etherlabmaster: master/fsm_change.c@8c9d62f7c2cd (annotated)

434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* This file is part of the IgH EtherCAT Master.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	10	* and/or modify it under the terms of the GNU General Public License
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	12	* License, or (at your option) any later version.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	13	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	17	* GNU General Public License for more details.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	19	* You should have received a copy of the GNU General Public License
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	22	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	24	* charge under condition of compatibility of product made by
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	26	* code, have to sign an agreement to guarantee that products using
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	* EtherCAT specification (which are released themselves as an open
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	* Technology, IP and trade marks.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	34	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	35	\file
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36	EtherCAT state change FSM.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include "globals.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	#include "master.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	#include "fsm_change.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	46
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	47	void ec_fsm_change_state_start(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	48	void ec_fsm_change_state_check(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	49	void ec_fsm_change_state_status(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	50	void ec_fsm_change_state_code(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	51	void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	52	void ec_fsm_change_state_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	53	void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	54	void ec_fsm_change_state_end(ec_fsm_change_t *);
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	55	void ec_fsm_change_state_error(ec_fsm_change_t *);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	56
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	59	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	60	Constructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	61	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	62
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	void ec_fsm_change_init(ec_fsm_change_t fsm, /< finite state machine /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	ec_datagram_t datagram /< datagram /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	fsm->state = NULL;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	fsm->datagram = datagram;
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	74	Destructor.
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	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	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	/**
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	84	Starts the change state machine.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	85	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	86
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	87	void ec_fsm_change_start(ec_fsm_change_t fsm, /< finite state machine /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	88	ec_slave_t slave, /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	89	ec_slave_state_t state /*< requested state /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	90	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	91	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	92	fsm->mode = EC_FSM_CHANGE_MODE_FULL;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	93	fsm->slave = slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	fsm->requested_state = state;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	95	fsm->state = ec_fsm_change_state_start;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	96	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	97
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	98	/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	99
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	100	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	101	Starts the change state machine to only acknowlegde a slave's state.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	102	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	103
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	104	void ec_fsm_change_ack(ec_fsm_change_t fsm, /< finite state machine /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	105	ec_slave_t slave /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	106	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	107	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	108	fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	109	fsm->slave = slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	110	fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	111	fsm->state = ec_fsm_change_state_start_ack;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	115
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	116	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	117	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	118	\return false, if the state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	119	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	120
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	121	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	122	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	123	fsm->state(fsm);
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	124
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	125	return fsm->state != ec_fsm_change_state_end
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	126	&& fsm->state != ec_fsm_change_state_error;
434 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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	129	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	130
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	132	Returns, if the state machine terminated with success.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	\return non-zero if successful.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	*/
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	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	137	{
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	138	return fsm->state == ec_fsm_change_state_end;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	140
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	141	/******************************************************************************
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	142	* state change state machine
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	Change state: START.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	149	void ec_fsm_change_state_start(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	150	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	152	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	153	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	fsm->take_time = 1;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	156	fsm->old_state = fsm->slave->current_state;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	// write new state to slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	159	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	160	EC_WRITE_U16(datagram->data, fsm->requested_state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	161	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	162	fsm->state = ec_fsm_change_state_check;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	164
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	165	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	166
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	167	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	168	Change state: CHECK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	169	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	170
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	171	void ec_fsm_change_state_check(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	172	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	174	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	175	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	177	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	178	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	179
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	if (datagram->state != EC_DATAGRAM_RECEIVED) {
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	181	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	182	EC_ERR("Failed to receive state datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	183	" (datagram state %i)!\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	184	fsm->slave->ring_position, datagram->state);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	return;
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	fsm->jiffies_start = datagram->jiffies_sent;
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
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	193	if (datagram->working_counter == 0) {
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	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	195	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	196	ec_state_string(fsm->requested_state, state_str);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	197	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	198	EC_ERR("Failed to set state %s on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	199	state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	200	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	201	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	}
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	// repeat writing new state to slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	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	206	EC_WRITE_U16(datagram->data, fsm->requested_state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	207	fsm->retries = EC_FSM_RETRIES;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	210
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	211	if (unlikely(datagram->working_counter > 1)) {
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	212	char state_str[EC_STATE_STRING_SIZE];
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	213	ec_state_string(fsm->requested_state, state_str);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	214	fsm->state = ec_fsm_change_state_error;
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	215	EC_ERR("Failed to set state %s on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	216	state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	217	ec_datagram_print_wc_error(datagram);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	218	return;
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	219	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	220
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	221	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	222
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	223	// read AL status from slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	225	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	226	fsm->state = ec_fsm_change_state_status;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	228
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	229	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	230
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	231	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	232	Change state: STATUS.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	234
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	235	void ec_fsm_change_state_status(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	236	/*< finite state machine /)
434 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	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	241	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	242	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	243
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	244	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	245	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	246	EC_ERR("Failed to receive state checking datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	247	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	248	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	249	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	250	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	251
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	252	if (datagram->working_counter != 1) {
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	253	char req_state[EC_STATE_STRING_SIZE];
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	254	ec_state_string(fsm->requested_state, req_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	255	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	256	EC_ERR("Failed to check state %s on slave %i: ",
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	257	req_state, slave->ring_position);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	258	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	259	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	260	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	261
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	262	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	// state has been set successfully
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	271	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	272	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	273	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	274
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	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
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	278	ec_state_string(slave->current_state, cur_state);
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
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	284	fsm->old_state = slave->current_state;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	285	EC_WARN("Slave %i changed to %s in the meantime.\n",
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	286	slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	287	goto again;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	288	}
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	289
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	290	// state change error
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	291
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	292	slave->error_flag = 1;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	293	ec_state_string(fsm->requested_state, req_state);
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	294
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	295	EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	296	req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	297	// fetch AL status error code
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	298	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	299	fsm->retries = EC_FSM_RETRIES;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	300	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	301	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	302	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	303
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	304	// still old state
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305
439 0f5a3d983908 Increased state change checking timeout to 1s. Florian Pose <fp@igh-essen.com> parents: 438 diff changeset	306	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	307	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	308	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	309	ec_state_string(fsm->requested_state, state_str);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	310	fsm->state = ec_fsm_change_state_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	311	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	312	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	316	again:
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	317	// no timeout yet. check again
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	319	fsm->retries = EC_FSM_RETRIES;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	}
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	Application layer status messages.
