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ethercat
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Read AL status code before acknowledging spontaneous state change.

This commit is contained in:
Florian Pose 2011-12-16 11:42:55 +01:00
parent bc31940032
commit c44723a347
1 changed files with 24 additions and 24 deletions
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48
master/fsm_change.c
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@ -49,8 +49,8 @@
void ec_fsm_change_state_start(ec_fsm_change_t *);
void ec_fsm_change_state_check(ec_fsm_change_t *);
void ec_fsm_change_state_status(ec_fsm_change_t *);
void ec_fsm_change_state_start_code(ec_fsm_change_t *);
void ec_fsm_change_state_code(ec_fsm_change_t *);
void ec_fsm_change_state_start_ack(ec_fsm_change_t *);
void ec_fsm_change_state_ack(ec_fsm_change_t *);
void ec_fsm_change_state_check_ack(ec_fsm_change_t *);
void ec_fsm_change_state_end(ec_fsm_change_t *);
@ -111,7 +111,7 @@ void ec_fsm_change_ack(ec_fsm_change_t *fsm, /**< finite state machine */
fsm->mode = EC_FSM_CHANGE_MODE_ACK_ONLY;
fsm->slave = slave;
fsm->requested_state = EC_SLAVE_STATE_UNKNOWN;
fsm->state = ec_fsm_change_state_start_ack;
fsm->state = ec_fsm_change_state_start_code;
}
/*****************************************************************************/
@ -295,11 +295,8 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
EC_SLAVE_ERR(slave, "Failed to set %s state, slave refused state"
" change (%s).\n", req_state, cur_state);
// fetch AL status error code
ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_code;
ec_fsm_change_state_start_code(fsm);
return;
}
@ -324,6 +321,24 @@ void ec_fsm_change_state_status(ec_fsm_change_t *fsm
/*****************************************************************************/
/** Enter reading AL status code.
*/
void ec_fsm_change_state_start_code(
ec_fsm_change_t *fsm /**< finite state machine */
)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
// fetch AL status error code
ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_code;
}
/*****************************************************************************/
/**
Application layer status messages.
*/
@ -424,23 +439,8 @@ void ec_fsm_change_state_code(ec_fsm_change_t *fsm
}
// acknowledge "old" slave state
ec_fsm_change_state_start_ack(fsm); // execute immediately
}
/*****************************************************************************/
/**
Change state: START ACK.
*/
void ec_fsm_change_state_start_ack(ec_fsm_change_t *fsm
/**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
ec_datagram_fpwr(datagram, slave->station_address, 0x0120, 2);
EC_WRITE_U16(datagram->data, slave->current_state);
ec_datagram_fpwr(datagram, fsm->slave->station_address, 0x0120, 2);
EC_WRITE_U16(datagram->data, fsm->slave->current_state);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_ack;
}