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Introduced mailbox/CoE defines; avoided duplicate code in CoE segmented 

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This commit is contained in:
Florian Pose 2009-11-21 21:46:52 +01:00
parent 2ee30ffbd8
commit 8e2d564639
2 changed files with 100 additions and 114 deletions
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210
master/fsm_coe.c
View File

@ -45,6 +45,10 @@
*/
#define EC_FSM_COE_DICT_TIMEOUT 3000
#define EC_COE_DOWN_REQ_HEADER_SIZE 10
#define EC_COE_DOWN_SEG_REQ_HEADER_SIZE 3
#define EC_COE_DOWN_SEG_MIN_DATA_SIZE 7
/*****************************************************************************/
void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
@ -1063,11 +1067,11 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
* CoE state machine
*****************************************************************************/
/**
CoE state: DOWN START.
*/
void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
/** CoE state: DOWN START.
*/
void ec_fsm_coe_down_start(
ec_fsm_coe_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@ -1093,14 +1097,16 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
return;
}
if (slave->configured_rx_mailbox_size < 16) {
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_ERR("Mailbox too small!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (request->data_size <= 4) { // use expedited transfer type
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@ -1123,18 +1129,21 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
if (slave->master->debug_level) {
EC_DBG("Expedited download request:\n");
ec_print_data(data, 10);
ec_print_data(data, EC_COE_DOWN_REQ_HEADER_SIZE);
}
}
else { // request->data_size > 4, use normal transfer type
size_t data_size;
size_t data_size,
max_data_size =
slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE,
required_data_size =
EC_COE_DOWN_REQ_HEADER_SIZE + request->data_size;
if (slave->configured_rx_mailbox_size <
6 + 10 + request->data_size) {
if (max_data_size < required_data_size) {
// segmenting needed
data_size = slave->configured_rx_mailbox_size - 6;
data_size = max_data_size;
} else {
data_size = 10 + request->data_size;
data_size = required_data_size;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
@ -1148,19 +1157,21 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->remaining = request->data_size;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U8(data + 2,
0x1 // size indicator, normal
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5,
request->complete_access ? 0x00 : request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
if (data_size > 10) {
size_t segment_size = data_size - 10;
fsm->remaining -= segment_size;
memcpy(data + 10, request->data, segment_size);
if (data_size > EC_COE_DOWN_REQ_HEADER_SIZE) {
size_t segment_size = data_size - EC_COE_DOWN_REQ_HEADER_SIZE;
memcpy(data + EC_COE_DOWN_REQ_HEADER_SIZE,
request->data, segment_size);
fsm->offset += segment_size;
fsm->remaining -= segment_size;
}
if (slave->master->debug_level) {
@ -1278,6 +1289,69 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
/*****************************************************************************/
void ec_fsm_coe_down_prepare_segment_request(
ec_fsm_coe_t *fsm /**< finite state machine */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request = fsm->request;
size_t max_segment_size =
slave->configured_rx_mailbox_size
- EC_MBOX_HEADER_SIZE
- EC_COE_DOWN_SEG_REQ_HEADER_SIZE;
size_t segment_size, data_size;
uint8_t last_segment, seg_data_size, *data;
if (fsm->remaining > max_segment_size) {
segment_size = max_segment_size;
last_segment = 0;
} else {
segment_size = fsm->remaining;
last_segment = 1;
}
if (segment_size > EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
seg_data_size = 0x00;
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size;
} else {
seg_data_size = EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size;
data_size = EC_COE_DOWN_SEG_REQ_HEADER_SIZE
+ EC_COE_DOWN_SEG_MIN_DATA_SIZE;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
| (seg_data_size << 1)
| (fsm->toggle << 4)
| (0x00 << 5)); // Download segment request
memcpy(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE,
request->data + fsm->offset, segment_size);
if (segment_size < EC_COE_DOWN_SEG_MIN_DATA_SIZE) {
memset(data + EC_COE_DOWN_SEG_REQ_HEADER_SIZE + segment_size, 0x00,
EC_COE_DOWN_SEG_MIN_DATA_SIZE - segment_size);
}
fsm->offset += segment_size;
fsm->remaining -= segment_size;
if (slave->master->debug_level) {
EC_DBG("Download segment request:\n");
ec_print_data(data, data_size);
}
fsm->state = ec_fsm_coe_down_seg_check;
}
/*****************************************************************************/
/**
CoE state: DOWN RESPONSE.
\todo Timeout behavior
@ -1381,54 +1455,8 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (fsm->remaining) { // more segments to download
size_t max_segment_size = slave->configured_rx_mailbox_size - 9;
size_t segment_size, data_size;
uint8_t last_segment, seg_data_size;
if (fsm->remaining > max_segment_size) {
segment_size = max_segment_size;
last_segment = 0;
} else {
segment_size = fsm->remaining;
last_segment = 1;
}
if (segment_size > 7) {
seg_data_size = 0x00;
data_size = 3 + segment_size;
} else {
seg_data_size = 7 - segment_size;
data_size = 10;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->toggle = 0;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
| (seg_data_size << 1)
| (fsm->toggle << 4)
| (0x00 << 5)); // Download segment request
memcpy(data + 3, request->data + fsm->offset, segment_size);
if (segment_size < 7) {
memset(data + 3 + segment_size, 0x00, 7 - segment_size);
}
fsm->offset += segment_size;
fsm->remaining -= segment_size;
if (slave->master->debug_level) {
EC_DBG("Download segment request:\n");
ec_print_data(data, data_size);
}
fsm->state = ec_fsm_coe_down_seg_check; // success
ec_fsm_coe_down_prepare_segment_request(fsm);
} else {
fsm->state = ec_fsm_coe_end; // success
}
@ -1597,54 +1625,8 @@ void ec_fsm_coe_down_seg_response(
}
if (fsm->remaining) { // more segments to download
size_t max_segment_size = slave->configured_rx_mailbox_size - 9;
size_t segment_size, data_size;
uint8_t last_segment, seg_data_size;
if (fsm->remaining > max_segment_size) {
segment_size = max_segment_size;
last_segment = 0;
} else {
segment_size = fsm->remaining;
last_segment = 1;
}
if (segment_size > 7) {
seg_data_size = 0x00;
data_size = 3 + segment_size;
} else {
seg_data_size = 7 - segment_size;
data_size = 10;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
}
fsm->toggle = !fsm->toggle;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8(data + 2, (last_segment ? 1 : 0)
| (seg_data_size << 1)
| (fsm->toggle << 4)
| (0x00 << 5)); // Download segment request
memcpy(data + 3, request->data + fsm->offset, segment_size);
if (segment_size < 7) {
memset(data + 3 + segment_size, 0x00, 7 - segment_size);
}
fsm->offset += segment_size;
fsm->remaining -= segment_size;
if (slave->master->debug_level) {
EC_DBG("Download segment request:\n");
ec_print_data(data, data_size);
}
fsm->state = ec_fsm_coe_down_seg_check; // success
ec_fsm_coe_down_prepare_segment_request(fsm);
} else {
fsm->state = ec_fsm_coe_end; // success
}

4
master/mailbox.h
View File

@ -41,6 +41,10 @@
/*****************************************************************************/
#define EC_MBOX_HEADER_SIZE 6
/*****************************************************************************/
uint8_t *ec_slave_mbox_prepare_send(const ec_slave_t *, ec_datagram_t *,
uint8_t, size_t);
int ec_slave_mbox_prepare_check(const ec_slave_t *, ec_datagram_t *);