etherlabmaster: master/fsm_change.c@b6f0fa579f03 (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);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	ec_master_queue_datagram(fsm->slave->master, datagram);
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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	if (datagram->state != EC_DATAGRAM_RECEIVED) {
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	178	fsm->state = ec_fsm_change_state_error;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179	EC_ERR("Failed to send state datagram to slave %i!\n",
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	180	fsm->slave->ring_position);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	181	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	182	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	184	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	185	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	186	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	187	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	if (datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	190	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	191	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	192	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	193	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	194	EC_ERR("Failed to set state %s on slave %i: Slave did not"
64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	195	" respond.\n", state_str, fsm->slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	196	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	198
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	199	// repeat writing new state to slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	200	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	201	EC_WRITE_U16(datagram->data, fsm->requested_state);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	202	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	203	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	208	// read AL status from slave
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	209	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	210	ec_master_queue_datagram(fsm->slave->master, datagram);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	211	fsm->state = ec_fsm_change_state_status;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	214	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	215
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	216	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	217	Change state: STATUS.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	218	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	219
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	220	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	221	/*< finite state machine /)
434 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	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	227	\|\| datagram->working_counter != 1) {
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	228	char req_state[EC_STATE_STRING_SIZE];
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	229	ec_state_string(fsm->requested_state, req_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	230	fsm->state = ec_fsm_change_state_error;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	231	EC_ERR("Failed to check state %s on slave %i.\n",
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	232	req_state, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	233	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	234	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	235
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	236	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	237	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	239	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	240
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	241	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	242
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	// state has been set successfully
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	245	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	246	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	247	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	248
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	249	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	250	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	251
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	252	ec_state_string(slave->current_state, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	253
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	254	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	255	// 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	256	// 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	257	// state change
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	258	fsm->old_state = slave->current_state;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	259	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	260	slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	261	goto again;
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	262	}
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	263
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	264	// state change error
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	265
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	266	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	267	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	268
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	269	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	270	req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	271	// fetch AL status error code
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	272	ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	273	ec_master_queue_datagram(fsm->slave->master, datagram);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	274	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	275	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	276	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	277
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	278	// still old state
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	279
439 0f5a3d983908 Increased state change checking timeout to 1s. Florian Pose <fp@igh-essen.com> parents: 438 diff changeset	280	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	281	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	282	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	283	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	284	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	285	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	286	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	287	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	288	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	289
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	290	again:
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	291	// no timeout yet. check again
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	292	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	293	ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	294	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	295
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	296	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	297
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	298	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	299	Application layer status messages.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	300	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	301
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	302	const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	303	{0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	304	{0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	305	{0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	306	{0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	307	{0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	308	{0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	309	{0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	310	{0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	311	{0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312	{0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	313	{0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	314	{0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	{0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	316	{0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	317	{0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	318	{0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	319	{0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	320	{0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	321	{0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	322	{0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	323	{0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	324	{0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	325	{0x0032, "PLL error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	326	{0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	327	{0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	328	{0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	329	{0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	330	{0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	331	{0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	332	{0x004F, "MBOX VOE"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	333	{}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	};
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	338	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	Change state: CODE.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	340	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	341
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	342	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	343	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	344	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	345	ec_datagram_t *datagram = fsm->datagram;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	uint32_t code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	350	\|\| datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	EC_WARN("Reception of AL status code datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	else {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	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	356	if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	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	358	al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	359	break;
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	if (!al_msg->code)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	362	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	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	// acknowledge "old" slave state
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	367	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	368	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	369
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
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	372	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	373	Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	374	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	375
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	376	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	377	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	378	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	379	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	380	ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	381
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	382	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	383	EC_WRITE_U16(datagram->data, slave->current_state);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	384	ec_master_queue_datagram(fsm->slave->master, datagram);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	385	fsm->state = ec_fsm_change_state_ack;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	386	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	387
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	389
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	390	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	Change state: ACK.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	394	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	395	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	397	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	398
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	399	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	400	\|\| datagram->working_counter != 1) {
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	401	fsm->state = ec_fsm_change_state_error;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	EC_ERR("Reception of state ack datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403	return;
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	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	407
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	408	// read new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	409	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	410	ec_master_queue_datagram(fsm->slave->master, datagram);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	411	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	412	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	413
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	414	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	415
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	416	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	417	Change state: CHECK ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	418	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	419
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	420	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	421	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	422	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	423	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	424	ec_slave_t *slave = fsm->slave;
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	if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	427	\|\| datagram->working_counter != 1) {
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	428	fsm->state = ec_fsm_change_state_error;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	429	EC_ERR("Reception of state ack check datagram failed.\n");
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	430	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	431	}
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	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	434	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	435	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	436	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	437
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	438	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	439
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	440	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	441	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	442	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	443	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	444	fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	445	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	446	else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	447	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	448	}
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	449	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	450	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	451	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	452	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	453
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	454	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	455	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	456	char state_str[EC_STATE_STRING_SIZE];
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	457	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	458	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	459	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	460	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	return;
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	// reread new AL status
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	465	ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	466	ec_master_queue_datagram(fsm->slave->master, datagram);
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	/*****************************************************************************/
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	472	State: ERROR.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	473	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	474
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	475	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	476	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	477	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	478	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	479
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	481
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	483	State: END.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	485
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	486	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	487	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	488	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	489	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	490
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	491	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Tue, 07 Nov 2006 13:30:02 +0000
changeset 488	b6f0fa579f03
parent 469	a9c7991dca6b
child 505	bc443ca0077f
permissions	-rw-r--r--