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master/fsm_change.c
changeset 815 002fe9ec778f
parent 813 bfc3f1ab52de
child 986 a486591ba86b
equal deleted inserted replaced
814:a51f857b1b2d 815:002fe9ec778f 
   155 
   155 
   156     fsm->take_time = 1;
 
   156     fsm->take_time = 1;
 
   157     fsm->old_state = fsm->slave->current_state;
 
   157     fsm->old_state = fsm->slave->current_state;
 
   158 
   158 
   159     // write new state to slave
 
   159     // write new state to slave
 
   160     ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
 
   160     ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
 
   161     EC_WRITE_U16(datagram->data, fsm->requested_state);
 
   161     EC_WRITE_U16(datagram->data, fsm->requested_state);
 
   162     fsm->retries = EC_FSM_RETRIES;
 
   162     fsm->retries = EC_FSM_RETRIES;
 
   163     fsm->state = ec_fsm_change_state_check;
 
   163     fsm->state = ec_fsm_change_state_check;
 
   164 }
 
   164 }
 
   165 
   165 
   201             ec_datagram_print_wc_error(datagram);
 
   201             ec_datagram_print_wc_error(datagram);
 
   202             return;
 
   202             return;
 
   203         }
 
   203         }
 
   204 
   204 
   205         // repeat writing new state to slave
 
   205         // repeat writing new state to slave
 
   206         ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
 
   206         ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
 
   207         EC_WRITE_U16(datagram->data, fsm->requested_state);
 
   207         EC_WRITE_U16(datagram->data, fsm->requested_state);
 
   208         fsm->retries = EC_FSM_RETRIES;
 
   208         fsm->retries = EC_FSM_RETRIES;
 
   209         return;
 
   209         return;
 
   210     }
 
   210     }
 
   211 
   211 
   220     }
 
   220     }
 
   221 
   221 
   222     fsm->take_time = 1;
 
   222     fsm->take_time = 1;
 
   223 
   223 
   224     // read AL status from slave
 
   224     // read AL status from slave
 
   225     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
 
   225     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
 
   226     fsm->retries = EC_FSM_RETRIES;
 
   226     fsm->retries = EC_FSM_RETRIES;
 
   227     fsm->spontaneous_change = 0;
 
   227     fsm->spontaneous_change = 0;
 
   228     fsm->state = ec_fsm_change_state_status;
 
   228     fsm->state = ec_fsm_change_state_status;
 
   229 }
 
   229 }
 
   230 
   230 
   296         ec_state_string(fsm->requested_state, req_state);
 
   296         ec_state_string(fsm->requested_state, req_state);
 
   297 
   297 
   298         EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
 
   298         EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
 
   299                req_state, slave->ring_position, cur_state);
 
   299                req_state, slave->ring_position, cur_state);
 
   300         // fetch AL status error code
 
   300         // fetch AL status error code
 
   301         ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
 
   301         ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
 
   302         fsm->retries = EC_FSM_RETRIES;
 
   302         fsm->retries = EC_FSM_RETRIES;
 
   303         fsm->state = ec_fsm_change_state_code;
 
   303         fsm->state = ec_fsm_change_state_code;
 
   304         return;
 
   304         return;
 
   305     }
 
   305     }
 
   306 
   306 
   316         return;
 
   316         return;
 
   317     }
 
   317     }
 
   318 
   318 
   319  check_again:
 
   319  check_again:
 
   320     // no timeout yet. check again
 
   320     // no timeout yet. check again
 
   321     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
 
   321     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
 
   322     fsm->retries = EC_FSM_RETRIES;
 
   322     fsm->retries = EC_FSM_RETRIES;
 
   323 }
 
   323 }
 
   324 
   324 
   325 /*****************************************************************************/
 
   325 /*****************************************************************************/
 
   326 
   326 
   415                                    /**< finite state machine */)
 
   415                                    /**< finite state machine */)
 
   416 {
 
   416 {
 
   417     ec_slave_t *slave = fsm->slave;
 
   417     ec_slave_t *slave = fsm->slave;
 
   418     ec_datagram_t *datagram = fsm->datagram;
 
   418     ec_datagram_t *datagram = fsm->datagram;
 
   419 
   419 
   420     ec_datagram_npwr(datagram, slave->station_address, 0x0120, 2);
 
   420     ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
 
   421     EC_WRITE_U16(datagram->data, slave->current_state);
 
   421     EC_WRITE_U16(datagram->data, slave->current_state);
 
   422     fsm->retries = EC_FSM_RETRIES;
 
   422     fsm->retries = EC_FSM_RETRIES;
 
   423     fsm->state = ec_fsm_change_state_ack;
 
   423     fsm->state = ec_fsm_change_state_ack;
 
   424 }
 
   424 }
 
   425 
   425 
   454     }
 
   454     }
 
   455 
   455 
   456     fsm->take_time = 1;
 
   456     fsm->take_time = 1;
 
   457 
   457 
   458     // read new AL status
 
   458     // read new AL status
 
   459     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
 
   459     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
 
   460     fsm->retries = EC_FSM_RETRIES;
 
   460     fsm->retries = EC_FSM_RETRIES;
 
   461     fsm->state = ec_fsm_change_state_check_ack;
 
   461     fsm->state = ec_fsm_change_state_check_ack;
 
   462 }
 
   462 }
 
   463 
   463 
   464 /*****************************************************************************/
 
   464 /*****************************************************************************/
 
   522                state_str, slave->ring_position);
 
   522                state_str, slave->ring_position);
 
   523         return;
 
   523         return;
 
   524     }
 
   524     }
 
   525 
   525 
   526     // reread new AL status
 
   526     // reread new AL status
 
   527     ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
 
   527     ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
 
   528     fsm->retries = EC_FSM_RETRIES;
 
   528     fsm->retries = EC_FSM_RETRIES;
 
   529 }
 
   529 }
 
   530 
   530 
   531 /*****************************************************************************/
 
   531 /*****************************************************************************/
 
   532 
   532
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