master/fsm_change.c
author Florian Pose <fp@igh-essen.com>
Fri, 05 Oct 2007 08:13:50 +0000
changeset 766 97e98cbd0cd2
parent 738 880c6153101f
child 798 5a58606726f3
permissions -rw-r--r--
Fixed lsec script.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT state change FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "fsm_change.h"
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/*****************************************************************************/
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void ec_fsm_change_state_start(ec_fsm_change_t *);
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void ec_fsm_change_state_check(ec_fsm_change_t *);
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void ec_fsm_change_state_status(ec_fsm_change_t *);
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void ec_fsm_change_state_code(ec_fsm_change_t *);
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void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_end(ec_fsm_change_t *);
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void ec_fsm_change_state_error(ec_fsm_change_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */
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                        ec_datagram_t *datagram /**< datagram */
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                        )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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    fsm->spontaneous_change = 0;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine.
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*/
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void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
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                         ec_slave_t *slave, /**< EtherCAT slave */
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                         ec_slave_state_t state /**< requested state */
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                         )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_FULL;
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    fsm->slave = slave;
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    fsm->requested_state = state;
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    fsm->state = ec_fsm_change_state_start;
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine to only acknowlegde a slave's state.
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*/
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void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
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                       ec_slave_t *slave /**< EtherCAT slave */
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                       )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
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    fsm->slave = slave;
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    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    fsm->state = ec_fsm_change_state_start_ack;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_change_state_end
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        && fsm->state != ec_fsm_change_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_change_state_end;
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}
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/******************************************************************************
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 *  state change state machine
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 *****************************************************************************/
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/**
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   Change state: START.
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*/
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454
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void ec_fsm_change_state_start(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    fsm->take_time = 1;
454
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    fsm->old_state = fsm->slave->current_state;
434
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    // write new state to slave
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    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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    EC_WRITE_U16(datagram->data, fsm->requested_state);
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    fsm->retries = EC_FSM_RETRIES;
454
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    fsm->state = ec_fsm_change_state_check;
434
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}
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/*****************************************************************************/
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/**
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   Change state: CHECK.
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*/
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454
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void ec_fsm_change_state_check(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
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434
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_change_state_error;
594
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        EC_ERR("Failed to receive state datagram from slave %i"
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                " (datagram state %i)!\n",
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               fsm->slave->ring_position, datagram->state);
434
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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    }
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713
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    if (datagram->working_counter == 0) {
434
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        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
438
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            char state_str[EC_STATE_STRING_SIZE];
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            ec_state_string(fsm->requested_state, state_str);
454
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            fsm->state = ec_fsm_change_state_error;
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            EC_ERR("Failed to set state %s on slave %i: ",
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                    state_str, fsm->slave->ring_position);
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            ec_datagram_print_wc_error(datagram);
434
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            return;
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        }
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        // repeat writing new state to slave
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        ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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        EC_WRITE_U16(datagram->data, fsm->requested_state);
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        fsm->retries = EC_FSM_RETRIES;
434
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        return;
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    }
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713
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    if (unlikely(datagram->working_counter > 1)) {
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        char state_str[EC_STATE_STRING_SIZE];
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        ec_state_string(fsm->requested_state, state_str);
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        fsm->state = ec_fsm_change_state_error;
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        EC_ERR("Failed to set state %s on slave %i: ",
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                state_str, fsm->slave->ring_position);
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        ec_datagram_print_wc_error(datagram);
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        return;
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    }
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434
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    fsm->take_time = 1;
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    // read AL status from slave
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    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505
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    fsm->retries = EC_FSM_RETRIES;
738
880c6153101f Improved handling for spontaneous AL state changes.
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    fsm->spontaneous_change = 0;
454
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    fsm->state = ec_fsm_change_state_status;
434
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}
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/*****************************************************************************/
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/**
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   Change state: STATUS.
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*/
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454
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void ec_fsm_change_state_status(ec_fsm_change_t *fsm
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                                /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
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    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
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        return;
505
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_change_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
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        EC_ERR("Failed to receive state checking datagram from slave %i"
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                " (datagram state %i).\n",
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               slave->ring_position, datagram->state);
505
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        return;
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    }
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    if (datagram->working_counter != 1) {
469
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        char req_state[EC_STATE_STRING_SIZE];
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        ec_state_string(fsm->requested_state, req_state);
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        fsm->state = ec_fsm_change_state_error;
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        EC_ERR("Failed to check state %s on slave %i: ",
469
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               req_state, slave->ring_position);
713
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        ec_datagram_print_wc_error(datagram);
434
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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   267
    }
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    slave->current_state = EC_READ_U8(datagram->data);
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    if (slave->current_state == fsm->requested_state) {
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        // state has been set successfully
454
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        fsm->state = ec_fsm_change_state_end;
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        return;
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   275
    }
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    if (slave->current_state != fsm->old_state) { // state changed
438
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        char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
454
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   279
469
a9c7991dca6b Fixed state change FSM again.
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        ec_state_string(slave->current_state, cur_state);
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   281
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   282
        if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {
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Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   283
            // Slave spontaneously changed its state just before the new state
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   284
            // was written. Accept current state as old state and wait for
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   285
            // state change
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   286
            fsm->spontaneous_change = 1;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   287
            fsm->old_state = slave->current_state;
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   288
            EC_WARN("Slave %i changed to %s in the meantime.\n",
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   289
                    slave->ring_position, cur_state);
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   290
            goto check_again;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   291
        }
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   292
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   293
        // state change error
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   294
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   295
        slave->error_flag = 1;
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   296
        ec_state_string(fsm->requested_state, req_state);
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   297
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   298
        EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   299
               req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   300
        // fetch AL status error code
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   301
        ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   302
        fsm->retries = EC_FSM_RETRIES;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   303
        fsm->state = ec_fsm_change_state_code;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   304
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   305
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   306
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   307
    // still old state
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
439
0f5a3d983908 Increased state change checking timeout to 1s.
