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ethercat
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Better use enums in SoE code.

This commit is contained in:
Florian Pose 2010-04-19 21:53:52 +02:00
parent 68cbcacb95
commit 18549af043
1 changed files with 28 additions and 23 deletions
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51
master/fsm_soe.c
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@ -45,16 +45,21 @@
*/
#define EC_MBOX_TYPE_SOE 0x05
#define EC_SOE_OPCODE_READ_REQUEST 0x01
#define EC_SOE_OPCODE_READ_RESPONSE 0x02
#define EC_SOE_OPCODE_WRITE_REQUEST 0x03
#define EC_SOE_OPCODE_WRITE_RESPONSE 0x04
/** SoE operations
*/
enum ec_soe_opcodes {
OPCODE_READ_REQUEST = 0x01, /**< Read request. */
OPCODE_READ_RESPONSE = 0x02, /**< Read response. */
OPCODE_WRITE_REQUEST = 0x03, /**< Write request. */
OPCODE_WRITE_RESPONSE = 0x04 /**< Write response. */
};
#define EC_SOE_READ_REQUEST_SIZE 0x04
#define EC_SOE_READ_RESPONSE_SIZE 0x04
#define EC_SOE_WRITE_REQUEST_SIZE 0x04
#define EC_SOE_WRITE_RESPONSE_SIZE 0x04
/** Size of all SoE headers.
*/
#define EC_SOE_SIZE 0x04
/** SoE response timeout [ms].
*/
#define EC_SOE_RESPONSE_TIMEOUT 1000
/*****************************************************************************/
@ -209,20 +214,20 @@ void ec_fsm_soe_read_start(ec_fsm_soe_t *fsm /**< finite state machine */)
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
EC_SOE_READ_REQUEST_SIZE);
EC_SOE_SIZE);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
ec_fsm_soe_print_error(fsm);
return;
}
EC_WRITE_U8(data, EC_SOE_OPCODE_READ_REQUEST);
EC_WRITE_U8(data, OPCODE_READ_REQUEST);
EC_WRITE_U8(data + 1, 1 << 6); // request value
EC_WRITE_U16(data + 2, request->idn);
if (master->debug_level) {
EC_DBG("SCC read request:\n");
ec_print_data(data, EC_SOE_READ_REQUEST_SIZE);
ec_print_data(data, EC_SOE_SIZE);
}
fsm->request->data_size = 0;
@ -377,7 +382,7 @@ void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
return;
}
if (rec_size < EC_SOE_READ_RESPONSE_SIZE) {
if (rec_size < EC_SOE_SIZE) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Received currupted SoE read response"
" (%zu bytes)!\n", rec_size);
@ -391,7 +396,7 @@ void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
incomplete = (header >> 3) & 1;
error_flag = (header >> 4) & 1;
if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {
if (opcode != OPCODE_READ_RESPONSE) {
EC_ERR("Received no read response (opcode %x).\n", opcode);
ec_print_data(data, rec_size);
ec_fsm_soe_print_error(fsm);
@ -418,9 +423,9 @@ void ec_fsm_soe_read_response(ec_fsm_soe_t *fsm /**< finite state machine */)
return;
}
data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;
data_size = rec_size - EC_SOE_SIZE;
if (ec_soe_request_append_data(req,
data + EC_SOE_READ_RESPONSE_SIZE, data_size)) {
data + EC_SOE_SIZE, data_size)) {
fsm->state = ec_fsm_soe_error;
ec_fsm_soe_print_error(fsm);
return;
@ -463,7 +468,7 @@ void ec_fsm_soe_write_next_fragment(
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;
header_size = EC_MBOX_HEADER_SIZE + EC_SOE_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);
@ -482,14 +487,14 @@ void ec_fsm_soe_write_next_fragment(
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
EC_SOE_SIZE + fragment_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
ec_fsm_soe_print_error(fsm);
return;
}
EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);
memcpy(data + 4, req->data + fsm->offset, fragment_size);
@ -497,7 +502,7 @@ void ec_fsm_soe_write_next_fragment(
if (master->debug_level) {
EC_DBG("SCC write request:\n");
ec_print_data(data, EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
ec_print_data(data, EC_SOE_SIZE + fragment_size);
}
req->jiffies_sent = jiffies;
@ -682,7 +687,7 @@ void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
return;
}
if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE) {
if (rec_size < EC_SOE_SIZE) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Received currupted SoE write response (%zu bytes)!\n",
rec_size);
@ -692,7 +697,7 @@ void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
}
opcode = EC_READ_U8(data) & 0x7;
if (opcode != EC_SOE_OPCODE_WRITE_RESPONSE) {
if (opcode != OPCODE_WRITE_RESPONSE) {
EC_ERR("Received no write response (opcode %x).\n", opcode);
ec_print_data(data, rec_size);
ec_fsm_soe_print_error(fsm);
@ -711,11 +716,11 @@ void ec_fsm_soe_write_response(ec_fsm_soe_t *fsm /**< finite state machine */)
error_flag = (EC_READ_U8(data) >> 4) & 1;
if (error_flag) {
if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE + 2) {
if (rec_size < EC_SOE_SIZE + 2) {
EC_ERR("Received corrupted error response - error flag set,"
" but received size is %zu.\n", rec_size);
} else {
req->error_code = EC_READ_U16(data + EC_SOE_WRITE_RESPONSE_SIZE);
req->error_code = EC_READ_U16(data + EC_SOE_SIZE);
EC_ERR("Received error response:\n");
ec_print_soe_error(req->error_code);
}