loader.c

本程序为ST公司开发的源代码

    else if ((DISC_SIZE_8CM == disc_size)
          && (SW_S_OUT_3 == SW_VALUE(ldr_switch_state)))
    {
      disc_size = DISC_SIZE_UNKNOWN;
    }
  }
  
  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;
  }
  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)))
  {
    if (LOADER_S_EMERGENCY_EJECT != ldr_state)
    {
      /* if em eject execute command when em eject is finished */
      ldr_command = LC_NONE;

      if (LOADER_S_STOP_POSITION != LOADER_GSTATE(ldr_state))
      {
        StartInsert_Tanashin();
      }
    }
  }
  else if ((LC_EJECT == ldr_command)   // on eject command
        && ((0 != ALLOW_REVERSE_DIRECTION)
         || (LOADER_DIR_INSERT != ldr_motor_dir)))
  {
    if (LOADER_S_EMERGENCY_EJECT != ldr_state)
    {
      /* if em eject execute command when em eject is finished */
      ldr_command = LC_NONE;

      if (LOADER_S_EJECT_POSITION == LOADER_GSTATE(ldr_state))
      {
        if (0 != HAVE_EJECT_REPOSITIONING)
        {
          if (LOADER_S_EJECT_POSITION_12CM == ldr_state)
          {
            StartInsertTo(LOADER_S_EJECT_REPOSITIONING_12CM, T1s);
          }
          else if (LOADER_S_EJECT_POSITION_8CM == ldr_state)
          {
            StartInsertTo(LOADER_S_EJECT_REPOSITIONING_8CM, T1s);
          }
        }
      }
      else
      {
        StartEject_Tanashin();
      }
    }
  }
}


/******************************************************************************/
/* Function:  ldrFSM_Tanashin                                                 */
/*                                                                            */
/*! \brief    Finite State Machine of Loader
 *            (implementation for mechanisms:
 *            M4_TANASHIN_TN2001_12CM,
 *            M5_TANASHIN_TN2001_8CM,
 *            M6_TANASHIN_TN2007_JVC,
 *            M7_TANASHIN_TN2007_BP)
 *  \param    void
 *  \return   void
 *  \remarks
 */
/******************************************************************************/

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

  case LOADER_S_INIT:
    if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_ERROR_NO_DISC);
      ldr_state = LOADER_S_NO_CD_POSITION;
    }
    else if (SW_S_PLY_2 == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_INIT_STOP);
      ldr_state = LOADER_S_STOP_POSITION_12CM;
    }
    else if (SW_S_PL8_8 == SW_VALUE(ldr_switch_state))
    {
      ldrSendEvent(LOADER_INIT_STOP);
      ldr_state = LOADER_S_STOP_POSITION_8CM;
    }
    else if ((SW_S_INP_7 == SW_VALUE(ldr_switch_state))
          || (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
          || (SW_S_LOD_1 == SW_VALUE(ldr_switch_state)))
    {
      ldrSendEvent(LOADER_INIT_TRANSITION);
      ldr_state = LOADER_S_ERROR;
    }
    break;

  case LOADER_S_NO_CD_POSITION:
    if ((SW_S_INP_7 == SW_VALUE(ldr_switch_state))
     || (SW_S_ULD_5 == SW_VALUE(ldr_switch_state)))
    {
      start_timer(LOADER_TIMER, T50ms);
      ldr_state = LOADER_S_INSERT_BY_USER;
    }
    break;

  case LOADER_S_INSERT_BY_USER:
    if (!timer_in_progress(LOADER_TIMER))
    {
      StartInsert_Tanashin();
      ldrSendEvent(LOADER_INSERT_BY_USER);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_NO_CD_POSITION;
    }
    break;

  case LOADER_S_INSERT_1:
  case LOADER_S_INSERT_4:
    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_LOD_1 == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_2, T0ms);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      if (DISC_SIZE_12CM == disc_size)
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }
      else if ((!IS_TANASHIN_MECHANISM_8CM(mechanism_model))
            || (REJECT_8CM_DISC))
      {
        StartEjectTo(LOADER_S_EJECT_8CM_1, T3s5);
        ldrSendEvent(LOADER_ERROR_8CM);
      }
      else
      {
        StartInsertTo(LOADER_S_INSERT_5, T3s5);
      }
    }
    break;
    
  case LOADER_S_INSERT_2:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_INSERT_BLOCKED);
    }
    else if (SW_S_PLY_2 == SW_VALUE(ldr_switch_state))
    {
      ldrSetMotor(LOADER_DIR_EJECT);
      start_timer(LOADER_TIMER, T10ms);
      ldr_state = LOADER_S_INSERT_3;
    }
    else if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_4, T0ms);
    }
    break;    

  case LOADER_S_INSERT_3:
    if (!timer_in_progress(LOADER_TIMER))
    {
      IdleMode(READY, LOADER_S_STOP_POSITION_12CM);
    }
    break;

