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ethercat
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Fixed SDO upload segment response (thanks to Christoph Peter).

This commit is contained in:
Florian Pose 2009-07-10 10:37:14 +00:00
parent fbb6b62eaf
commit 5ac0980aba
2 changed files with 31 additions and 34 deletions
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1
NEWS
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@ -33,6 +33,7 @@ Changes since 1.4.0:
* Added ecrt_master() userspace interface, to get information about a
master (thanks to Martin Troxler).
* Introduced ecrt_master_slave() to get information about a certain slave.
* Fixed SDO upload segment response (thanks to Christoph Peter).
* SDO entry access rights are shown in 'ethercat sdos'.
* Added 64-bit data access macros to application header.
* Added debug level for all masters as a module parameter. Thanks to Erwin

64
master/fsm_coe.c
View File

@ -1494,6 +1494,31 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
/*****************************************************************************/
/** Prepare an SDO upload segment request.
*/
void ec_fsm_coe_up_prepare_segment_request(
ec_fsm_coe_t *fsm /**< Finite state machine */
)
{
uint8_t *data =
ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
| 0x3 << 5)); // upload segment request
if (fsm->slave->master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 10);
}
}
/*****************************************************************************/
/**
CoE state: UP RESPONSE.
\todo Timeout behavior
@ -1661,22 +1686,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_DBG("SDO data incomplete (%u / %u). Segmenting...\n",
data_size, fsm->complete_size);
data = ec_slave_mbox_prepare_send(slave, datagram,
0x03, 3);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
| 0x3 << 5)); // upload segment request
if (master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 3);
}
ec_fsm_coe_up_prepare_segment_request(fsm);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
return;
@ -1876,7 +1886,8 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
last_segment = EC_READ_U8(data + 2) & 0x01;
seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
if (rec_size > 10) {
data_size = rec_size - 10;
data_size = rec_size - 3; /* Header of segment upload is smaller than
normal upload */
} else { // == 10
/* seg_size contains the number of trailing bytes to ignore. */
data_size = rec_size - seg_size;
@ -1890,27 +1901,12 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
memcpy(request->data + request->data_size, data + 10, data_size);
memcpy(request->data + request->data_size, data + 3, data_size);
request->data_size += data_size;
if (!last_segment) {
fsm->toggle = !fsm->toggle;
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
| 0x3 << 5)); // upload segment request
if (master->debug_level) {
EC_DBG("Upload segment request:\n");
ec_print_data(data, 3);
}
ec_fsm_coe_up_prepare_segment_request(fsm);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_request;
return;