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ethercat
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Applied base-0022-Clear-slave-mailboxes-after-a-re-scan 

When rescanning a slave (and thus discarding any prior pending FSMs),
explicitly clear the slave mailbox, to avoid getting confused by a
stale response.
This commit is contained in:
Knud Baastrup 2014-08-11 08:06:36 +02:00
parent b1945b7bdc
commit 74798d5259
5 changed files with 114 additions and 56 deletions
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3
master/fsm_master.c
View File

@ -1135,6 +1135,9 @@ void ec_fsm_master_state_scan_slave(
if (ec_fsm_slave_scan_exec(&fsm->fsm_slave_scan)) {
return;
}
// Assume that the slaves mailbox data is valid even if the slave scanning skipped
// the clear mailbox state, e.g. if the slave refused to enter state INIT.
fsm->slave->valid_mbox_data = 1;
#ifdef EC_EOE
if (slave->sii.mailbox_protocols & EC_MBOX_EOE) {

49
master/fsm_slave_scan.c
View File

@ -55,6 +55,7 @@ void ec_fsm_slave_scan_state_assign_sii(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_state_mailbox_cleared(ec_fsm_slave_scan_t *);
#ifdef EC_REGALIAS
void ec_fsm_slave_scan_state_regalias(ec_fsm_slave_scan_t *);
#endif
@ -70,6 +71,7 @@ void ec_fsm_slave_scan_enter_datalink(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_regalias(ec_fsm_slave_scan_t *);
#endif
void ec_fsm_slave_scan_enter_preop(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_clear_mailbox(ec_fsm_slave_scan_t *);
void ec_fsm_slave_scan_enter_pdos(ec_fsm_slave_scan_t *);
/*****************************************************************************/
@ -979,7 +981,7 @@ void ec_fsm_slave_scan_state_preop(
return;
}
ec_fsm_slave_scan_enter_pdos(fsm);
ec_fsm_slave_scan_enter_clear_mailbox(fsm);
}
/*****************************************************************************/
@ -1050,6 +1052,51 @@ void ec_fsm_slave_scan_state_sync(
// allocate memory for mailbox response data for supported mailbox protocols
ec_mbox_prot_data_prealloc(slave, slave->sii.mailbox_protocols, slave->configured_tx_mailbox_size);
ec_fsm_slave_scan_enter_clear_mailbox(fsm);
}
/*****************************************************************************/
/** Enter slave scan state: Clear Mailbox.
*/
void ec_fsm_slave_scan_enter_clear_mailbox(
ec_fsm_slave_scan_t *fsm /**< slave state machine */
)
{
ec_slave_t *slave = fsm->slave;
// If there is some old data in the slave's mailbox, read it out and
// discard it. We don't need to check the mailbox first, we just ignore
// an error or empty mailbox response.
ec_datagram_t *datagram = fsm->datagram;
ec_slave_mbox_prepare_fetch(fsm->slave, datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_mailbox_cleared;
slave->valid_mbox_data = 0;
}
/*****************************************************************************/
/** Slave scan state: Mailbox cleared.
*/
void ec_fsm_slave_scan_state_mailbox_cleared(ec_fsm_slave_scan_t *fsm /**< slave state machine */)
{
ec_slave_t *slave = fsm->slave;
ec_datagram_t *datagram = fsm->datagram;
if (fsm->datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) {
ec_slave_mbox_prepare_fetch(fsm->slave, datagram);
return;
}
if (unlikely(slave->master->debug_level > 0)
&& datagram->state == EC_DATAGRAM_RECEIVED
&& datagram->working_counter == 1)
EC_SLAVE_INFO(slave, "Cleared old data from the mailbox\n");
slave->valid_mbox_data = 1;
ec_fsm_slave_scan_enter_pdos(fsm);
}

