) {
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        // state has been set successfully
454
25cc4a3b9e0a State acknowledgement in master state machine.
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   271
        fsm->state = ec_fsm_change_state_end;
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   272
        return;
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   273
    }
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   274
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   275
    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
   276
        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
   277
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   278
        ec_state_string(slave->current_state, cur_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   279
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   280
        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
   281
            // 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
   282
            // 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
   283
            // state change
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   284
            fsm->spontaneous_change = 1;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   285
            fsm->old_state = slave->current_state;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   286
            EC_SLAVE_WARN(slave, "Changed to %s in the meantime.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   287
                    cur_state);
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   288
            goto check_again;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   289
        }
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   290
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   291
        // state change error
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   292
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   293
        slave->error_flag = 1;
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   294
        ec_state_string(fsm->requested_state, req_state, 0);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   295
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   296
        EC_SLAVE_ERR(slave, "Failed to set %s state, slave refused state"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   297
                " change (%s).\n", req_state, cur_state);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   298
        // fetch AL status error code
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   299
        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
   300
        ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   301
        fsm->retries = EC_FSM_RETRIES;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   302
        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
   303
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   304
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   305
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   306
    // still old state
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
1445
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   308
    if (datagram->jiffies_received - fsm->jiffies_start >=
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   309
            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
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];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   312
        ec_state_string(fsm->requested_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   313
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   314
        EC_SLAVE_ERR(slave, "Timeout while setting state %s.\n", state_str);
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   315
        return;
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   316
    }
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   317
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   318
 check_again:
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   319
    // no timeout yet. check again
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   320
    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
   321
    ec_datagram_zero(datagram);
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[] = {
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   332
    {0x0000, "No error"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    {0x0001, "Unspecified error"},
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   334
    {0x0002, "No Memory"},
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   335
    {0x0011, "Invalid requested state change"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
    {0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    {0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
    {0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    {0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    {0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    {0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    {0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    {0x0019, "No valid outputs"},
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   344
    {0x001A, "Synchronization error"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
    {0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    {0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    {0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    {0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    {0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
    {0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    {0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    {0x0022, "Slave needs PREOP"},
813
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 798
diff changeset
   353
    {0x0023, "Slave needs SAFEOP"},
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   354
    {0x0024, "Invalid Input Mapping"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   355
    {0x0025, "Invalid Output Mapping"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   356
    {0x0026, "Inconsistent Settings"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   357
    {0x0027, "Freerun not supported"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   358
    {0x0028, "Synchronization not supported"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   359
    {0x0029, "Freerun needs 3 Buffer Mode"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   360
    {0x002A, "Background Watchdog"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   361
    {0x002B, "No Valid Inputs and Outputs"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   362
    {0x002C, "Fatal Sync Error"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   363
    {0x002D, "No Sync Error"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    {0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
    {0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
    {0x0032, "PLL error"},
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   367
    {0x0033, "DC Sync IO Error"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   368
    {0x0034, "DC Sync Timeout Error"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   369
    {0x0035, "DC Invalid Sync Cycle Time"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   370
    {0x0036, "DC Sync0 Cycle Time"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   371
    {0x0037, "DC Sync1 Cycle Time"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   372
    {0x0041, "MBX_AOE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   373
    {0x0042, "MBX_EOE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   374
    {0x0043, "MBX_COE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   375
    {0x0044, "MBX_FOE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   376
    {0x0045, "MBX_SOE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   377
    {0x004F, "MBX_VOE"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   378
    {0x0050, "EEPROM No Access"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   379
    {0x0051, "EEPROM Error"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   380
    {0x0060, "Slave Restarted Locally"},
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   381
    {0xffff}
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
};
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   384
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   386
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   387
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   388
   Change state: CODE.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   389
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   391
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
   392
                              /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   393
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   394
    ec_datagram_t *datagram = fsm->datagram;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
    uint32_t code;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
    const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   398
    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
   399
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   400
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   401
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   402
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   403
        EC_SLAVE_ERR(fsm->slave, "Failed to receive"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   404
                " AL status code datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1445
diff changeset
   405
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   406
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   407
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   408
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   409
    if (datagram->working_counter != 1) {
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   410
        EC_SLAVE_WARN(fsm->slave, "Reception of AL status code"
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   411
                " datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   412
        ec_datagram_print_wc_error(datagram);
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   413
    } else {
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   414
        code = EC_READ_U16(datagram->data);
1886
a9fcecb8415c Included futher AL status code messages.
