loader.c

本程序为ST公司开发的源代码

    }
    else if ((DISC_SIZE_UNKNOWN == disc_size)
          && ((SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
           || (SW_S_000_STOP == SW_VALUE(ldr_switch_state))))
    {
      disc_size = DISC_SIZE_12CM;
    }
    else if (((DISC_SIZE_UNKNOWN == disc_size)
           && (SW_S_111_8CM == SW_VALUE(ldr_switch_state)))
          || ((DISC_SIZE_8CM_SUSPICIOUS == disc_size)
           && ((SW_S_111_8CM == SW_VALUE(ldr_switch_state))
            || ((SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
             && (SW_S_011_NOCD == SW_VALUE(previous_ldr_switch_state)))))
          || (((DISC_SIZE_8CM_SUSPICIOUS == disc_size)
            || (DISC_SIZE_UNKNOWN == disc_size))
           && ((SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
            && (SW_S_110_EJECT == SW_VALUE(previous_ldr_switch_state)))))
    {
      disc_size = DISC_SIZE_8CM;
    }
  }

  if (illegal_switch_detected == b_TRUE)
  {
    ldrSendEvent(LOADER_ERROR_SW_ILLEGAL);
    StartEjectTo(LOADER_S_EMERGENCY_EJECT, T5s);
  }
  else if (LOADER_S_INIT == LOADER_GSTATE(ldr_state))   // on init
  {
    // do nothing
  }
  else if (ldr_command == LC_INIT)
  {
    // on init command
    ldr_command = LC_NONE;
    ldrSetMotor(LOADER_DIR_IDLE);
    loader_switch_init();
    start_timer(LOADER_TIMER, T1s);
    ldr_state = LOADER_S_INIT_1;
  }
  else if (ldr_command == LC_EM_EJECT)
  {
    // on emergency eject command
    ldr_command = LC_NONE;
    StartEjectTo(LOADER_S_EMERGENCY_EJECT, T5s);
  }
  else if ((LC_INSERT == ldr_command)   // on insert command
        && ((0 != ALLOW_REVERSE_DIRECTION)
         || (LOADER_DIR_EJECT != ldr_motor_dir)
         || ((LOADER_S_EJECT_8CM_1 == ldr_state)
          && (DISC_SIZE_8CM_SUSPICIOUS == disc_size))))
  {
    if (LOADER_S_EMERGENCY_EJECT != ldr_state)
    {
      /* if em eject execute command when em eject is finished */
      ldr_command = LC_NONE;

      if ((LOADER_S_NO_CD_POSITION == ldr_state)
       || (LOADER_S_NOCD_INSERTING == ldr_state)
       || (LOADER_S_NOCD_EJECTING == ldr_state)
       || ((LOADER_S_EJECT_8CM_1 == ldr_state)
        && (DISC_SIZE_8CM_SUSPICIOUS == disc_size)))
      {
        if (0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)
        {
          if (LOADER_S_EJECT_8CM_1 != ldr_state)
          {
            StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);
            ldrSendEvent(LOADER_ERROR_8CM);
          }  
        }
        else if (0 != START_INSERT_ACTION_IN_NO_CD_POSITION)
        {
          if (LOADER_S_NOCD_INSERTING != ldr_state)
          {
            StartInsertTo(LOADER_S_NOCD_INSERTING, T2s);
          }  
        }
        else
        {
          IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
        }
      }
      else if (LOADER_S_STOP_POSITION != LOADER_GSTATE(ldr_state))
      {
        StartInsert_Shinwa_CDC02();
      }
    }
  }
  else if ((LC_EJECT == ldr_command)   // on eject command
        && ((0 != ALLOW_REVERSE_DIRECTION)
         || ((LOADER_DIR_INSERT != ldr_motor_dir)
          && (LOADER_S_INSERT_REPOSITIONING != ldr_state))))
  {
    if (LOADER_S_EMERGENCY_EJECT != ldr_state)
    {
      /* if em eject execute command when em eject is finished */
      ldr_command = LC_NONE;

