master/fsm_change.c
author Florian Pose <fp@igh-essen.com>
Fri, 27 Oct 2006 14:41:09 +0000
changeset 462 e6fac0c8bc92
parent 454 25cc4a3b9e0a
child 469 a9c7991dca6b
permissions -rw-r--r--
New state in slaveconf FSM: Clear FMMU configurations after INIT.
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/******************************************************************************
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 *
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 *  $Id$
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 *
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 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
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 *
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 *  This file is part of the IgH EtherCAT Master.
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 *
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 *  The IgH EtherCAT Master is free software; you can redistribute it
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 *  and/or modify it under the terms of the GNU General Public License
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 *  as published by the Free Software Foundation; either version 2 of the
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 *  License, or (at your option) any later version.
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 *
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 *  The IgH EtherCAT Master is distributed in the hope that it will be
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 *  useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 *  GNU General Public License for more details.
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 *
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 *  You should have received a copy of the GNU General Public License
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 *  along with the IgH EtherCAT Master; if not, write to the Free Software
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 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
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 *
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 *  The right to use EtherCAT Technology is granted and comes free of
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 *  charge under condition of compatibility of product made by
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 *  Licensee. People intending to distribute/sell products based on the
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 *  code, have to sign an agreement to guarantee that products using
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 *  software based on IgH EtherCAT master stay compatible with the actual
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 *  EtherCAT specification (which are released themselves as an open
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 *  standard) as the (only) precondition to have the right to use EtherCAT
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 *  Technology, IP and trade marks.
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 *
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 *****************************************************************************/
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/**
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   \file
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   EtherCAT state change FSM.
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*/
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/*****************************************************************************/
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#include "globals.h"
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#include "master.h"
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#include "fsm_change.h"
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/*****************************************************************************/
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void ec_fsm_change_state_start(ec_fsm_change_t *);
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void ec_fsm_change_state_check(ec_fsm_change_t *);
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void ec_fsm_change_state_status(ec_fsm_change_t *);
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void ec_fsm_change_state_code(ec_fsm_change_t *);
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void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
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void ec_fsm_change_state_end(ec_fsm_change_t *);
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void ec_fsm_change_state_error(ec_fsm_change_t *);
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/*****************************************************************************/
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/**
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   Constructor.
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*/
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void ec_fsm_change_init(ec_fsm_change_t *fsm, /**< finite state machine */
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                        ec_datagram_t *datagram /**< datagram */
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                        )
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{
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    fsm->state = NULL;
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    fsm->datagram = datagram;
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}
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/*****************************************************************************/
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/**
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   Destructor.
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*/
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void ec_fsm_change_clear(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine.
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*/
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void ec_fsm_change_start(ec_fsm_change_t *fsm, /**< finite state machine */
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                         ec_slave_t *slave, /**< EtherCAT slave */
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                         ec_slave_state_t state /**< requested state */
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                         )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_FULL;
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    fsm->slave = slave;
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    fsm->requested_state = state;
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    fsm->state = ec_fsm_change_state_start;
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}
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/*****************************************************************************/
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/**
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   Starts the change state machine to only acknowlegde a slave's state.
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*/
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void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
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                       ec_slave_t *slave /**< EtherCAT slave */
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                       )
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{
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    fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
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    fsm->slave = slave;
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    fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
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    fsm->state = ec_fsm_change_state_start_ack;
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}
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/*****************************************************************************/
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/**
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   Executes the current state of the state machine.
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   \return false, if the state machine has terminated
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*/
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int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
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{
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    fsm->state(fsm);
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    return fsm->state != ec_fsm_change_state_end
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        && fsm->state != ec_fsm_change_state_error;
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}
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/*****************************************************************************/
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/**
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   Returns, if the state machine terminated with success.
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   \return non-zero if successful.
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*/
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int ec_fsm_change_success(ec_fsm_change_t *fsm /**< Finite state machine */)
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{
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    return fsm->state == ec_fsm_change_state_end;
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}
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/******************************************************************************
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 *  state change state machine
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 *****************************************************************************/
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/**
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   Change state: START.
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*/
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454
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void ec_fsm_change_state_start(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    fsm->take_time = 1;
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    fsm->old_state = fsm->slave->current_state;
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    // write new state to slave
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    ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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    EC_WRITE_U16(datagram->data, fsm->requested_state);
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    ec_master_queue_datagram(fsm->slave->master, datagram);
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    fsm->state = ec_fsm_change_state_check;
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}
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/*****************************************************************************/
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/**
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   Change state: CHECK.
