diff --git a/master/fsm.c b/master/fsm.c
index 56c7491685c79dd5bff3ab7f6d58be7090d8369a..d6106e8b43b75584ab9be524aa26932a5e075ba4 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -168,11 +168,15 @@ void ec_fsm_reset(ec_fsm_t *fsm /**< finite state machine */)
/**
Executes the current state of the state machine.
+ \return false, if state machine has terminated
*/
-void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
+int ec_fsm_exec(ec_fsm_t *fsm /**< finite state machine */)
{
fsm->master_state(fsm);
+
+ return fsm->master_state != ec_fsm_end &&
+ fsm->master_state != ec_fsm_error;
}
/*****************************************************************************/
@@ -188,19 +192,6 @@ void ec_fsm_startup(ec_fsm_t *fsm)
/*****************************************************************************/
-/**
- Returns the running state of the master startup state machine.
- \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_startup_running(ec_fsm_t *fsm /**< Finite state machine */)
-{
- return fsm->master_state != ec_fsm_end &&
- fsm->master_state != ec_fsm_error;
-}
-
-/*****************************************************************************/
-
/**
Returns, if the master startup state machine terminated with success.
\return non-zero if successful.
@@ -224,19 +215,6 @@ void ec_fsm_configuration(ec_fsm_t *fsm)
/*****************************************************************************/
-/**
- Returns the running state of the master configuration state machine.
- \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_configuration_running(ec_fsm_t *fsm /**< Finite state machine */)
-{
- return fsm->master_state != ec_fsm_end &&
- fsm->master_state != ec_fsm_error;
-}
-
-/*****************************************************************************/
-
/**
Returns, if the master confuguration state machine terminated with success.
\return non-zero if successful.
@@ -796,9 +774,7 @@ void ec_fsm_master_validate_vendor(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
- if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
@@ -864,9 +840,7 @@ void ec_fsm_master_validate_product(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
- if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
@@ -1001,9 +975,7 @@ void ec_fsm_master_write_eeprom(ec_fsm_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
- ec_fsm_sii_exec(&fsm->fsm_sii); // execute SII state machine
-
- if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
@@ -1266,10 +1238,7 @@ void ec_fsm_slavescan_eeprom_size(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;
- // execute SII state machine
- ec_fsm_sii_exec(&fsm->fsm_sii);
-
- if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
@@ -1326,10 +1295,7 @@ void ec_fsm_slavescan_eeprom_data(ec_fsm_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
uint16_t *cat_word, cat_type, cat_size;
- // execute SII state machine
- ec_fsm_sii_exec(&fsm->fsm_sii);
-
- if (ec_fsm_sii_running(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
@@ -1446,9 +1412,7 @@ void ec_fsm_slaveconf_init(ec_fsm_t *fsm /**< finite state machine */)
const ec_sii_sync_t *sync;
ec_sii_sync_t mbox_sync;
- ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
- if (ec_fsm_change_running(&fsm->fsm_change)) return;
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
@@ -1571,9 +1535,7 @@ void ec_fsm_slaveconf_preop(ec_fsm_t *fsm /**< finite state machine */)
ec_datagram_t *datagram = &fsm->datagram;
unsigned int j;
- ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
- if (ec_fsm_change_running(&fsm->fsm_change)) return;
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
@@ -1708,9 +1670,7 @@ void ec_fsm_slaveconf_saveop(ec_fsm_t *fsm /**< finite state machine */)
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
- if (ec_fsm_change_running(&fsm->fsm_change)) return;
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
fsm->slave->error_flag = 1;
@@ -1750,9 +1710,7 @@ void ec_fsm_slaveconf_op(ec_fsm_t *fsm /**< finite state machine */)
ec_master_t *master = fsm->master;
ec_slave_t *slave = fsm->slave;
- ec_fsm_change_exec(&fsm->fsm_change); // execute state change state machine
-
- if (ec_fsm_change_running(&fsm->fsm_change)) return;
+ if (ec_fsm_change_exec(&fsm->fsm_change)) return;
if (!ec_fsm_change_success(&fsm->fsm_change)) {
slave->error_flag = 1;
diff --git a/master/fsm.h b/master/fsm.h
index 40a38b657cbd9a4c0d5acf4688338c01d0ed6f39..ebf016a7a6488402f089ec9bbf17dd13453b7839 100644
--- a/master/fsm.h
+++ b/master/fsm.h
@@ -89,14 +89,12 @@ struct ec_fsm
int ec_fsm_init(ec_fsm_t *, ec_master_t *);
void ec_fsm_clear(ec_fsm_t *);
void ec_fsm_reset(ec_fsm_t *);
-void ec_fsm_execute(ec_fsm_t *);
+int ec_fsm_exec(ec_fsm_t *);
void ec_fsm_startup(ec_fsm_t *);
-int ec_fsm_startup_running(ec_fsm_t *);
int ec_fsm_startup_success(ec_fsm_t *);
void ec_fsm_configuration(ec_fsm_t *);
-int ec_fsm_configuration_running(ec_fsm_t *);
int ec_fsm_configuration_success(ec_fsm_t *);
/*****************************************************************************/
diff --git a/master/fsm_change.c b/master/fsm_change.c
index 99f7a8f9c935a0963de2af23f2861b5a48731ce6..a80dd7ef387a30a093055b3af7bd8f7b69d14f52 100644
--- a/master/fsm_change.c
+++ b/master/fsm_change.c
@@ -97,22 +97,13 @@ void ec_fsm_change(ec_fsm_change_t *fsm, /**< finite state machine */
/**
Executes the current state of the state machine.
