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Ack timeout in FSM.

This commit is contained in:
Florian Pose 2006-07-18 16:42:52 +00:00
parent 25014a738b
commit 06d5737cbc
1 changed files with 17 additions and 5 deletions
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22
master/fsm.c
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@ -1784,6 +1784,8 @@ void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
return;
}
fsm->change_start = get_cycles();
// read new AL status
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->master, datagram);
@ -1801,6 +1803,7 @@ void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_slave_state_t ack_state;
if (datagram->state != EC_CMD_RECEIVED || datagram->working_counter != 1) {
fsm->change_state = ec_fsm_change_error;
@ -1808,18 +1811,27 @@ void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
return;
}
slave->current_state = EC_READ_U8(datagram->data);
ack_state = EC_READ_U8(datagram->data);
if (slave->current_state == fsm->change_new) {
if (ack_state == slave->current_state) {
fsm->change_state = ec_fsm_change_error;
EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
slave->current_state, slave->ring_position);
return;
}
fsm->change_state = ec_fsm_change_error;
EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
" - Timeout!\n", fsm->change_new, slave->ring_position);
if (get_cycles() - fsm->change_start >= (cycles_t) 100 * cpu_khz) {
// timeout while checking
slave->current_state = EC_SLAVE_STATE_UNKNOWN;
fsm->change_state = ec_fsm_change_error;
EC_ERR("Timeout while acknowleging state 0x%02X on slave %i.\n",
fsm->change_new, slave->ring_position);
return;
}
// reread new AL status
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->master, datagram);
}
/*****************************************************************************/