etherlabmaster: master/fsm_change.c@6607875255d9 (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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	47	void ec_fsm_change_start(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	void ec_fsm_change_check(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	49	void ec_fsm_change_status(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	50	void ec_fsm_change_code(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	51	void ec_fsm_change_ack(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	52	void ec_fsm_change_check_ack(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	53	void ec_fsm_change_end(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	void ec_fsm_change_error(ec_fsm_change_t *);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	55
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	Constructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	*/
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	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	63	ec_datagram_t datagram /< datagram /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	)
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	fsm->state = NULL;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->datagram = datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69
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	Destructor.
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	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	77	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	}
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	Resets the state machine.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	void ec_fsm_change(ec_fsm_change_t fsm, /< finite state machine /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	ec_slave_t slave, /< EtherCAT slave /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	ec_slave_state_t state /*< requested state /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	89	)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	fsm->slave = slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	92	fsm->requested_state = state;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	fsm->state = ec_fsm_change_start;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	95
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	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	100	\return false, if the state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	101	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	102
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	103	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	104	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	fsm->state(fsm);
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	106
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	107	return fsm->state != ec_fsm_change_end
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	&& fsm->state != ec_fsm_change_error;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	110
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
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	Returns, if the state machine terminated with success.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	\return non-zero if successful.
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	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	119	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	return fsm->state == ec_fsm_change_end;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	121	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	122
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	* state change state machine
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	125	*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	126
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	127	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	128	Change state: START.
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	void ec_fsm_change_start(ec_fsm_change_t fsm /< finite state machine /)
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	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	ec_slave_t *slave = fsm->slave;
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	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138	// write new state to slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	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	140	EC_WRITE_U16(datagram->data, fsm->requested_state);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	fsm->state = ec_fsm_change_check;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	}
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	148	Change state: CHECK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	void ec_fsm_change_check(ec_fsm_change_t fsm /< finite state machine /)
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	if (datagram->state != EC_DATAGRAM_RECEIVED) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157	fsm->state = ec_fsm_change_error;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	EC_ERR("Failed to send state datagram to slave %i!\n",
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	fsm->slave->ring_position);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	fsm->jiffies_start = datagram->jiffies_sent;
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	if (datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	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	170	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	171	ec_state_string(fsm->requested_state, state_str);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	fsm->state = ec_fsm_change_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	173	EC_ERR("Failed to set state %s on slave %i: Slave did not"
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	174	" respond.\n", state_str, fsm->slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	// repeat writing new state to slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	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	180	EC_WRITE_U16(datagram->data, fsm->requested_state);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	186
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	// read AL status from slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	fsm->state = ec_fsm_change_status;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	}
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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	194
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	195	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	Change state: STATUS.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	198
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	void ec_fsm_change_status(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	ec_slave_t *slave = fsm->slave;
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	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	\|\| datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	fsm->state = ec_fsm_change_error;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	EC_ERR("Failed to check state 0x%02X on slave %i.\n",
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	fsm->requested_state, slave->ring_position);
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	215	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	216
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	218
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	219	if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	220	// state has been set successfully
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	fsm->state = ec_fsm_change_end;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222	return;
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225	if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	// state change error
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	227	char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	228	ec_state_string(fsm->requested_state, req_state);
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	229	ec_state_string(slave->current_state, cur_state);
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	230	EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	231	req_state, slave->ring_position, cur_state);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	// fetch AL status error code
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	235	fsm->state = ec_fsm_change_code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	238
439 0f5a3d983908 Increased state change checking timeout to 1s. Florian Pose <fp@igh-essen.com> parents: 438 diff changeset	239	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	240	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	241	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	242	ec_state_string(fsm->requested_state, state_str);
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	243	fsm->state = ec_fsm_change_error;
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	244	EC_ERR("Timeout while setting 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	245	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	246	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	247	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	248
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	249	// still old state: check again
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	250	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	251	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	252	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	253
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	254	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	255
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	257	Application layer status messages.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	258	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	259
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	{0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	{0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	{0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	{0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	{0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	{0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	{0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	{0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	{0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	{0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	{0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	{0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	273	{0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	{0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	{0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	276	{0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	277	{0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	278	{0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	279	{0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	280	{0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	281	{0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	282	{0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	283	{0x0032, "PLL error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	284	{0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	285	{0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	286	{0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	{0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	{0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	289	{0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	290	{0x004F, "MBOX VOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	291	{}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	};
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	293
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	295
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	297	Change state: CODE.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	299
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	void ec_fsm_change_code(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	301	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	uint32_t code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	306
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	\|\| datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	EC_WARN("Reception of AL status code datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	else {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	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	314	if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	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	316	al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	break;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	if (!al_msg->code)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	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	321	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	323
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	// acknowledge "old" slave state
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	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	326	EC_WRITE_U16(datagram->data, slave->current_state);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	fsm->state = ec_fsm_change_ack;
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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	332
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	Change state: ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	void ec_fsm_change_ack(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	341
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	\|\| datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	fsm->state = ec_fsm_change_error;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	EC_ERR("Reception of state ack datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	// read new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	fsm->state = ec_fsm_change_check_ack;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	358
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	360	Change state: CHECK ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	361	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	362
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	363	void ec_fsm_change_check_ack(ec_fsm_change_t fsm /< finite state machine /)
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	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	ec_slave_t *slave = fsm->slave;
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	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	369	\|\| datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	fsm->state = ec_fsm_change_error;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	EC_ERR("Reception of state ack check datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	374
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	375	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	376	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	377	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	378	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	379
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	380	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	381
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	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	383	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	384	ec_state_string(slave->current_state, state_str);
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	385	fsm->state = ec_fsm_change_error;
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	386	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	387	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	return;
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	if (datagram->jiffies_received
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	- fsm->jiffies_start >= 100 * HZ / 1000) { // 100ms
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	393	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	394	ec_state_string(fsm->requested_state, state_str);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	// timeout while checking
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	slave->current_state = EC_SLAVE_STATE_UNKNOWN;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	fsm->state = ec_fsm_change_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	398	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	399	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	// reread new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	404	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	405	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	406	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	409
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	411	State: ERROR.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	412	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	413
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	void ec_fsm_change_error(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	415	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	417
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	419
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	420	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	421	State: END.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	423
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	void ec_fsm_change_end(ec_fsm_change_t fsm /< finite state machine /)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	426	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	427
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 25 Oct 2006 07:41:14 +0000
changeset 442	6607875255d9
parent 439	0f5a3d983908
child 443	0746236dd032
permissions	-rw-r--r--