+ \return false, if the state machine has terminated
*/
-void ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
+int ec_fsm_change_exec(ec_fsm_change_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
-}
-
-/*****************************************************************************/
-/**
- Returns the running state of the state machine.
- \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_change_running(ec_fsm_change_t *fsm /**< Finite state machine */)
-{
return fsm->state != ec_fsm_change_end
&& fsm->state != ec_fsm_change_error;
}
diff --git a/master/fsm_change.h b/master/fsm_change.h
index e32bfef1ef84b283195ea96c4b7758771c7d799e..2f0f0c2fff69566ff80d8962753ac035937c8056 100644
--- a/master/fsm_change.h
+++ b/master/fsm_change.h
@@ -72,8 +72,7 @@ void ec_fsm_change_clear(ec_fsm_change_t *);
void ec_fsm_change(ec_fsm_change_t *, ec_slave_t *, ec_slave_state_t);
-void ec_fsm_change_exec(ec_fsm_change_t *);
-int ec_fsm_change_running(ec_fsm_change_t *);
+int ec_fsm_change_exec(ec_fsm_change_t *);
int ec_fsm_change_success(ec_fsm_change_t *);
/*****************************************************************************/
diff --git a/master/fsm_sii.c b/master/fsm_sii.c
index 4bba1cd77b0d0e631135e6422c8ffcac7f45c3eb..f6b50392a45b5c01b3d4e7afe4e187f28cc5e0c7 100644
--- a/master/fsm_sii.c
+++ b/master/fsm_sii.c
@@ -120,22 +120,13 @@ void ec_fsm_sii_write(ec_fsm_sii_t *fsm, /**< finite state machine */
/**
Executes the SII state machine.
+ \return false, if the state machine has terminated
*/
-void ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
+int ec_fsm_sii_exec(ec_fsm_sii_t *fsm /**< finite state machine */)
{
fsm->state(fsm);
-}
-
-/*****************************************************************************/
-/**
- Returns the running state of the master startup state machine.
- \return non-zero if not terminated yet.
-*/
-
-int ec_fsm_sii_running(ec_fsm_sii_t *fsm /**< Finite state machine */)
-{
return fsm->state != ec_fsm_sii_end && fsm->state != ec_fsm_sii_error;
}
diff --git a/master/fsm_sii.h b/master/fsm_sii.h
index b887f36296790f86fc226b93fcb183d33b843933..917f502005be925b74d0c924a1a4f681eb683d07 100644
--- a/master/fsm_sii.h
+++ b/master/fsm_sii.h
@@ -86,8 +86,7 @@ void ec_fsm_sii_read(ec_fsm_sii_t *, ec_slave_t *,
void ec_fsm_sii_write(ec_fsm_sii_t *, ec_slave_t *, uint16_t, uint16_t *,
ec_fsm_sii_addressing_t);
-void ec_fsm_sii_exec(ec_fsm_sii_t *);
-int ec_fsm_sii_running(ec_fsm_sii_t *);
+int ec_fsm_sii_exec(ec_fsm_sii_t *);
int ec_fsm_sii_success(ec_fsm_sii_t *);
/*****************************************************************************/
diff --git a/master/master.c b/master/master.c
index 62142194be32a43bfdb4e077399748ba282ae194..f91dbc7477b62103936aee60a8da9a2de3c84dbc 100644
--- a/master/master.c
+++ b/master/master.c
@@ -555,11 +555,9 @@ int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
ec_fsm_startup(fsm); // init startup state machine
- do {
- ec_fsm_execute(fsm);
+ while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
}
- while (ec_fsm_startup_running(fsm));
if (!ec_fsm_startup_success(fsm)) {
ec_master_clear_slaves(master);
@@ -669,7 +667,7 @@ void ec_master_idle_run(void *data /**< master pointer */)
ecrt_master_receive(master);
// execute master state machine
- ec_fsm_execute(&master->fsm);
+ ec_fsm_exec(&master->fsm);
ecrt_master_send(master);
cycles_end = get_cycles();
@@ -1246,11 +1244,9 @@ int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
ec_fsm_configuration(fsm); // init configuration state machine
- do {
- ec_fsm_execute(fsm);
+ while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
}
- while (ec_fsm_configuration_running(fsm));
if (!ec_fsm_configuration_success(fsm)) {
return -1;
@@ -1279,11 +1275,9 @@ void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
ec_fsm_configuration(fsm); // init configuration state machine
- do {
- ec_fsm_execute(fsm);
+ while (ec_fsm_exec(fsm)) {
ec_master_sync_io(master);
}
- while (ec_fsm_configuration_running(fsm));
}
/*****************************************************************************/
@@ -1429,7 +1423,7 @@ void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
ec_master_output_stats(master);
// execute master state machine
- ec_fsm_execute(&master->fsm);
+ ec_fsm_exec(&master->fsm);
}
/*****************************************************************************/