  case LOADER_S_INSERT_5:
    if (!timer_in_progress(LOADER_TIMER))
    {
      if (DISC_SIZE_8CM_INTERNAL == disc_size)
      {
        ldrPrepareError(LOADER_ERROR_INSERT_BLOCKED);
      }
      else
      {
        if (CONSERVATIVE_BEHAVIOR_TANASHIN)
        {
          StartEjectTo(LOADER_S_EJECT_8CM_1, T3s5);
          ldrSendEvent(LOADER_ERROR_INSERT_BLOCKED_8CM);
        }
        else
        {
          IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
        }
      }
    }
    else if (SW_S_PL8_8 == SW_VALUE(ldr_switch_state))
    {
      ldrSetMotor(LOADER_DIR_EJECT);
      start_timer(LOADER_TIMER, T10ms);
      ldr_state = LOADER_S_INSERT_6;
    }
    else if ((SW_S_INP_7 == SW_VALUE(ldr_switch_state))
          || (SW_S_ULD_5 == SW_VALUE(ldr_switch_state)))
    {
      if ((DISC_SIZE_8CM == disc_size)
       || (DISC_SIZE_8CM_INTERNAL == disc_size))
      {
        StartInsertTo(LOADER_S_INSERT_4, T0ms);
      }
      else
      {
        StartInsertTo(LOADER_S_INSERT_1, T6s);
        ldrSendEvent(LOADER_INSERT_BY_USER);
      }
    }
    break;    

  case LOADER_S_INSERT_6:
    if (!timer_in_progress(LOADER_TIMER))
    {
      IdleMode(READY, LOADER_S_STOP_POSITION_8CM);
    }
    break;

  case LOADER_S_STOP_POSITION_12CM:
  case LOADER_S_STOP_POSITION_8CM:
    break;

  case LOADER_S_EJECT_12CM_1:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
    }
    else if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      ldrSetMotor(LOADER_DIR_INSERT);
      start_timer(LOADER_TIMER, T16ms);
      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_12CM);
    }
    break;

  case LOADER_S_EJECT_POSITION_12CM:
    if (SW_S_LOD_1 == SW_VALUE(ldr_switch_state))
    {
      start_timer(LOADER_TIMER, T200ms);
      ldr_state = LOADER_S_PUSHBACK_12CM;
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
    }
    break;
  
  case LOADER_S_PUSHBACK_12CM:
    if (!timer_in_progress(LOADER_TIMER))
    {
      StartInsertTo(LOADER_S_INSERT_2, T3s5);
      ldrSendEvent(LOADER_INSERT_BY_PUSHBACK);
    }
    else if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_EJECT_POSITION_12CM;
    }
    break;
  
  case LOADER_S_EJECT_8CM_1:
    if (!timer_in_progress(LOADER_TIMER))
    {
      if (DISC_SIZE_8CM_INTERNAL == disc_size)
      {
        ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
      }
      else
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }
    }
    else if (SW_S_INP_7 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_EJECT_8CM_2;
    }
    break;

  case LOADER_S_EJECT_8CM_2:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_EJECT_8CM_1;
    }
    else if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_EJECT_8CM_3;
    }
    break;

  case LOADER_S_EJECT_8CM_3:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);
    }
    else if (SW_S_LOD_1 == SW_VALUE(ldr_switch_state))
    {
      StartInsertTo(LOADER_S_INSERT_1, T6s);
      ldrSendEvent(LOADER_INSERT_BY_USER);
    }
    else if (SW_S_INP_7 == SW_VALUE(ldr_switch_state))
    {
      ldrSetMotor(LOADER_DIR_INSERT);
      start_timer(LOADER_TIMER, T16ms);
      ldr_state = LOADER_S_EJECT_8CM_4;
    }
    break;

  case LOADER_S_EJECT_8CM_4:
    if (!timer_in_progress(LOADER_TIMER))
    {
      if (DISC_SIZE_UNKNOWN == disc_size)
      {
        disc_size = DISC_SIZE_8CM;
      }
      IdleMode(READY, LOADER_S_EJECT_POSITION_8CM);
    }
    break;

  case LOADER_S_EJECT_POSITION_8CM:
    if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      start_timer(LOADER_TIMER, T35ms);
      ldr_state = LOADER_S_PUSHBACK_8CM;
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
    }
    break;

  case LOADER_S_PUSHBACK_8CM:
    if (!timer_in_progress(LOADER_TIMER))
    {
      StartInsertTo(LOADER_S_INSERT_4, T3s5);
      ldrSendEvent(LOADER_INSERT_BY_PUSHBACK);
    }
    else if (SW_S_INP_7 == SW_VALUE(ldr_switch_state))
    {
      ldr_state = LOADER_S_EJECT_POSITION_8CM;
    }
    break;

  case LOADER_S_EJECT_REPOSITIONING_12CM:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_REPOSITIONING);
    }
    else if (SW_S_LOD_1 == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_12CM_1, T1s);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
    }
    break;

  case LOADER_S_EJECT_REPOSITIONING_8CM:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_REPOSITIONING);
    }
    else if (SW_S_ULD_5 == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_8CM_3, T1s);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
    }
    break;

  case LOADER_S_EJECT_REPOSITIONING_UNKNOWN:
    if (!timer_in_progress(LOADER_TIMER))
    {
      ldrPrepareError(LOADER_ERROR_EJECT_REPOSITIONING);
    }
    else if (SW_S_LOD_1 == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_12CM_1, T1s);
    }
    else if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
    {
      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);
    }
    break;

  case LOADER_S_EMERGENCY_EJECT:
    if (!timer_in_progress(LOADER_TIMER))
    {
      if (SW_S_OUT_3 == SW_VALUE(ldr_switch_state))
      {
        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);
      }
      else
      {
        if ((SW_S_PLY_2 == SW_VALUE(ldr_switch_state))
         || (SW_S_LOD_1 == SW_VALUE(ldr_switch_state)))
        {
          disc_size = DISC_SIZE_12CM;
        }
        else if (SW_S_PL8_8 == SW_VALUE(ldr_switch_state))
        {
          disc_size = DISC_SIZE_8CM_INTERNAL;
        }
        else
        {
          disc_size = DISC_SIZE_UNKNOWN;
        }
        ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);