      if ((LOADER_S_NO_CD_POSITION == ldr_state)
       || (LOADER_S_NOCD_INSERTING == ldr_state)
       || (LOADER_S_NOCD_EJECTING == ldr_state)
       || ((LOADER_S_EJECT_8CM_1 == ldr_state)
        && (DISC_SIZE_8CM_SUSPICIOUS == disc_size)))
      {
        if (0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)
        {
          if (LOADER_S_EJECT_8CM_1 != ldr_state)
          {
            StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);
          }  
        }
        else if (0 != START_EJECT_ACTION_IN_NO_CD_POSITION)
        {
          if (LOADER_S_NOCD_EJECTING != ldr_state)
          {
            StartEjectTo(LOADER_S_NOCD_EJECTING, T2s);
          }  
        }
        else
        {
          IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
        }
      }  
      else if (LOADER_S_EJECT_POSITION == LOADER_GSTATE(ldr_state))
      {
        if ((LOADER_S_EJECT_POSITION == ldr_state)
         && (0 != HAVE_EJECT_REPOSITIONING))
        {
          StartInsertTo(LOADER_S_EJECT_REPOSITIONING, T1s);
        }
      }
      else
      {
        StartEject_Shinwa_CDC02();
      }
    }
  }
}


/******************************************************************************/
/* Function:  ldrFSM_Shinwa_CDC02                                             */
/*                                                                            */
/*! \brief    Finite State Machine of Loader
 *            (implementation for mechanism: M0_SHINWA_CDC02)
 *  \param    void
 *  \return   void
 *  \remarks
 */
/******************************************************************************/

void ldrFSM_Shinwa_CDC02(void)
{
  switch (ldr_state)
  {
  case LOADER_S_IDLE:
    break;

  case LOADER_S_INIT_1:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrSendEvent(LOADER_ERROR_SW_ILLEGAL);
      StartEjectTo(LOADER_S_EMERGENCY_EJECT, T5s);
    }
    else if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_INIT_2, T30ms);
    }
    else if (SW_INVALID_VAL != SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_INIT_3;
    }
    break;

  case LOADER_S_INIT_2:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrSetMotor(LOADER_DIR_IDLE);
      ldr_state = LOADER_S_INIT_3;
    }
    break;

  case LOADER_S_INIT_3:
    if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_ERROR_NO_DISC);
      ldr_state = LOADER_S_NO_CD_POSITION;
    }
    else if (SW_S_000_STOP == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_INIT_STOP);
      ldr_state = LOADER_S_STOP_POSITION;
    }
    else if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_INIT_TRANSITION);
      ldr_state = LOADER_S_ERROR;
    }
    else if ((SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
          || (SW_S_110_EJECT == SW_VALUE(ldr_switch_state)))
    {
      ldrSendEvent(LOADER_INIT_EJECT);
      ldr_state = LOADER_S_EJECT_POSITION;
    }
    else if (SW_S_111_8CM == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
      ldrSendEvent(LOADER_INIT_8CM);
    }
    break;

  case LOADER_S_NO_CD_POSITION:
    if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_1, T5s);
      ldrSendEvent(LOADER_INSERT_BY_USER);
    }
    break;

  case LOADER_S_INSERT_1:
  case LOADER_S_INSERT_7:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError((LOADER_S_INSERT_1 == ldr_state) ? LOADER_ERROR_INSERT_NO_GRIP : LOADER_ERROR_INSERT_REMOVED);
    }
    else if (SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo((LOADER_S_INSERT_1 == ldr_state) ? LOADER_S_INSERT_2 : LOADER_S_INSERT_8, T0ms);
    }
    else if (SW_S_000_STOP == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_3, (LOADER_S_INSERT_1 == ldr_state) ? T3s5 : T0ms);
    }
    else if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_4, (LOADER_S_INSERT_1 == ldr_state) ? T3s5 : T0ms);
    }
    else if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
    {
      if ((0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)
       && (DISC_SIZE_12CM != disc_size))
      {
        ldrSendEvent(LOADER_ERROR_8CM);
        StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);
      }
      else
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }
    }
    else if (SW_S_111_8CM == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_ERROR_8CM);
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
    }
    break;
    
  case LOADER_S_INSERT_2:
  case LOADER_S_INSERT_8:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError((LOADER_S_INSERT_2 == ldr_state) ? LOADER_ERROR_INSERT_NO_GRIP : LOADER_ERROR_INSERT_REMOVED);
    }
    else if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo((LOADER_S_INSERT_2 == ldr_state) ? LOADER_S_INSERT_1 : LOADER_S_INSERT_7, T0ms);
    }
    else if (SW_S_000_STOP == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_3, (LOADER_S_INSERT_2 == ldr_state) ? T3s5 : T0ms);
    }
    else if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_4, (LOADER_S_INSERT_2 == ldr_state) ? T3s5 : T0ms);
    }
    else if ((SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
          || (SW_S_111_8CM == SW_VALUE(ldr_switch_state)))
    {
      ldrSendEvent(LOADER_ERROR_8CM);
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
    }
    break;    

