From 4e5ee6d1e4d5f57eb32a3bbcfe92090172255bc8 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 18 Jul 2006 16:42:52 +0000
Subject: [PATCH] Ack timeout in FSM.
---
master/fsm.c | 22 +++++++++++++++++-----
1 file changed, 17 insertions(+), 5 deletions(-)
diff --git a/master/fsm.c b/master/fsm.c
index 464b85f9..14fb8dec 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -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);
}
/*****************************************************************************/
--
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