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ethercat
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Fixed state change FSM again.

This commit is contained in:
Florian Pose 2006-10-31 11:12:50 +00:00
parent e210451539
commit b67bbd398a
1 changed files with 25 additions and 19 deletions
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44
master/fsm_change.c
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@ -225,9 +225,11 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
if (datagram->state != EC_DATAGRAM_RECEIVED
|| datagram->working_counter != 1) {
char req_state[EC_STATE_STRING_SIZE];
ec_state_string(fsm->requested_state, req_state);
fsm->state = ec_fsm_change_state_error;
EC_ERR("Failed to check state 0x%02X on slave %i.\n",
fsm->requested_state, slave->ring_position);
EC_ERR("Failed to check state %s on slave %i.\n",
req_state, slave->ring_position);
return;
}
@ -247,26 +249,29 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
if (slave->current_state != fsm->old_state) { // state changed
char req_state[EC_STATE_STRING_SIZE], cur_state[EC_STATE_STRING_SIZE];
slave->error_flag = 1;
ec_state_string(fsm->requested_state, req_state);
ec_state_string(slave->current_state, cur_state);
if (slave->current_state & EC_SLAVE_STATE_ACK_ERR) {
// state change error
EC_ERR("Failed to set %s state,"
" slave %i refused state change (%s).\n",
req_state, slave->ring_position, cur_state);
// fetch AL status error code
ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
fsm->state = ec_fsm_change_state_code;
return;
if ((slave->current_state & 0x0F) != (fsm->old_state & 0x0F)) {
// Slave spontaneously changed its state just before the new state
// was written. Accept current state as old state and wait for
// state change
fsm->old_state = slave->current_state;
EC_WARN("Slave %i changed to %s in the meantime.\n",
slave->ring_position, cur_state);
goto again;
}
// state change to unrequested state
EC_ERR("Slave %i changed to unrequested state %s!\n",
slave->ring_position, cur_state);
fsm->state = ec_fsm_change_state_error;
// state change error
slave->error_flag = 1;
ec_state_string(fsm->requested_state, req_state);
EC_ERR("Failed to set %s state, slave %i refused state change (%s).\n",
req_state, slave->ring_position, cur_state);
// fetch AL status error code
ec_datagram_nprd(datagram, slave->station_address, 0x0134, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
fsm->state = ec_fsm_change_state_code;
return;
}
@ -282,7 +287,8 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
return;
}
// check again
again:
// no timeout yet. check again
ec_datagram_nprd(datagram, slave->station_address, 0x0130, 2);
ec_master_queue_datagram(fsm->slave->master, datagram);
}