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);