AL_ControlRes

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/
/**
 brief    应用程序控制响应
 brief    这个函数被周期性调用，如果状态转换暂停（bEcatWaitForAlControlRes == TRUE）
 brief    如果ESM超时，状态转换将被拒绝。否则，应用程序特殊的状态转换函数将会被调用
 brief    如果暂停状态转换被应用程序触发，状态转换将被应用程序（ECAT_StateChange）中完成
  *
void AL_ControlRes(void)
{
    if(bEcatWaitForAlControlRes)
    {
        UINT16 result = 0;
        UINT8 Status = 0;
        UINT16 StatusCode = 0;

        if(EsmTimeoutCounter == 0)
        {
            Status =  (UINT8)(nEcatStateTrans >> 4);


            /* ESM 超时*/
            switch(nEcatStateTrans)
            {
                case INIT_2_PREOP:
                case INIT_2_BOOT:


#if MAILBOX_SUPPORTED
                    if(!bApplEsmPending)
                        APPL_StopMailboxHandler();


                    MBX_StopMailboxHandler();
#endif
                    if(bLocalErrorFlag)
                    {
                        /*设置应用程序特殊的错误*/
                        StatusCode = u16LocalErrorCode;
                    }
                    else
                    {
                        /*设置非特殊的错误*/
                        StatusCode = ALSTATUSCODE_UNSPECIFIEDERROR;
                    }
                break;
                case PREOP_2_SAFEOP:
                    if(!bApplEsmPending)
                        APPL_StopInputHandler();


                    StopInputHandler();
                    
                    if(bLocalErrorFlag)
                    {
                        /*设置应用程序的特殊错误*/
                        StatusCode = u16LocalErrorCode;
                    }
                    else
                    {
                        /*设置非特殊错误*/
                        StatusCode = ALSTATUSCODE_UNSPECIFIEDERROR;
                    }
                break;
                case SAFEOP_2_OP:
#if DC_SUPPORTED
                    if(bDcSyncActive)
                    {
                        /*SafeOP to OP 超时溢出检查，当应用状态码需要被写入*/
                        if(!bDcRunning)
                        {
                            /*没有Sync0信号被接受*/
                            StatusCode = ALSTATUSCODE_NOSYNCERROR;
                        }
                        else if(!bEcatFirstOutputsReceived)
                        {
                            /*没有过程数据被接受*/
                            StatusCode = ALSTATUSCODE_SMWATCHDOG;
                        }
                        else
                        {
                            /*Pll 没有使能*/
                            StatusCode = ALSTATUSCODE_DCPLLSYNCERROR;
                        }
                    }
                    else
#endif
                    {
#if !OP_PD_REQUIRED
                        /*设置有效的状态转换即使超时产生*/
                        Status = STATE_OP;
                        StatusCode = 0;
                        /* 从站是在可运行状态 */
                        bEcatOutputUpdateRunning = TRUE;
#else
                        StatusCode = ALSTATUSCODE_SMWATCHDOG;
#endif
                    }


                    /*停止操作在一个错误的转换*/
                    if(StatusCode != 0)
                    {
                        if(!bApplEsmPending)
                            APPL_StopOutputHandler();


                        StopOutputHandler();
                    }
                break;
            }
        } //ESM timeout
        else
        {
            /*调用应用程序特殊的转换函数和如果完成转换的话，函数将返回0*/
            switch(nEcatStateTrans)
            {
                case INIT_2_PREOP:
                case INIT_2_BOOT:
                    if(bApplEsmPending)
                    {
                        bApplEsmPending = FALSE;
#if MAILBOX_SUPPORTED
                        /*APPL_StartMailboxHandler()需要被调用 */
                        result = APPL_StartMailboxHandler();


                        if(result == 0)
                        {
                            /*应用程序特殊的转换成功，设置激活的邮箱操作*/
                            bMbxRunning = TRUE;
                            Status =  (UINT8)(nEcatStateTrans & STATE_MASK);
                        }
                        else
                        {
                            /*应用程序特殊的转换失败。（在pending中，应用程序需要完成它的转换）
                            */
                           if(result != NOERROR_INWORK)
                            {
                                APPL_StopMailboxHandler();
                                MBX_StopMailboxHandler();
                            }
                        }
#endif
                    }
                break;
                case PREOP_2_SAFEOP:
                    if(bApplEsmPending)
                    {
                        bApplEsmPending = FALSE;
                        result = APPL_StartInputHandler(&u16ALEventMask);
                        if(result == 0)
                        {
                            bEcatInputUpdateRunning = TRUE;
                            Status = STATE_SAFEOP;
                        }
                        else
                        {
                            /*The application specific transition failed.
                            (In pending case the application need to complete the transition)*/


                            if(result != NOERROR_INWORK)
                            {
                                APPL_StopInputHandler();
                                StopInputHandler();
                            }
                        }
                    }
                break;
                case SAFEOP_2_OP:
                   if(bApplEsmPending)
                    {
#if DC_SUPPORTED
                        if(bDcSyncActive)
                        {
                            if(i16WaitForPllRunningTimeout > 0 && i16WaitForPllRunningTimeout <= i16WaitForPllRunningCnt)
                            {
                                /*PLL队列的有效时间是200ms（由APPL_StartOutputHandler（）函数设置）
                                默认状态转换到OP状态 */