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	const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	{0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	{0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	{0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	{0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	{0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	{0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	{0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	{0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	{0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	{0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	{0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	{0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	341	{0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	{0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	{0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	{0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	{0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	{0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	{0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	{0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	{0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	{0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	{0x0032, "PLL error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	{0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	{0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	{0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	{0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	{0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	{0x004F, "MBOX VOE"},
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	};
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	361
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	363
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	364	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	365	Change state: CODE.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	366	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	367
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	368	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	369	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	370	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	371	ec_datagram_t *datagram = fsm->datagram;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	uint32_t code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	373	const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	374
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	375	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	376	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	377
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	378	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	379	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	380	EC_ERR("Failed to receive AL status code datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	381	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	382	fsm->slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	383	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	384	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	385
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	386	if (datagram->working_counter != 1) {
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	387	EC_WARN("Reception of AL status code datagram failed: ");
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	388	ec_datagram_print_wc_error(datagram);
434 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	else {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	392	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	393	if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	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	395	al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	break;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398	if (!al_msg->code)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	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	400	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	// acknowledge "old" slave state
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	404	ec_fsm_change_state_start_ack(fsm); // execute immediately
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	405	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	406
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	407	/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	408
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	409	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	410	Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	411	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	412
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	413	void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	414	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	415	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	416	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	417	ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	418
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	419	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	420	EC_WRITE_U16(datagram->data, slave->current_state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	421	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	422	fsm->state = ec_fsm_change_state_ack;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	424
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	426
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	428	Change state: ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	430
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	431	void ec_fsm_change_state_ack(ec_fsm_change_t fsm /< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	432	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	433	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	435
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	436	if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	437	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	438
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	439	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	440	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	441	EC_ERR("Failed to receive state ack datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	442	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	443	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	444	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	445	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	446
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	447	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	448	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	449	EC_ERR("Reception of state ack datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	450	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	451	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	452	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	453	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	454
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	456
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	457	// read new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	458	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	459	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	460	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	461	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	462
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	463	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	464
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	465	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	Change state: CHECK ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	467	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	468
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	469	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	470	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	471	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	472	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	474
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	475	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	476	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	477
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	478	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	479	fsm->state = ec_fsm_change_state_error;
594 07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	480	EC_ERR("Failed to receive state ack check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	481	" (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages. Florian Pose <fp@igh-essen.com> parents: 505 diff changeset	482	slave->ring_position, datagram->state);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	483	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	484	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	485
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	486	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	487	fsm->state = ec_fsm_change_state_error;
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	488	EC_ERR("Reception of state ack check datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	489	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	490	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	491	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	492	}
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	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	495	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	496	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	497	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	498
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	500
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	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	502	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	503	ec_state_string(slave->current_state, state_str);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	504	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	505	fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	506	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	507	else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	508	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	509	}
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	510	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	511	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	512	return;
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
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	515	if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	516	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	517	char state_str[EC_STATE_STRING_SIZE];
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	518	ec_state_string(slave->current_state, state_str);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	519	fsm->state = ec_fsm_change_state_error;
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	520	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	521	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	524
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	// reread new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	526	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	527	fsm->retries = EC_FSM_RETRIES;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	528	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	529
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	530	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	531
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	532	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	533	State: ERROR.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	534	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	535
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	536	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	537	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	538	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	539	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	540
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	541	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	542
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	543	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	544	State: END.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	545	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	546
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	547	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	548	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	549	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	550	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	551
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	552	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Wed, 19 Sep 2007 09:07:36 +0000
changeset 734	8c9d62f7c2cd
parent 713	ae41cadd25b6
child 738	880c6153101f
permissions	-rw-r--r--