etherlabmaster: master/fsm_change.c@f452c93f7723 (annotated)

434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* $Id$
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	5	* Copyright (C) 2006-2008 Florian Pose, Ingenieurgemeinschaft IgH
434 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	*
1326 ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it and/or
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	10	* modify it under the terms of the GNU General Public License version 2, as
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	11	* published by the Free Software Foundation.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	12	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	13	* The IgH EtherCAT Master is distributed in the hope that it will be useful,
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	14	* but WITHOUT ANY WARRANTY; without even the implied warranty of
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	15	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	16	* Public License for more details.
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	17	*
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	18	* You should have received a copy of the GNU General Public License along
ef907b0b5125 merge -c1603 branches/stable-1.4: Changed licence headers to avoid conflicts with the GPL; restricted licence to GPLv2 only. Florian Pose <fp@igh-essen.com> parents: 1225 diff changeset	19	* with the IgH EtherCAT Master; if not, write to the Free Software
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	20	* 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	21	*
1363 11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	22	* ---
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	23	*
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	24	* The license mentioned above concerns the source code only. Using the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	25	* EtherCAT technology and brand is only permitted in compliance with the
11c0b2caa253 Improved and added license headers. Florian Pose <fp@igh-essen.com> parents: 1337 diff changeset	26	* industrial property and similar rights of Beckhoff Automation GmbH.
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	27	*
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	28	*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	29
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	\file
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	EtherCAT state change FSM.
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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	37	#include "globals.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	38	#include "master.h"
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	39	#include "fsm_change.h"
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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	42
1445 45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	43	/** Timeout while waiting for AL state change [s].
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	44	*/
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	45	#define EC_AL_STATE_CHANGE_TIMEOUT 2
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	46
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	47	/*****************************************************************************/
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	48
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	49	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	50	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	51	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	52	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	53	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	54	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	55	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	56	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	57	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	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
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	Constructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	64
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	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	66	ec_datagram_t datagram /< datagram /
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	)
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	68	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	fsm->state = NULL;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	fsm->datagram = datagram;
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	71	fsm->spontaneous_change = 0;
434 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
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	Destructor.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	80	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	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	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	85
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	/**
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	87	Starts the change state machine.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	88	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	89
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	90	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	91	ec_slave_t slave, /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	92	ec_slave_state_t state /*< requested state /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	93	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	94	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	95	fsm->mode = EC_FSM_CHANGE_MODE_FULL;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	96	fsm->slave = slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	97	fsm->requested_state = state;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	98	fsm->state = ec_fsm_change_state_start;
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
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	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	105	*/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	106
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	107	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	108	ec_slave_t slave /< EtherCAT slave /
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	109	)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	110	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	111	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	112	fsm->slave = slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	113	fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	114	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	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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	119	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	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	121	\return false, if the state machine has terminated
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	122	*/
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	123
779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	124	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	125	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	126	fsm->state(fsm);
435 779a18d12e6c Removed state machine running() methods. Florian Pose <fp@igh-essen.com> parents: 434 diff changeset	127
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	128	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	129	&& fsm->state != ec_fsm_change_state_error;
434 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
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	135	Returns, if the state machine terminated with success.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	\return non-zero if successful.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	137	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	138
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	139	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	140	{
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	141	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	142	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	143
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	/******************************************************************************
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	145	* state change state machine
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
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	Change state: START.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	150	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	151
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	152	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	153	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	154	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	155	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	156	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	157
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	158	fsm->take_time = 1;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	159	fsm->old_state = fsm->slave->current_state;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	160
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	// write new state to slave
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	162	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	163	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	164	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	165	fsm->state = ec_fsm_change_state_check;
434 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
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	Change state: CHECK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	172	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	173
