{      IdleMode(READY, LOADER_S_EJECT_POSITION);    }    break;  case LOADER_S_EJECT_POSITION:    if (SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))    {      StartInsertTo(LOADER_S_INSERT_4, T3s5);      ldrSendEvent(LOADER_INSERT_BY_PUSHBACK);    }    else if (SW_S_000_STOP == SW_VALUE(ldr_switch_state))    {      StartInsertTo(LOADER_S_INSERT_3, T3s5);      ldrSendEvent(LOADER_INSERT_BY_PUSHBACK);    }    else 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);      ldrSendEvent(LOADER_INSERT_BY_PUSHBACK_8CM);    }    else if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))    {      if ((0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)       && (DISC_SIZE_12CM != disc_size))      {        StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);        ldrSendEvent(LOADER_INSERT_BY_PUSHBACK_8CM);      }      else      {        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);      }    }    break;  case LOADER_S_EJECT_REPOSITIONING:    if (!timer_in_progress(LOADER_TIMER))    {      ldrPrepareError(LOADER_ERROR_EJECT_REPOSITIONING);    }    else if ((SW_S_100_TRANSITION == SW_VALUE(ldr_switch_state))          || (SW_S_000_STOP == SW_VALUE(ldr_switch_state)))    {      StartEjectTo(LOADER_S_EJECT_12CM_1, T1s);    }    else if (SW_S_111_8CM == SW_VALUE(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)       && (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);      }    }    break;  case LOADER_S_EMERGENCY_EJECT:    if (!timer_in_progress(LOADER_TIMER))    {      if (SW_S_011_NOCD == SW_VALUE(ldr_switch_state))      {        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);      }      else      {        if ((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 (SW_S_111_8CM == SW_VALUE(ldr_switch_state))        {          disc_size = DISC_SIZE_8CM;        }        else        {          disc_size = DISC_SIZE_UNKNOWN;        }        ldrPrepareError(LOADER_ERROR_EJECT_BLOCKED);      }    }    break;  case LOADER_S_NOCD_INSERTING:  case LOADER_S_NOCD_EJECTING:    if (SW_S_010_INSERT == SW_VALUE(ldr_switch_state))    {      StartInsertTo(LOADER_S_INSERT_1, T5s);      ldrSendEvent(LOADER_INSERT_BY_USER);    }    else if (!timer_in_progress(LOADER_TIMER))    {      IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);    }    break;  //case LOADER_S_ERROR:  default:    if ((SW_S_011_NOCD == SW_VALUE(ldr_switch_state))     && (SW_S_010_INSERT == SW_VALUE(previous_ldr_switch_state)))    {      if ((0 != CONSERVATIVE_BEHAVIOR_SHINWA_CDC02)       && (DISC_SIZE_12CM != disc_size))      {        StartEjectTo(LOADER_S_EJECT_8CM_SUSPICIOUS, T1s);        ldrSendEvent(LOADER_INSERT_BY_PUSHBACK_8CM);      }      else      {        IdleMode(LOADER_ERROR_NO_DISC, LOADER_S_NO_CD_POSITION);      }    }    break;  }  previous_ldr_switch_state = ldr_switch_state;}/******************************************************************************//******************************************************************************//*****************************************************************************//*                                                                           *//*                              M1_SHINWA_CLC01                              *//*                                                                           *//*****************************************************************************//******************************************************************************//* Function:  StartInsert_Shinwa_CLC01                                        *//*                                                                            *//*! \brief    Start disc insertion according to current position *            (implementation for mechanism: M1_SHINWA_CLC01) *  \param    void *  \return   void *  \remark *//******************************************************************************/void StartInsert_Shinwa_CLC01(void){  switch (SW_VALUE(ldr_switch_state))  {  case SW_S_101_INSERT_EJECT:    StartInsertTo(LOADER_S_INSERT_1, T5s);    break;  case SW_S_011_STOP:    StartEjectTo(LOADER_S_INSERT_REPOSITIONING, T1s);    break;  case SW_S_111_TRANSITION:    StartInsertTo(LOADER_S_INSERT_2, T3s5);    break;  case SW_S_110_8CM:    StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);    ldrSendEvent(LOADER_ERROR_8CM);    break;         case SW_S_100_NOCD:    break;  //SW_S_000_ILLEGAL:  //SW_S_001_ILLEGAL:  //SW_S_010_ILLEGAL:  default:    ldrSendEvent(LOADER_ERROR_SW_ILLEGAL);    StartEjectTo(LOADER_S_EMERGENCY_EJECT, T5s);    break;  }}/******************************************************************************//* Function:  StartEject_Shinwa_CLC01                                         *//*                                                                            *//*! \brief    Start disc ejection according to current position *            (implementation for mechanism: M1_SHINWA_CLC01) *  \param    void *  \return   void *  \remark *//******************************************************************************/void StartEject_Shinwa_CLC01(void){  switch (SW_VALUE(ldr_switch_state))  {  case SW_S_011_STOP:    StartEjectTo(LOADER_S_EJECT_12CM_1, T2s);    break;  case SW_S_111_TRANSITION:    if (DISC_SIZE_8CM == disc_size)    {      StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);    }    else    {      StartEjectTo(LOADER_S_EJECT_12CM_1, T1s);    }    break;  case SW_S_110_8CM:    StartEjectTo(LOADER_S_EJECT_8CM_1, T1s);    break;  case SW_S_101_INSERT_EJECT:    StartInsertTo(LOADER_S_EJECT_REPOSITIONING, T1s);    break;  case SW_S_100_NOCD:    break;   //SW_S_000_ILLEGAL:  //SW_S_001_ILLEGAL:  //SW_S_010_ILLEGAL:  default:    ldrSendEvent(LOADER_ERROR_SW_ILLEGAL);    StartEjectTo(LOADER_S_EMERGENCY_EJECT, T5s);    break;  }}/******************************************************************************//* Function:  ldrCommandEval_Shinwa_CLC01                                     *//*                                                                            *//*! \brief    Start actions for a new Loader Command *            (implementation for mechanism: M1_SHINWA_CLC01) *  \param    void *  \return   void *  \remarks *//******************************************************************************/void ldrCommandEval_Shinwa_CLC01(void){  t_bool illegal_switch_detected = b_FALSE;  if ((SW_VALUE(ldr_switch_state) != SW_VALUE(previous_ldr_switch_state))   && (LOADER_S_STOP_POSITION != ldr_state)   && (LOADER_S_EMERGENCY_EJECT != ldr_state))  {    if ((SW_INVALID_VAL != SW_VALUE(previous_ldr_switch_state))     && ((SW_S_000_ILLEGAL == SW_VALUE(ldr_switch_state))      || (SW_S_001_ILLEGAL == SW_VALUE(ldr_switch_state))      || (SW_S_010_ILLEGAL == SW_VALUE(ldr_switch_state))      || ((DISC_SIZE_12CM == disc_size)       && (SW_S_110_8CM == SW_VALUE(ldr_switch_state)))      || ((DISC_SIZE_8CM == disc_size)       && (SW_S_011_STOP == SW_VALUE(ldr_switch_state)))      || ((SW_S_100_NOCD == SW_VALUE(ldr_switch_state))       && ((SW_S_111_TRANSITION == SW_VALUE(previous_ldr_switch_state))        || (SW_S_011_STOP == SW_VALUE(previous_ldr_switch_state))        || (SW_S_110_8CM == SW_VALUE(previous_ldr_switch_state))))      || ((SW_S_101_INSERT_EJECT == SW_VALUE(ldr_switch_state))       && ((SW_S_011_STOP == SW_VALUE(previous_ldr_switch_state))        || (SW_S_110_8CM == SW_VALUE(previous_ldr_switch_state))))      || ((SW_S_111_TRANSITION == SW_VALUE(ldr_switch_state))       && (SW_S_100_NOCD == SW_VALUE(previous_ldr_switch_state)))      || (((SW_S_011_STOP == SW_VALUE(ldr_switch_state))        || (SW_S_110_8CM == SW_VALUE(ldr_switch_state)))       && ((SW_S_100_NOCD == SW_VALUE(previous_ldr_switch_state))        || (SW_S_101_INSERT_EJECT == SW_VALUE(previous_ldr_switch_state))))))    {      // on illegal SW state      illegal_switch_detected = b_TRUE;    }    else if ((DISC_SIZE_UNKNOWN == disc_size)          && (SW_S_011_STOP == SW_VALUE(ldr_switch_state)))    {      disc_size = DISC_SIZE_12CM;    }    else if ((DISC_SIZE_UNKNOWN == disc_size)           && (SW_S_110_8CM == SW_VALUE(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;  }  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_NO_CD_POSITION == ldr_state)       || (LOADER_S_NOCD_INSERTING == ldr_state)       || (LOADER_S_NOCD_EJECTING == ldr_state))      {        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_CLC01();      }    }  }  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))      {        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_CLC01();      }    }  }}/******************************************************************************//* Function:  ldrFSM_Shinwa_CLC01                                             *//*                                                                            *//*! \brief    Finite State Machine of Loader *            (implementation for mechanism: M1_SHINWA_CLC01) *  \param    void *  \return   void *  \remarks *//******************************************************************************/void ldrFSM_Shinwa_CLC01(void){  switch (ldr_state)  {  case LOADER_S_IDLE:    break;  case LOADER_S_INIT:    if (SW_S_100_NOCD == SW_VALUE(ldr_switch_state))    {      ldrSendEvent(LOADER_ERROR_NO_DISC);      ldr_state = LOADER_S_NO_CD_POSITION;    }    else if (SW_S_011_STOP == SW_VALUE(ldr_switch_state))    {      ldrSendEvent(LOADER_INIT_STOP);      ldr_state = LOADER_S_STOP_POSITION;    }    else if (SW_S_111_TRANSITION == SW_VALUE(ldr_switch_state))    {      ldrSendEvent(LOADER_INIT_TRANSITION);      ldr_state = LOADER_S_ERROR;    }    else if (SW_S_101_INSERT_EJECT == SW_VALUE(ldr_switch_state))    {      ldrSendEvent(LOADER_INIT_EJECT);      ldr_state = LOADER_S_EJECT_POSITION;    }    else if (SW_S_110_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_101_INSERT_EJECT == 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_5:    if (!timer_in_progress(LOADER_TIMER))    {