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*/
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454
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void ec_fsm_change_state_check(ec_fsm_change_t *fsm
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                               /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    if (datagram->state != EC_DATAGRAM_RECEIVED) {
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        fsm->state = ec_fsm_change_state_error;
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        EC_ERR("Failed to send state datagram to slave %i!\n",
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               fsm->slave->ring_position);
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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    }
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    if (datagram->working_counter != 1) {
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        if (datagram->jiffies_received - fsm->jiffies_start >= 3 * HZ) {
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            char state_str[EC_STATE_STRING_SIZE];
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            ec_state_string(fsm->requested_state, state_str);
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            fsm->state = ec_fsm_change_state_error;
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            EC_ERR("Failed to set state %s on slave %i: Slave did not"
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                   " respond.\n", state_str, fsm->slave->ring_position);
434
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            return;
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        }
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        // repeat writing new state to slave
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        ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
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        EC_WRITE_U16(datagram->data, fsm->requested_state);
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        ec_master_queue_datagram(fsm->slave->master, datagram);
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        return;
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    }
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    fsm->take_time = 1;
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    // read AL status from slave
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    ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
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    ec_master_queue_datagram(fsm->slave->master, datagram);
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    fsm->state = ec_fsm_change_state_status;
434
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}
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/*****************************************************************************/
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/**
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   Change state: STATUS.
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*/
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454
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void ec_fsm_change_state_status(ec_fsm_change_t *fsm
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                                /**< finite state machine */)
434
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{
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    ec_datagram_t *datagram = fsm->datagram;
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    ec_slave_t *slave = fsm->slave;
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    if (datagram->state != EC_DATAGRAM_RECEIVED
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        || datagram->working_counter != 1) {
454
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        fsm->state = ec_fsm_change_state_error;
434
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        EC_ERR("Failed to check state 0x%02X on slave %i.\n",
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               fsm->requested_state, slave->ring_position);
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        return;
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    }
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    if (fsm->take_time) {
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        fsm->take_time = 0;
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        fsm->jiffies_start = datagram->jiffies_sent;
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    }
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    slave->current_state = EC_READ_U8(datagram->data);
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    if (slave->current_state == fsm->requested_state) {
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        // state has been set successfully
454
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        fsm->state = ec_fsm_change_state_end;
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        return;
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    }
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    if (slave->current_state != fsm->old_state) { // state changed
438
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        char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
454
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        slave->error_flag = 1;
438
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        ec_state_string(fsm->requested_state, req_state);
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        ec_state_string(slave->current_state, cur_state);
454
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        if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
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            // state change error
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            EC_ERR("Failed to set %s state,"
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                   " slave %i refused state change (%s).\n",
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   258
                   req_state, slave->ring_position, cur_state);
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   259
            // fetch AL status error code
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            ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
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            ec_master_queue_datagram(fsm->slave->master, datagram);
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   262
            fsm->state = ec_fsm_change_state_code;
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   263
            return;
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   264
        }
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   265
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        // state change to unrequested state
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        EC_ERR("Slave %i changed to unrequested state %s!\n",
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               slave->ring_position, cur_state);
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        fsm->state = ec_fsm_change_state_error;
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        return;
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   271
    }
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   272
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    // still old state
434
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439
0f5a3d983908 Increased state change checking timeout to 1s.
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    if (datagram->jiffies_received - fsm->jiffies_start >= HZ) { // 1s
434
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        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
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        char state_str[EC_STATE_STRING_SIZE];
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   278
        ec_state_string(fsm->requested_state, state_str);
454
25cc4a3b9e0a State acknowledgement in master state machine.
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   279
        fsm->state = ec_fsm_change_state_error;
438
64edce89fe9b Output state names instead of codes in change FSM.
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   280
        EC_ERR("Timeout while setting state %s on slave %i.\n",
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   281
               state_str, slave->ring_position);
434
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        return;
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   283
    }
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parents:
diff changeset
   284
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   285
    // check again
434
0180d8277311 Layed out state change state machine.
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parents:
diff changeset
   286
    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
   287
    ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   288
}
0180d8277311 Layed out state change state machine.
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parents:
diff changeset
   289
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   290
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
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parents:
diff changeset
   291
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   292
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   293
   Application layer status messages.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   294
*/
0180d8277311 Layed out state change state machine.
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parents:
diff changeset
   295
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   296
const ec_code_msg_t al_status_messages[] = {
0180d8277311 Layed out state change state machine.