114
master/master.c
View File

@ -1286,67 +1286,72 @@ void ec_master_receive_datagrams(
if (slave->station_address == datagram_slave_addr) {
if (slave->configured_tx_mailbox_offset != 0) {
if (datagram_offset_addr == slave->configured_tx_mailbox_offset) {
datagram_mbox_prot = EC_READ_U8(cur_data + 5) & 0x0F;
switch (datagram_mbox_prot) {
if (slave->valid_mbox_data) {
datagram_mbox_prot = EC_READ_U8(cur_data + 5) & 0x0F;
switch (datagram_mbox_prot) {
#ifdef EC_EOE
case EC_MBOX_TYPE_EOE:
// check EOE type and store in correct handlers mbox data cache
eoe_type = EC_READ_U8(cur_data + 6) & 0x0F;
case EC_MBOX_TYPE_EOE:
// check EOE type and store in correct handlers mbox data cache
eoe_type = EC_READ_U8(cur_data + 6) & 0x0F;
switch (eoe_type) {
switch (eoe_type) {
case EC_EOE_TYPE_FRAME_FRAG:
// EoE Frame Fragment handler
if ((slave->mbox_eoe_frag_data.data) && (data_size <= slave->mbox_eoe_frag_data.data_size)) {
memcpy(slave->mbox_eoe_frag_data.data, cur_data, data_size);
slave->mbox_eoe_frag_data.payload_size = data_size;
}
break;
case EC_EOE_TYPE_INIT_RES:
// EoE Init / Set IP response handler
if ((slave->mbox_eoe_init_data.data) && (data_size <= slave->mbox_eoe_init_data.data_size)) {
memcpy(slave->mbox_eoe_init_data.data, cur_data, data_size);
slave->mbox_eoe_init_data.payload_size = data_size;
}
break;
default:
EC_MASTER_DBG(master, 1, "Unhandled EoE protocol type from slave: %u Protocol: %u, Type: %x\n",
datagram_slave_addr, datagram_mbox_prot, eoe_type);
// copy instead received data into the datagram memory.
memcpy(datagram->data, cur_data, data_size);
break;
}
break;
case EC_EOE_TYPE_FRAME_FRAG:
// EoE Frame Fragment handler
if ((slave->mbox_eoe_frag_data.data) && (data_size <= slave->mbox_eoe_frag_data.data_size)) {
memcpy(slave->mbox_eoe_frag_data.data, cur_data, data_size);
slave->mbox_eoe_frag_data.payload_size = data_size;
}
break;
case EC_EOE_TYPE_INIT_RES:
// EoE Init / Set IP response handler
if ((slave->mbox_eoe_init_data.data) && (data_size <= slave->mbox_eoe_init_data.data_size)) {
memcpy(slave->mbox_eoe_init_data.data, cur_data, data_size);
slave->mbox_eoe_init_data.payload_size = data_size;
}
break;
default:
EC_MASTER_DBG(master, 1, "Unhandled EoE protocol type from slave: %u Protocol: %u, Type: %x\n",
datagram_slave_addr, datagram_mbox_prot, eoe_type);
// copy instead received data into the datagram memory.
memcpy(datagram->data, cur_data, data_size);
break;
}
break;
#endif
case EC_MBOX_TYPE_COE:
if ((slave->mbox_coe_data.data) && (data_size <= slave->mbox_coe_data.data_size)) {
memcpy(slave->mbox_coe_data.data, cur_data, data_size);
slave->mbox_coe_data.payload_size = data_size;
case EC_MBOX_TYPE_COE:
if ((slave->mbox_coe_data.data) && (data_size <= slave->mbox_coe_data.data_size)) {
memcpy(slave->mbox_coe_data.data, cur_data, data_size);
slave->mbox_coe_data.payload_size = data_size;
}
break;
case EC_MBOX_TYPE_FOE:
if ((slave->mbox_foe_data.data) && (data_size <= slave->mbox_foe_data.data_size)) {
memcpy(slave->mbox_foe_data.data, cur_data, data_size);
slave->mbox_foe_data.payload_size = data_size;
}
break;
case EC_MBOX_TYPE_SOE:
if ((slave->mbox_soe_data.data) && (data_size <= slave->mbox_soe_data.data_size)) {
memcpy(slave->mbox_soe_data.data, cur_data, data_size);
slave->mbox_soe_data.payload_size = data_size;
}
break;
case EC_MBOX_TYPE_VOE:
if ((slave->mbox_voe_data.data) && (data_size <= slave->mbox_voe_data.data_size)) {
memcpy(slave->mbox_voe_data.data, cur_data, data_size);
slave->mbox_voe_data.payload_size = data_size;
}
break;
default:
EC_MASTER_DBG(master, 1, "Unknown mailbox protocol from slave: %u Protocol: %u\n", datagram_slave_addr, datagram_mbox_prot);
// copy instead received data into the datagram memory.
memcpy(datagram->data, cur_data, data_size);
break;
}
break;
case EC_MBOX_TYPE_FOE:
if ((slave->mbox_foe_data.data) && (data_size <= slave->mbox_foe_data.data_size)) {
memcpy(slave->mbox_foe_data.data, cur_data, data_size);
slave->mbox_foe_data.payload_size = data_size;
}
break;
case EC_MBOX_TYPE_SOE:
if ((slave->mbox_soe_data.data) && (data_size <= slave->mbox_soe_data.data_size)) {
memcpy(slave->mbox_soe_data.data, cur_data, data_size);
slave->mbox_soe_data.payload_size = data_size;
}
break;
case EC_MBOX_TYPE_VOE:
if ((slave->mbox_voe_data.data) && (data_size <= slave->mbox_voe_data.data_size)) {
memcpy(slave->mbox_voe_data.data, cur_data, data_size);
slave->mbox_voe_data.payload_size = data_size;
}
break;
default:
EC_MASTER_DBG(master, 1, "Unknown mailbox protocol from slave: %u Protocol: %u\n", datagram_slave_addr, datagram_mbox_prot);
} else {
// copy instead received data into the datagram memory.
memcpy(datagram->data, cur_data, data_size);
break;
}
} else {
// copy instead received data into the datagram memory.
@ -1405,7 +1410,6 @@ void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
{
if (unlikely(jiffies - master->stats.output_jiffies >= HZ)) {
master->stats.output_jiffies = jiffies;
if (master->stats.timeouts) {
EC_MASTER_WARN(master, "%u datagram%s TIMED OUT!\n",
master->stats.timeouts,

2
master/slave.c
View File

@ -176,6 +176,8 @@ void ec_slave_init(
ec_mbox_data_init(&slave->mbox_foe_data);
ec_mbox_data_init(&slave->mbox_soe_data);
ec_mbox_data_init(&slave->mbox_voe_data);
slave->valid_mbox_data = 0;
}

2
master/slave.h
View File

@ -268,6 +268,8 @@ struct ec_slave
ec_mbox_data_t mbox_foe_data; /**< Received mailbox data for FoE. */
ec_mbox_data_t mbox_soe_data; /**< Received mailbox data for SoE. */
ec_mbox_data_t mbox_voe_data; /**< Received mailbox data for VoE. */
uint8_t valid_mbox_data; /**< Received mailbox data is valid. */
};
/*****************************************************************************/