From ef514219bf3bc370896d30fe3406a8c96dc75ea3 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 31 Oct 2006 11:12:50 +0000
Subject: [PATCH] Fixed state change FSM again.
---
master/fsm_change.c | 44 +++++++++++++++++++++++++-------------------
1 file changed, 25 insertions(+), 19 deletions(-)
diff --git a/master/fsm_change.c b/master/fsm_change.c
index eecf0da7..3ff3e0e8 100644
--- a/master/fsm_change.c
+++ b/master/fsm_change.c
@@ -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);
}
--
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