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Allow CoE OD List Segments to have 6 bytes instead of 8.

This commit is contained in:
Florian Pose 2012-01-05 16:47:23 +01:00
parent f50af7cfab
commit 4003271dc4
1 changed files with 13 additions and 8 deletions
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21
master/fsm_coe.c
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@ -268,7 +268,7 @@ int ec_fsm_coe_check_emergency(
ec_print_data(data, size);
return 1;
}
EC_SLAVE_WARN(fsm->slave, "CoE Emergency Request received:\n"
"Error code 0x%04X, Error register 0x%02X, data:\n",
EC_READ_U16(data + 2), EC_READ_U8(data + 4));
@ -422,6 +422,8 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
unsigned int sdo_count, i;
uint16_t sdo_index, fragments_left;
ec_sdo_t *sdo;
bool first_segment;
size_t index_list_offset;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
@ -496,17 +498,20 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
if (rec_size < 8 || rec_size % 2) {
first_segment = list_empty(&slave->sdo_dictionary) ? true : false;
index_list_offset = first_segment ? 8 : 6;
if (rec_size < index_list_offset || rec_size % 2) {
EC_SLAVE_ERR(slave, "Invalid data size %zu!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
sdo_count = (rec_size - 8) / 2;
sdo_count = (rec_size - index_list_offset) / 2;
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
sdo_index = EC_READ_U16(data + index_list_offset + i * 2);
if (!sdo_index) {
EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
continue;
@ -1108,7 +1113,7 @@ void ec_fsm_coe_down_start(
return;
}
if (slave->configured_rx_mailbox_size <
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_SLAVE_ERR(slave, "Mailbox too small!\n");
request->errno = EOVERFLOW;
@ -1132,7 +1137,7 @@ void ec_fsm_coe_down_start(
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| data_set_size << 2
| ((request->complete_access ? 1 : 0) << 4)
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5,
@ -1173,7 +1178,7 @@ void ec_fsm_coe_down_start(
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2,
0x1 // size indicator, normal
| ((request->complete_access ? 1 : 0) << 4)
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5,
@ -1359,7 +1364,7 @@ void ec_fsm_coe_down_prepare_segment_request(
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
| (seg_data_size << 1)
| (seg_data_size << 1)
| (fsm->toggle << 4)
| (0x00 << 5)); // Download segment request
memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,