Florian Pose <fp@igh-essen.com>
parents: 438
diff changeset
   309
    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   311
        char state_str[EC_STATE_STRING_SIZE];
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   312
        ec_state_string(fsm->requested_state, state_str);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   313
        fsm->state = ec_fsm_change_state_error;
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   314
        EC_ERR("Timeout while setting state %s on slave %i.\n",
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   315
                state_str, slave->ring_position);
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   316
        return;
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   317
    }
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   318
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   319
 check_again:
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   320
    // no timeout yet. check again
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   322
    fsm->retries = EC_FSM_RETRIES;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   327
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   328
   Application layer status messages.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   329
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   330
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   331
const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
    {0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
    {0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
    {0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
    {0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
    {0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    {0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
    {0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    {0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    {0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    {0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    {0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    {0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    {0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
    {0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    {0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    {0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    {0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    {0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
    {0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    {0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    {0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    {0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
    {0x0032, "PLL error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    {0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    {0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    {0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    {0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    {0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    {0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    {0x004F, "MBOX VOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
    {}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
};
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   365
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   366
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   367
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   368
   Change state: CODE.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   369
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   370
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   371
void ec_fsm_change_state_code(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   372
                              /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   373
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   374
    ec_datagram_t *datagram = fsm->datagram;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   375
    uint32_t code;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
    const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   377
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   378
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   379
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   380
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   381
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   382
        fsm->state = ec_fsm_change_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   383
        EC_ERR("Failed to receive AL status code datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   384
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   385
               fsm->slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   386
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   387
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   388
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   389
    if (datagram->working_counter != 1) {
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   390
        EC_WARN("Reception of AL status code datagram failed: ");
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   391
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   392
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   393
    else {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
        if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   395
            for (al_msg = al_status_messages; al_msg->code; al_msg++) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
                if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   397
                EC_ERR("AL status message 0x%04X: \"%s\".\n",
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   398
                       al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   399
                break;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
            }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
            if (!al_msg->code)
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
                EC_ERR("Unknown AL status code 0x%04X.\n", code);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
        }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   404
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   405
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   406
    // acknowledge "old" slave state
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   407
    ec_fsm_change_state_start_ack(fsm); // execute immediately
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   408
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   409
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   410
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   411
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   412
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   413
   Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   414
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   415
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   416
void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   417
                                   /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   418
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   419
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   420
    ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   421
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   422
    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
    EC_WRITE_U16(datagram->data, slave->current_state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   424
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   425
    fsm->state = ec_fsm_change_state_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   430
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   431
   Change state: ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   434
void ec_fsm_change_state_ack(ec_fsm_change_t *fsm /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   435
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   436
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   439
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   440
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   441
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   442
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   443
        fsm->state = ec_fsm_change_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   444
        EC_ERR("Failed to receive state ack datagram for slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   445
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   446
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   447
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   448
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   449
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   450
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   451
        fsm->state = ec_fsm_change_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   452
        EC_ERR("Reception of state ack datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   453
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   454
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
    // read new AL status
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   462
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   463
    fsm->state = ec_fsm_change_state_check_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   469
   Change state: CHECK ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   470
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   472
void ec_fsm_change_state_check_ack(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   473
                                   /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   474
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   478
    if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   479
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   480
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   481
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   482
        fsm->state = ec_fsm_change_state_error;
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   483
        EC_ERR("Failed to receive state ack check datagram from slave %i"
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   484
                " (datagram state %i).\n",
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   485
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   486
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   487
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   488
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   489
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   490
        fsm->state = ec_fsm_change_state_error;
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   491
        EC_ERR("Reception of state ack check datagram failed on slave %i: ",
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   492
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   493
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   494
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   495
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
    slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   503
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   504
    if (!(slave->current_state & EC_SLAVE_STATE_ACK_ERR)) {
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   505
        char state_str[EC_STATE_STRING_SIZE];
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   506
        ec_state_string(slave->current_state, state_str);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   507
        if (fsm->mode == EC_FSM_CHANGE_MODE_FULL) {
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   508
            fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   509
        }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   510
        else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   511
            fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   512
        }
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   513
        EC_INFO("Acknowledged state %s on slave %i.\n",
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   514
                state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   515
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   516
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   518
    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   519
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   520
        char state_str[EC_STATE_STRING_SIZE];
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   521
        ec_state_string(slave->current_state, state_str);
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   522
        fsm->state = ec_fsm_change_state_error;
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   523
        EC_ERR("Timeout while acknowledging state %s on slave %i.\n",
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   524
               state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   525
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   526
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
    // reread new AL status
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   530
    fsm->retries = EC_FSM_RETRIES;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   531
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   532
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   533
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   534
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   535
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   536
   State: ERROR.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   537
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   538
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   539
void ec_fsm_change_state_error(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   540
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   542
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   543
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   544
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   545
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   546
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   547
   State: END.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   548
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   549
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   550
void ec_fsm_change_state_end(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   551
                             /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   552
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   553
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   554
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   555
/*****************************************************************************/