master/fsm_change.c
author Florian Pose <fp@igh-essen.com>
Thu, 02 Oct 2008 15:38:35 +0000
changeset 1249 d64ed42e0d11
parent 1225 4d5b739edcb5
child 1326 ef907b0b5125
permissions -rw-r--r--
Userspace example with priority.
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;
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
    69
    fsm->spontaneous_change = 0;
434
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    75
   Destructor.
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    78
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
    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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    84
/**
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
    85
   Starts the change state machine.
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
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
    88
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
    89
                         ec_slave_t *slave, /**< EtherCAT slave */
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
    90
                         ec_slave_state_t state /**< requested state */
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
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
    93
    fsm->mode = EC_FSM_CHANGE_MODE_FULL;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
    fsm->slave = slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
    fsm->requested_state = state;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
    96
    fsm->state = ec_fsm_change_state_start;
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
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   102
   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
   103
*/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   104
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   105
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
   106
                       ec_slave_t *slave /**< EtherCAT slave */
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
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   109
    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
   110
    fsm->slave = slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   111
    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   112
    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
   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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   118
   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
   119
   \return false, if the state machine has terminated
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
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   122
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
   123
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   124
    fsm->state(fsm);
435
779a18d12e6c Removed state machine running() methods.
Florian Pose <fp@igh-essen.com>
parents: 434
diff changeset
   125
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   126
    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
   127
        && fsm->state != ec_fsm_change_state_error;
434
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   133
   Returns, if the state machine terminated with success.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   134
   \return non-zero if successful.
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   137
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
   138
{
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   139
    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
   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
/******************************************************************************
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   143
 *  state change state machine
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   144
 *****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   145
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   146
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   147
   Change state: START.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   148
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   149
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   150
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
   151
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   152
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   153
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   154
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   155
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   156
    fsm->take_time = 1;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   157
    fsm->old_state = fsm->slave->current_state;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   158
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   159
    // write new state to slave
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   160
    ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   161
    EC_WRITE_U16(datagram->data, fsm->requested_state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   162
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   163
    fsm->state = ec_fsm_change_state_check;
434
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   169
   Change state: CHECK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   170
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   171
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   172
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
   173
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   174
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   175
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   176
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   177
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   178
    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
   179
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   180
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   181
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   182
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   183
        EC_ERR("Failed to receive state datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   184
                " (datagram state %u)!\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   185
               fsm->slave->ring_position, datagram->state);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   186
        return;
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 (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   190
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   191
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   192
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   193
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   194
    if (datagram->working_counter == 0) {
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   195
        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
   196
            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
   197
            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
   198
            fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   199
            EC_ERR("Failed to set state %s on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   200
                    state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   201
            ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   202
            return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   203
        }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   204
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   205
        // repeat writing new state to slave
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   206
        ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   207
        EC_WRITE_U16(datagram->data, fsm->requested_state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   208
        fsm->retries = EC_FSM_RETRIES;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   209
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   210
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   211
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   212
    if (unlikely(datagram->working_counter > 1)) {
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   213
        char state_str[EC_STATE_STRING_SIZE];
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   214
        ec_state_string(fsm->requested_state, state_str);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   215
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   216
        EC_ERR("Failed to set state %s on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   217
                state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   218
        ec_datagram_print_wc_error(datagram);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   219
        return;
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   220
    }
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   221
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   222
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   223
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   224
    // read AL status from slave
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   225
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   226
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   227
    fsm->retries = EC_FSM_RETRIES;
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   228
    fsm->spontaneous_change = 0;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   229
    fsm->state = ec_fsm_change_state_status;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   230
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   231
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   232
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   233
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   234
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   235
   Change state: STATUS.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   236
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   237
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   238
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
   239
                                /**< finite state machine */)
434
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
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   242
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   243
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   244
    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
   245
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   246
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   247
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   248
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   249
        EC_ERR("Failed to receive state checking datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   250
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   251
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   252
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   253
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   254
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   255
    if (datagram->working_counter != 1) {
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   256
        char req_state[EC_STATE_STRING_SIZE];
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   257
        ec_state_string(fsm->requested_state, req_state);
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   258
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   259
        EC_ERR("Failed to check state %s on slave %u: ",
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   260
               req_state, slave->ring_position);
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   261
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   262
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   263
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   264
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   265
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   266
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   267
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   268
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   269
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   270
    slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   271
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   272
    if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   273
        // state has been set successfully
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   274
        fsm->state = ec_fsm_change_state_end;
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
    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
   279
        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
   280
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   281
        ec_state_string(slave->current_state, cur_state);
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   282
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   283
        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
   284
            // 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
   285
            // 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
   286
            // state change
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   287
            fsm->spontaneous_change = 1;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   288
            fsm->old_state = slave->current_state;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   289
            EC_WARN("Slave %u changed to %s in the meantime.\n",
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   290
                    slave->ring_position, cur_state);
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   291
            goto check_again;
469
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
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   294
        // state change error
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   295
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   296
        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
   297
        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
   298
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   299
        EC_ERR("Failed to set %s state, slave %u refused state change (%s).\n",
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   300
               req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   301
        // fetch AL status error code
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   302
        ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   303
        ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   304
        fsm->retries = EC_FSM_RETRIES;
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   305
        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
   306
        return;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   307
    }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   308
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   309
    // still old state
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
439
0f5a3d983908 Increased state change checking timeout to 1s.
Florian Pose <fp@igh-essen.com>
parents: 438
diff changeset
   311
    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
   312
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   313
        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
   314
        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
   315
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   316
        EC_ERR("Timeout while setting state %s on slave %u.\n",
738
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   317
                state_str, slave->ring_position);
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   318
        return;
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   319
    }
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   320
880c6153101f Improved handling for spontaneous AL state changes.