                                i16WaitForPllRunningTimeout = 0;
                                i16WaitForPllRunningCnt = 0;


                                result = APPL_StartOutputHandler();


                                if(result == 0)
                                {
                                    /* 从站是在OPERATIONAL的状态 */
                                    bEcatOutputUpdateRunning = TRUE;
                                    Status = STATE_OP;
                                }
                                else
                                {
                                    if(result != NOERROR_INWORK)
                                    {
                                        APPL_StopOutputHandler();
                                        StopOutputHandler();
                                    }
                                }
                            }
                        }
                        else
#endif
                        {
#if OP_PD_REQUIRED
                            if(nPdOutputSize == 0 || bEcatFirstOutputsReceived)
#endif
                            {
                                result = APPL_StartOutputHandler();


                                if(result == 0)
                                {
                                    /* Slave is OPERATIONAL */
                                    bEcatOutputUpdateRunning = TRUE;
                                    Status = STATE_OP;
                                }
                                else
                                {
                                    if(result != NOERROR_INWORK)
                                    {
                                        APPL_StopOutputHandler();
                                        StopOutputHandler();
                                    }
                                }
                            }
                        }       
                    }             
                break;
            }//Switch - transition
        }


        if(Status != 0)
        {
            /*暂停状态转换停止=>写入AL的状态和状态码*/
            bEcatWaitForAlControlRes = FALSE;


            if(StatusCode != 0)
                Status |= STATE_CHANGE;


            SetALStatus(Status,StatusCode);
        }
    }// Pending state transition (bEcatWaitForAlControlRes == true)
}

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/
/**
 param alStatus        新的AL状态（写到寄存器0x130）
 param alStatusCode    新的AL状态码（写到寄存器0x134）

 brief  这个函数改变EtherCAT ASIC芯片的状态到所求的状态
*
void SetALStatus(UINT8 alStatus, UINT16 alStatusCode)
{
    UINT16 Value = alStatusCode;

    /*更新所需要的全局状态变量*/
    if(nAlStatus != alStatus)
    {
        nAlStatus = alStatus;
    }

        nAlStatus &= ~STATE_DEVID;

    if (alStatusCode != 0xFFFF)
    {
        Value = SWAPWORD(Value);

        HW_EscWriteWord(Value,ESC_AL_STATUS_CODE_OFFSET);
    }

    Value = nAlStatus;
    Value = SWAPWORD(Value);
    HW_EscWriteWord(Value,ESC_AL_STATUS_OFFSET);

#if LEDS_SUPPORTED || ESC_SUPPORT_ECAT_LED
    /*The Run LED state is set in Set LED Indication, only the Error LED blink code is set here*/

    /*set Error blink code*/
    if(alStatusCode == 0x00 || !(alStatus & STATE_CHANGE))
    {
        u8EcatErrorLed = LED_OFF;
    }
    else if((alStatusCode == ALSTATUSCODE_NOSYNCERROR) ||
        (alStatusCode == ALSTATUSCODE_DCPLLSYNCERROR))
    {
        u8EcatErrorLed = LED_SINGLEFLASH;
    }
    else if((alStatusCode == ALSTATUSCODE_SMWATCHDOG))
    {
/* ECATCHANGE_START(V5.01) HW3*/
        u8EcatErrorLed = LED_DOUBLEFLASH;
/* ECATCHANGE_END(V5.01) HW3*/
    }
    else
    {
        u8EcatErrorLed = LED_BLINKING;
    }
#if ESC_SUPPORT_ECAT_LED
    u8EcatErrorLed |= LED_OVERRIDE;

#if ESC_32BIT_ACCESS || ESC_16BIT_ACCESS
    /*The Run LED registers are also written in 16 or 32 Bit access => calculate value*/
    switch((alStatus & STATE_CHANGE))
    {
    case STATE_INIT:
        u8EcatRunLed = LED_OFF;
        break;
    case STATE_PREOP:
        u8EcatRunLed = LED_BLINKING;
        break;
    case STATE_SAFEOP:
        u8EcatRunLed = LED_SINGLEFLASH;
        break;
    case STATE_OP:
        u8EcatRunLed = LED_ON;
        break;
    case STATE_BOOT:
        u8EcatRunLed = LED_FLICKERING;
        break;
    }

    u8EcatRunLed |= LED_OVERRIDE;

#if ESC_32BIT_ACCESS
    {
    UINT32 TmpVar = 0;
    TmpVar = SWAPDWORD((((UINT32)u8EcatRunLed) | (((UINT32)u8EcatErrorLed)>>8)));
    HW_EscWriteDWord(TmpVar,ESC_RUN_LED_OVERRIDE);
    }
#else
    {
    UINT16 TmpVar = 0;
    TmpVar = SWAPWORD((((UINT16)u8EcatRunLed) | (((UINT16)u8EcatErrorLed)>>8)));
    HW_EscWriteWord(TmpVar,ESC_RUN_LED_OVERRIDE);
    }
#endif
#else
    HW_EscWriteByte(u8EcatErrorLed,ESC_ERROR_LED_OVERRIDE);
#endif //#if ESC_32BIT_ACCESS || ESC_16BIT_ACCESS
#endif // #if ESC_SUPPORT_ECAT_LED
#endif //#if LEDS_SUPPORTED || ESC_SUPPORT_ECAT_LED
}