  case LOADER_S_INSERT_3:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_INSERT_BLOCKED);
    }
    else if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_7, T0ms);
    }
    else if (SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_8, T0ms);
    }
    else if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_4, T0ms);
    }
    break;

  case LOADER_S_INSERT_4:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_INSERT_BLOCKED);
    }
    else if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_7, T0ms);
    }
    else if (SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_8, T0ms);
    }
    else if (SW_S_000_STOP == SW_VALUE(ldr_switch_state))
    {
      start_timer(LOADER_TIMER, T0ms);
      ldr_state = LOADER_S_INSERT_5;
    }
    break;

  case LOADER_S_INSERT_5:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrSetMotor(LOADER_DIR_EJECT);
      start_timer(LOADER_TIMER, T2ms);
      ldr_state = LOADER_S_INSERT_6;
    }
    break;

  case LOADER_S_INSERT_6:
    if (!timer_in_progress(LOADER_TIMER))
    {
      IdleMode(READY, LOADER_S_STOP_POSITION);
    }
    break;

  case LOADER_S_STOP_POSITION:
    if (SW_S_000_STOP != SW_VALUE(ldr_switch_state))
    {
      ldrPrepareError(LOADER_IMPROPER_STOP);
    }
    break;

  case LOADER_S_INSERT_REPOSITIONING:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_INSERT_BLOCKED);
    }
    else if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_7, T3s5);
    }
    else if (SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_8, T3s5);
    }
    else if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_4, T3s5);
    }
    break;

  case LOADER_S_EJECT_12CM_1:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
    }
    else if ((SW_S_010_INSERT == SW_VALUE(ldr_switch_state))
          || (SW_S_110_EJECT == SW_VALUE(ldr_switch_state)))
    {
      ldrSetMotor(LOADER_DIR_INSERT);
      start_timer(LOADER_TIMER, T14ms);
      ldr_state = LOADER_S_EJECT_12CM_2;
    }
    break;

  case LOADER_S_EJECT_12CM_2:
    if (!timer_in_progress(LOADER_TIMER))
    {
      IdleMode(READY, LOADER_S_EJECT_POSITION);
    }
    break;

  case LOADER_S_EJECT_8CM_1:
    if (!timer_in_progress(LOADER_TIMER))
    {
      if (DISC_SIZE_8CM == disc_size)
      {
        ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
      }
      else
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }  
    }
    else if ((SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
          || (SW_S_010_INSERT == SW_VALUE(ldr_switch_state)))
    {
      if (0 != CNF_EJECT_TIME_8CM_SHINWA_CDC02)
      {
        start_timer(LOADER_TIMER, CNF_EJECT_TIME_8CM_SHINWA_CDC02);
        ldr_state = LOADER_S_EJECT_8CM_2;      	
      }
      else
      {
        ldrSetMotor(LOADER_DIR_INSERT);
        start_timer(LOADER_TIMER, T14ms);
        ldr_state = LOADER_S_EJECT_8CM_3;
      }   
    }
    break;

  case LOADER_S_EJECT_8CM_2:
    if ((SW_S_111_8CM == SW_VALUE(ldr_switch_state))
     || ((SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
      && (SW_S_110_EJECT == SW_VALUE(previous_ldr_switch_state))))
    {
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
    }
    else if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))
    {
      if (0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)
      {
        StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);
      }
      else
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }
    }
    else if (!timer_in_progress(LOADER_TIMER))
    {
      if ((SW_S_110_EJECT == SW_VALUE(ldr_switch_state))
       || (SW_S_010_INSERT == SW_VALUE(ldr_switch_state)))
      {
        ldrSetMotor(LOADER_DIR_INSERT);
        start_timer(LOADER_TIMER, T14ms);
        ldr_state = LOADER_S_EJECT_8CM_3;
      }   
      else
      {
        ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
      }
    }
    break;

  case LOADER_S_EJECT_8CM_3:
    if (!timer_in_progress(LOADER_TIMER))