Florian Pose <fp@igh-essen.com>
parents: 713
diff changeset
   321
 check_again:
469
a9c7991dca6b Fixed state change FSM again.
Florian Pose <fp@igh-essen.com>
parents: 454
diff changeset
   322
    // no timeout yet. check again
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   323
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   324
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   325
    fsm->retries = EC_FSM_RETRIES;
434
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
/*****************************************************************************/
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
   Application layer status messages.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   332
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   333
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   334
const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   335
    {0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   336
    {0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   337
    {0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   338
    {0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   339
    {0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    {0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    {0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
    {0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    {0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
    {0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
    {0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   346
    {0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    {0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
    {0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
    {0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   350
    {0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
    {0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   352
    {0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
    {0x0022, "Slave needs PREOP"},
813
bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP.
Florian Pose <fp@igh-essen.com>
parents: 798
diff changeset
   354
    {0x0023, "Slave needs SAFEOP"},
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
    {0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
    {0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   357
    {0x0032, "PLL error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    {0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
    {0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    {0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   361
    {0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   362
    {0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   363
    {0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   364
    {0x004F, "MBOX VOE"},
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
/*****************************************************************************/
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   371
   Change state: CODE.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   372
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   373
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   374
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
   375
                              /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   376
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   377
    ec_datagram_t *datagram = fsm->datagram;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    uint32_t code;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   379
    const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   381
    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
   382
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   383
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   384
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   385
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   386
        EC_ERR("Failed to receive AL status code datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   387
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   388
               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
   389
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   390
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   391
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   392
    if (datagram->working_counter != 1) {
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   393
        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
   394
        ec_datagram_print_wc_error(datagram);
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   395
    } else {
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   396
        code = EC_READ_U16(datagram->data);
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   397
        for (al_msg = al_status_messages; al_msg->code; al_msg++) {
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   398
            if (al_msg->code != code) continue;
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   399
            EC_ERR("AL status message 0x%04X: \"%s\".\n",
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   400
                    al_msg->code, al_msg->message);
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   401
            break;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
        }
798
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   403
        if (!al_msg->code)
5a58606726f3 Output AL status code zero.
Florian Pose <fp@igh-essen.com>
parents: 738
diff changeset
   404
            EC_ERR("Unknown AL status code 0x%04X.\n", code);
434
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
    // acknowledge "old" slave state
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   408
    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
   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
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   414
   Change state: START ACK.
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
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   417
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
   418
                                   /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   419
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   420
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   421
    ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   422
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   423
    ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   424
    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
   425
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   426
    fsm->state = ec_fsm_change_state_ack;
434
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   432
   Change state: ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   433
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   434
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   435
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
   436
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   437
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   438
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   439
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   440
    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
   441
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   442
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   443
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   444
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   445
        EC_ERR("Failed to receive state ack datagram for slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   446
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   447
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   448
        return;
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
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   451
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   452
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   453
        EC_ERR("Reception of state ack datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   454
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   455
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
        return;
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   460
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
    // read new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   462
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   463
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   464
    fsm->retries = EC_FSM_RETRIES;
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   465
    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
   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
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
   Change state: CHECK ACK.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   473
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   474
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
   475
                                   /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   476
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   477
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   478
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   479
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 594
diff changeset
   480
    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
   481
        return;
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   482
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   483
    if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   484
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   485
        EC_ERR("Failed to receive state ack check datagram from slave %u"
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   486
                " (datagram state %u).\n",
594
07dd2a7df66e Added datagram state to "Failed to receive..." messages.
Florian Pose <fp@igh-essen.com>
parents: 505
diff changeset
   487
               slave->ring_position, datagram->state);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   488
        return;
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   489
    }
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   490
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   491
    if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   492
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   493
        EC_ERR("Reception of state ack check datagram failed on slave %u: ",
713
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   494
                slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced
Florian Pose <fp@igh-essen.com>
parents: 637
diff changeset
   495
        ec_datagram_print_wc_error(datagram);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   496
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   497
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   498
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   499
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   500
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   501
        fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   502
    }
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
    slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   505
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   506
    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
   507
        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
   508
        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
   509
        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
   510
            fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   511
        }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   512
        else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   513
            fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   514
        }
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   515
        EC_INFO("Acknowledged state %s on slave %u.\n",
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   516
                state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   517
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   518
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   519
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   520
    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
   521
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   522
        char state_str[EC_STATE_STRING_SIZE];
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   523
        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
   524
        fsm->state = ec_fsm_change_state_error;
986
a486591ba86b Replaced misleading %i by %u.
Florian Pose <fp@igh-essen.com>
parents: 815
diff changeset
   525
        EC_ERR("Timeout while acknowledging state %s on slave %u.\n",
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   526
               state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   527
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   528
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   529
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   530
    // reread new AL status
815
002fe9ec778f Implemented missing datagram types.
Florian Pose <fp@igh-essen.com>
parents: 813
diff changeset
   531
    ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
1225
4d5b739edcb5 Introduced ec_datagram_zero().
Florian Pose <fp@igh-essen.com>
parents: 986
diff changeset
   532
    ec_datagram_zero(datagram);
505
bc443ca0077f State machines re-send datagrams on timeout.
Florian Pose <fp@igh-essen.com>
parents: 469
diff changeset
   533
    fsm->retries = EC_FSM_RETRIES;
434
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
/*****************************************************************************/
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   539
   State: ERROR.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   540
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   541
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   542
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
   543
                               /**< finite state machine */)
434
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
/*****************************************************************************/
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
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   550
   State: END.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   551
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   552
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   553
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
   554
                             /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   555
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   556
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   557
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   558
/*****************************************************************************/