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	174	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	175	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	176	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	177	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	178	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	179
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	180	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	181	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	182
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	183	if (datagram->state != EC_DATAGRAM_RECEIVED) {
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	184	fsm->state = ec_fsm_change_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	185	EC_ERR("Failed to receive state datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	186	fsm->slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	187	ec_datagram_print_state(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	188	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	189	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	190
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	191	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	192	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	193	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	194	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	195
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	196	if (datagram->working_counter == 0) {
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	197	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	198	char state_str[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	199	ec_state_string(fsm->requested_state, state_str, 0);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	200	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	201	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	202	state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	203	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	204	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	205	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	206
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	207	// repeat writing new state to slave
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	208	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	209	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	210	fsm->retries = EC_FSM_RETRIES;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	211	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	212	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	213
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	214	if (unlikely(datagram->working_counter > 1)) {
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	215	char state_str[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	216	ec_state_string(fsm->requested_state, state_str, 0);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	217	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	218	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	219	state_str, fsm->slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	220	ec_datagram_print_wc_error(datagram);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	221	return;
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	222	}
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	223
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	224	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	225
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	226	// read AL status from slave
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	227	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	228	ec_datagram_zero(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	229	fsm->retries = EC_FSM_RETRIES;
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	230	fsm->spontaneous_change = 0;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	231	fsm->state = ec_fsm_change_state_status;
434 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
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	Change state: STATUS.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	238	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	239
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	240	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	241	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	242	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	243	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	244	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	245
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	246	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	247	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	248
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	249	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	250	fsm->state = ec_fsm_change_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	251	EC_ERR("Failed to receive state checking datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	252	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	253	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	254	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	255	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	256
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	257	if (datagram->working_counter != 1) {
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	258	char req_state[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	259	ec_state_string(fsm->requested_state, req_state, 0);
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	260	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	261	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	262	req_state, slave->ring_position);
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	263	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	266
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	}
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	slave->current_state = EC_READ_U8(datagram->data);
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	273
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	274	if (slave->current_state == fsm->requested_state) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	275	// state has been set successfully
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	276	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	277	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	278	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	279
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	280	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	281	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	282
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	283	ec_state_string(slave->current_state, cur_state, 0);
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	284
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	285	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	286	// 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	287	// 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	288	// state change
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	289	fsm->spontaneous_change = 1;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	290	fsm->old_state = slave->current_state;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	291	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	292	slave->ring_position, cur_state);
738 880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	293	goto check_again;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	294	}
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	295
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	296	// state change error
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	297
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	298	slave->error_flag = 1;
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	299	ec_state_string(fsm->requested_state, req_state, 0);
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	300
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	301	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	302	req_state, slave->ring_position, cur_state);
a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	303	// fetch AL status error code
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	304	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	305	ec_datagram_zero(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	306	fsm->retries = EC_FSM_RETRIES;
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	307	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	308	return;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	309	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	310
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	311	// still old state
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	312
1445 45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	313	if (datagram->jiffies_received - fsm->jiffies_start >=
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	314	EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	315	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	316	char state_str[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	317	ec_state_string(fsm->requested_state, state_str, 0);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	318	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	319	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	320	state_str, slave->ring_position);
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	321	return;
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	322	}
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	323
880c6153101f Improved handling for spontaneous AL state changes. Florian Pose <fp@igh-essen.com> parents: 713 diff changeset	324	check_again:
469 a9c7991dca6b Fixed state change FSM again. Florian Pose <fp@igh-essen.com> parents: 454 diff changeset	325	// no timeout yet. check again
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	326	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	327	ec_datagram_zero(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	328	fsm->retries = EC_FSM_RETRIES;
434 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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	334	Application layer status messages.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	335	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	336
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	337	const ec_code_msg_t al_status_messages[] = {
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	338	{0x0000, "No error"},
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	339	{0x0001, "Unspecified error"},
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	340	{0x0002, "No Memory"},
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	341	{0x0011, "Invalid requested state change"},
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	342	{0x0012, "Unknown requested state"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	343	{0x0013, "Bootstrap not supported"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	344	{0x0014, "No valid firmware"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	345	{0x0015, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	346	{0x0016, "Invalid mailbox configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	347	{0x0017, "Invalid sync manager configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	348	{0x0018, "No valid inputs available"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	349	{0x0019, "No valid outputs"},
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	350	{0x001A, "Synchronization error"},
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	351	{0x001B, "Sync manager watchdog"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	352	{0x001C, "Invalid sync manager types"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	353	{0x001D, "Invalid output configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	354	{0x001E, "Invalid input configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	355	{0x001F, "Invalid watchdog configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	356	{0x0020, "Slave needs cold start"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	357	{0x0021, "Slave needs INIT"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	358	{0x0022, "Slave needs PREOP"},
813 bfc3f1ab52de Fixed typo SAVEOP -> SAFEOP. Florian Pose <fp@igh-essen.com> parents: 798 diff changeset	359	{0x0023, "Slave needs SAFEOP"},
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	360	{0x0024, "Invalid Input Mapping"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	361	{0x0025, "Invalid Output Mapping"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	362	{0x0026, "Inconsistent Settings"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	363	{0x0027, "Freerun not supported"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	364	{0x0028, "Synchronization not supported"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	365	{0x0029, "Freerun needs 3 Buffer Mode"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	366	{0x002A, "Background Watchdog"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	367	{0x002B, "No Valid Inputs and Outputs"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	368	{0x002C, "Fatal Sync Error"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	369	{0x002D, "No Sync Error"},
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	370	{0x0030, "Invalid DC SYNCH configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	371	{0x0031, "Invalid DC latch configuration"},
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	372	{0x0032, "PLL error"},
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	373	{0x0033, "DC Sync IO Error"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	374	{0x0034, "DC Sync Timeout Error"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	375	{0x0035, "DC Invalid Sync Cycle Time"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	376	{0x0036, "DC Sync0 Cycle Time"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	377	{0x0037, "DC Sync1 Cycle Time"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	378	{0x0041, "MBX_AOE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	379	{0x0042, "MBX_EOE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	380	{0x0043, "MBX_COE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	381	{0x0044, "MBX_FOE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	382	{0x0045, "MBX_SOE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	383	{0x004F, "MBX_VOE"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	384	{0x0050, "EEPROM No Access"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	385	{0x0051, "EEPROM Error"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	386	{0x0060, "Slave Restarted Locally"},
a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	387	{0xffff}
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	388	};
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	389
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	390
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	391	/*****************************************************************************/
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	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	394	Change state: CODE.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	395	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	396
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	397	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	398	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	399	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	400	ec_datagram_t *datagram = fsm->datagram;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	401	uint32_t code;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	402	const ec_code_msg_t *al_msg;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	403
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	404	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	405	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	406
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	407	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	408	fsm->state = ec_fsm_change_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	409	EC_ERR("Failed to receive AL status code datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	410	fsm->slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	411	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	412	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	413	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	414
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	415	if (datagram->working_counter != 1) {
713 ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	416	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	417	ec_datagram_print_wc_error(datagram);
798 5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	418	} else {
5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	419	code = EC_READ_U16(datagram->data);
1886 a9fcecb8415c Included futher AL status code messages. Florian Pose <fp@igh-essen.com> parents: 1822 diff changeset	420	for (al_msg = al_status_messages; al_msg->code != 0xffff; al_msg++) {
798 5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	421	if (al_msg->code != code) continue;
5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	422	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	423	al_msg->code, al_msg->message);
5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	424	break;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	425	}
798 5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	426	if (!al_msg->code)
5a58606726f3 Output AL status code zero. Florian Pose <fp@igh-essen.com> parents: 738 diff changeset	427	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	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	// acknowledge "old" slave state
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	431	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	432	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	433
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	434	/*****************************************************************************/
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	435
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	436	/**
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	437	Change state: START ACK.
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	438	*/
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	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	441	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	442	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	443	ec_slave_t *slave = fsm->slave;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	444	ec_datagram_t *datagram = fsm->datagram;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	445
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	446	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	447	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	448	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	449	fsm->state = ec_fsm_change_state_ack;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	450	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	451
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	452	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	453
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	454	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	455	Change state: ACK.
