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ethercat
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Implemented SoE write fragmenting.

This commit is contained in:
Florian Pose 2010-03-09 14:40:25 +01:00
parent cde1ad8ca0
commit 05cda2e570
3 changed files with 68 additions and 28 deletions
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1
TODO
View File

@ -23,7 +23,6 @@ Version 1.5.0:
* Output warning on unmatched slave configuration.
* Output warning when send_ext() is called in illegal context.
* Add master index to log messages.
* Implement SoE fragmenting.
* Implement CompleteAccess for SDO uploads.
* Check for Enable SDO Complete Access flag.
* Remove allow_scanning flag.

94
master/fsm_soe.c
View File

@ -110,7 +110,6 @@ void ec_fsm_soe_transfer(
if (request->dir == EC_DIR_OUTPUT) {
fsm->state = ec_fsm_soe_write_start;
} else {
fsm->request->data_size = 0;
fsm->state = ec_fsm_soe_read_start;
}
}
@ -181,6 +180,7 @@ void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)
ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);
}
fsm->request->data_size = 0;
fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_soe_read_request;
@ -398,19 +398,73 @@ void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
* SoE write state machine
*****************************************************************************/
/** SoE state: WRITE START.
/** Write next fragment.
*/
void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)
void ec_fsm_soe_write_next_fragment(
ec_fsm_soe_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_soe_request_t *request = fsm->request;
uint8_t *data;
ec_soe_request_t *req = fsm->request;
uint8_t incomplete, *data;
size_t header_size, max_fragment_size, remaining_size, fragment_size;
uint16_t fragments_left;
header_size = EC_MBOX_HEADER_SIZE + EC_SOE_WRITE_REQUEST_SIZE;
if (slave->configured_rx_mailbox_size <= header_size) {
EC_ERR("Mailbox size (%u) too small for SoE write.\n",
slave->configured_rx_mailbox_size);
fsm->state = ec_fsm_soe_error;
return;
}
remaining_size = req->data_size - fsm->offset;
max_fragment_size = slave->configured_rx_mailbox_size - header_size;
incomplete = remaining_size > max_fragment_size;
fragment_size = incomplete ? max_fragment_size : remaining_size;
fragments_left = remaining_size / fragment_size;
if (remaining_size % fragment_size) {
fragments_left++;
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
return;
}
EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, fsm->offset ? fragments_left : req->idn);
memcpy(data + 4, req->data + fsm->offset, fragment_size);
fsm->offset += fragment_size;
if (master->debug_level) {
EC_DBG("SCC write request:\n");
ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
}
req->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_soe_write_request;
}
/*****************************************************************************/
/** SoE state: WRITE START.
*/
void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_soe_request_t *req = fsm->request;
if (master->debug_level)
EC_DBG("Writing IDN 0x%04X to slave %u.\n",
request->idn, slave->ring_position);
req->idn, slave->ring_position);
if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_ERR("Slave %u does not support SoE!\n", slave->ring_position);
@ -418,26 +472,8 @@ void ec_fsm_soe_write_start(ec_fsm_soe_t *fsm /**< finite state machine */)
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
EC_SOE_WRITE_REQUEST_SIZE + request->data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
return;
}
EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, request->idn);
memcpy(data + 4, request->data, request->data_size);
if (master->debug_level) {
EC_DBG("SCC write request:\n");
ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + request->data_size);
}
fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_soe_write_request;
fsm->offset = 0;
ec_fsm_soe_write_next_fragment(fsm);
}
/*****************************************************************************/
@ -627,7 +663,11 @@ void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
req->error_code = 0x0000;
}
fsm->state = ec_fsm_soe_end; // success
if (fsm->offset < req->data_size) {
ec_fsm_soe_write_next_fragment(fsm);
} else {
fsm->state = ec_fsm_soe_end; // success
}
}
/*****************************************************************************/

1
master/fsm_soe.h
View File

@ -56,6 +56,7 @@ struct ec_fsm_soe {
void (*state)(ec_fsm_soe_t *); /**< CoE state function */
unsigned long jiffies_start; /**< CoE timestamp. */
ec_soe_request_t *request; /**< SoE request */
off_t offset; /**< IDN data offset during fragmented write. */
};
/*****************************************************************************/