Florian Pose <fp@igh-essen.com>
parents: 1822
diff changeset
   415
        for (al_msg = al_status_messages; al_msg->code != 0xffff; al_msg++) {
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   416
            if (al_msg->code != code) continue;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   417
            EC_SLAVE_ERR(fsm->slave, "AL status message 0x%04X: \"%s\".\n",
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   418
                    al_msg->code, al_msg->message);
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   419
            break;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
        }
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   421
        if (!al_msg->code)
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   422
            EC_SLAVE_ERR(fsm->slave, "Unknown AL status code 0x%04X.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   423
                    code);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
    // acknowledge "old" slave state
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   427
    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
   428
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   429
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   430
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   431
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   432
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   433
   Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   434
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   435
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   436
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
   437
                                   /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   438
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   439
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   440
    ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   441
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   442
    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
   443
    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
   444
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   445
    fsm->state = ec_fsm_change_state_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   448
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   449
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   450
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   451
   Change state: ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   452
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   453
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   454
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
   455
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   459
    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
   460
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   461
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   462
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   463
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   464
        EC_SLAVE_ERR(slave, "Failed to receive state ack datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1445
diff changeset
   465
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   466
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   467
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   468
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   469
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   470
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   471
        EC_SLAVE_ERR(slave, "Reception of state ack datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   472
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
        return;
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
    // read new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   479
    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
   480
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   481
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   482
    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
   483
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   484
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   485
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   486
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   487
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   488
   Change state: CHECK ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   489
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   490
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   491
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
   492
                                   /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   493
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   497
    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
   498
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   499
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   500
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   501
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   502
        EC_SLAVE_ERR(slave, "Failed to receive state ack check datagram: ");
1822
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where
Florian Pose <fp@igh-essen.com>
parents: 1445
diff changeset
   503
        ec_datagram_print_state(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   504
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   505
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   506
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   507
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   508
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   509
        EC_SLAVE_ERR(slave, "Reception of state ack check datagram failed: ");
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   510
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   511
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   512
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   513
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   514
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
    }
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
    slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   520
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   521
    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
   522
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   523
        ec_state_string(slave->current_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   524
        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
   525
            fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   526
        }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   527
        else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   528
            fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   529
        }
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   530
        EC_SLAVE_INFO(slave, "Acknowledged state %s.\n", state_str);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
        return;
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
1445
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   534
    if (datagram->jiffies_received - fsm->jiffies_start >=
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s.
Florian Pose <fp@igh-essen.com>
parents: 1363
diff changeset
   535
            EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   536
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   537
        char state_str[EC_STATE_STRING_SIZE];
1337
0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT.
Florian Pose <fp@igh-essen.com>
parents: 1326
diff changeset
   538
        ec_state_string(slave->current_state, state_str, 0);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   539
        fsm->state = ec_fsm_change_state_error;
1921
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   540
        EC_SLAVE_ERR(slave, "Timeout while acknowledging state %s.\n",
d9cf40facbc4 Improved syslog macros.
Florian Pose <fp@igh-essen.com>
parents: 1886
diff changeset
   541
                state_str);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
        return;
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
    // reread new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   546
    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
   547
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   548
    fsm->retries = EC_FSM_RETRIES;
434
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
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   553
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   554
   State: ERROR.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   555
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   556
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   557
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
   558
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   559
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   560
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   561
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   562
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   563
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   564
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   565
   State: END.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   566
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   567
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   568
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
   569
                             /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   570
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   571
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   572
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   573
/*****************************************************************************/