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
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	458	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	459	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	460	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	461	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	462
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	463	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	464	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	465
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	466	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	467	fsm->state = ec_fsm_change_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	468	EC_ERR("Failed to receive state ack datagram for slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	469	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	470	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	471	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	472	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	473
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	474	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	475	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	476	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	477	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	478	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	479	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	480	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	481
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	482	fsm->take_time = 1;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	483
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	484	// read new AL status
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	485	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	486	ec_datagram_zero(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	487	fsm->retries = EC_FSM_RETRIES;
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	488	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	489	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	490
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	491	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	492
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	493	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	494	Change state: CHECK ACK.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	495	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	496
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	497	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	498	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	499	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	500	ec_datagram_t *datagram = fsm->datagram;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	501	ec_slave_t *slave = fsm->slave;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	502
637 d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state Florian Pose <fp@igh-essen.com> parents: 594 diff changeset	503	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	504	return;
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	505
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	506	if (datagram->state != EC_DATAGRAM_RECEIVED) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	507	fsm->state = ec_fsm_change_state_error;
1822 74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	508	EC_ERR("Failed to receive state ack check datagram from slave %u: ",
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	509	slave->ring_position);
74e6ac2369f4 Introduced ec_datagram_print_state() method and used it at all places where Florian Pose <fp@igh-essen.com> parents: 1445 diff changeset	510	ec_datagram_print_state(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	511	return;
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	512	}
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	513
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	514	if (datagram->working_counter != 1) {
bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	515	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	516	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	517	slave->ring_position);
ae41cadd25b6 Better handling of unexpected working counters; introduced Florian Pose <fp@igh-essen.com> parents: 637 diff changeset	518	ec_datagram_print_wc_error(datagram);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	519	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	520	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	521
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	522	if (fsm->take_time) {
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	523	fsm->take_time = 0;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	524	fsm->jiffies_start = datagram->jiffies_sent;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	525	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	526
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	527	slave->current_state = EC_READ_U8(datagram->data);
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	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	530	char state_str[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	531	ec_state_string(slave->current_state, state_str, 0);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	532	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	533	fsm->state = ec_fsm_change_state_error;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	534	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	535	else { // EC_FSM_CHANGE_MODE_ACK_ONLY
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	536	fsm->state = ec_fsm_change_state_end;
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	537	}
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	538	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	539	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	540	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	541	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	542
1445 45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	543	if (datagram->jiffies_received - fsm->jiffies_start >=
45c5f5560274 Introduced EC_AL_STATE_CHANGE_TIMEOUT and set it to 2 s. Florian Pose <fp@igh-essen.com> parents: 1363 diff changeset	544	EC_AL_STATE_CHANGE_TIMEOUT * HZ) {
443 0746236dd032 Fixes in state change FSM. Florian Pose <fp@igh-essen.com> parents: 439 diff changeset	545	// timeout while checking
438 64edce89fe9b Output state names instead of codes in change FSM. Florian Pose <fp@igh-essen.com> parents: 435 diff changeset	546	char state_str[EC_STATE_STRING_SIZE];
1337 0253c74d0940 merge -c1619 branches/1.4-foe: Implemented going to bootstrap state BOOT. Florian Pose <fp@igh-essen.com> parents: 1326 diff changeset	547	ec_state_string(slave->current_state, state_str, 0);
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	548	fsm->state = ec_fsm_change_state_error;
986 a486591ba86b Replaced misleading %i by %u. Florian Pose <fp@igh-essen.com> parents: 815 diff changeset	549	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	550	state_str, slave->ring_position);
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	551	return;
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	552	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	553
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	554	// reread new AL status
815 002fe9ec778f Implemented missing datagram types. Florian Pose <fp@igh-essen.com> parents: 813 diff changeset	555	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	556	ec_datagram_zero(datagram);
505 bc443ca0077f State machines re-send datagrams on timeout. Florian Pose <fp@igh-essen.com> parents: 469 diff changeset	557	fsm->retries = EC_FSM_RETRIES;
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	558	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	559
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	560	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	561
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	562	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	563	State: ERROR.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	564	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	565
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	566	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	567	/*< finite state machine /)
434 0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	568	{
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	569	}
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	570
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	571	/*****************************************************************************/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	572
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	573	/**
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	574	State: END.
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	575	*/
0180d8277311 Layed out state change state machine. Florian Pose <fp@igh-essen.com> parents: diff changeset	576
454 25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	577	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	578	/*< finite state machine /)
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	579	{
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	580	}
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	581
25cc4a3b9e0a State acknowledgement in master state machine. Florian Pose <fp@igh-essen.com> parents: 443 diff changeset	582	/*****************************************************************************/

author	Martin Troxler <martin.troxler@komaxgroup.com>
	Fri, 07 May 2010 15:25:55 +0200
changeset 1987	f452c93f7723
parent 1886	a9fcecb8415c
child 1921	d9cf40facbc4
permissions	-rw-r--r--