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parents:
diff changeset
   297
    {0x0001, "Unspecified error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   298
    {0x0011, "Invalud requested state change"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   299
    {0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   300
    {0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   301
    {0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   302
    {0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   303
    {0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   304
    {0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   305
    {0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   306
    {0x0019, "No valid outputs"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   307
    {0x001A, "Synchronisation error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   308
    {0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   309
    {0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   310
    {0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   311
    {0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   312
    {0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   313
    {0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   314
    {0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   315
    {0x0022, "Slave needs PREOP"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   316
    {0x0023, "Slave needs SAVEOP"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   317
    {0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   318
    {0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   319
    {0x0032, "PLL error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   320
    {0x0033, "Invalid DC IO error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   321
    {0x0034, "Invalid DC timeout error"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   322
    {0x0042, "MBOX EOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   323
    {0x0043, "MBOX COE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   324
    {0x0044, "MBOX FOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   325
    {0x0045, "MBOX SOE"},
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   326
    {0x004F, "MBOX VOE"},
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
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
   Change state: CODE.
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
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   336
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
   337
                              /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   338
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   339
    ec_datagram_t *datagram = fsm->datagram;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   340
    uint32_t code;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   341
    const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   342
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   343
    if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   344
        || datagram->working_counter != 1) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   345
        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
   346
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   347
    else {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   348
        if ((code = EC_READ_U16(datagram->data))) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   349
            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
   350
                if (al_msg->code != code) continue;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   351
                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
   352
                       al_msg->code, al_msg->message);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   353
                break;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   354
            }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   355
            if (!al_msg->code)
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   356
                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
   357
        }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   358
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   359
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   360
    // acknowledge "old" slave state
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   361
    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
   362
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   363
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   364
/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   365
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   366
/**
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   367
   Change state: START ACK.
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
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
   371
                                   /**< finite state machine */)
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
    ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   374
    ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   375
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   376
    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
   377
    EC_WRITE_U16(datagram->data, slave->current_state);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   378
    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
   379
    fsm->state = ec_fsm_change_state_ack;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   380
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   381
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   382
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   383
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   384
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   385
   Change state: ACK.
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
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   388
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
   389
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   390
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   391
    ec_slave_t *slave = fsm->slave;
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
    if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   394
        || datagram->working_counter != 1) {
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   395
        fsm->state = ec_fsm_change_state_error;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   396
        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
   397
        return;
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
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   400
    fsm->take_time = 1;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   401
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   402
    // read new AL status
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   403
    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
   404
    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
   405
    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
   406
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   407
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   408
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   409
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   410
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   411
   Change state: CHECK ACK.
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
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   414
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
   415
                                   /**< finite state machine */)
434
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
    ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   418
    ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   419
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   420
    if (datagram->state != EC_DATAGRAM_RECEIVED
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   421
        || datagram->working_counter != 1) {
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   422
        fsm->state = ec_fsm_change_state_error;
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   423
        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
   424
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   425
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   426
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   427
    if (fsm->take_time) {
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   428
        fsm->take_time = 0;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   429
        fsm->jiffies_start = datagram->jiffies_sent;
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
    slave->current_state = EC_READ_U8(datagram->data);
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
    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
   435
        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
   436
        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
   437
        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
   438
            fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   439
        }
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   440
        else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   441
            fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   442
        }
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   443
        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
   444
                state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   445
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   446
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   447
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   448
    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
   449
        // timeout while checking
438
64edce89fe9b Output state names instead of codes in change FSM.
Florian Pose <fp@igh-essen.com>
parents: 435
diff changeset
   450
        char state_str[EC_STATE_STRING_SIZE];
443
0746236dd032 Fixes in state change FSM.
Florian Pose <fp@igh-essen.com>
parents: 439
diff changeset
   451
        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
   452
        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
   453
        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
   454
               state_str, slave->ring_position);
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   455
        return;
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   456
    }
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   457
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   458
    // reread new AL status
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   459
    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
   460
    ec_master_queue_datagram(fsm->slave->master, datagram);
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   461
}
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   462
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   463
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   464
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   465
/**
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   466
   State: ERROR.
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   467
*/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   468
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   469
void ec_fsm_change_state_error(ec_fsm_change_t *fsm
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   470
                               /**< finite state machine */)
434
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   471
{
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   472
}
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
/*****************************************************************************/
0180d8277311 Layed out state change state machine.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
   475
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
   State: END.
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
454
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   480
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
   481
                             /**< finite state machine */)
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   482
{
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   483
}
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   484
25cc4a3b9e0a State acknowledgement in master state machine.
Florian Pose <fp@igh-essen.com>
parents: 443
diff changeset
   485
/*****************************************************************************/