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ethercat
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Fixed CoE Upload Request, now 10 bytes of Mailbox Service Data.

This commit is contained in:
Florian Pose 2006-11-03 12:18:37 +00:00
parent 02c7006f24
commit 9f6d10e2b8
1 changed files with 4 additions and 6 deletions
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10
master/fsm_coe.c
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@ -1035,7 +1035,7 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_DBG("Uploading SDO 0x%04X:%i from slave %i.\n",
sdo->index, entry->subindex, slave->ring_position);
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fsm->state = ec_fsm_coe_error;
return;
}
@ -1044,10 +1044,11 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo->index);
EC_WRITE_U8 (data + 5, entry->subindex);
memset(data + 6, 0x00, 4);
if (master->debug_level) {
EC_DBG("Upload request:\n");
ec_print_data(data, 6);
ec_print_data(data, 10);
}
ec_master_queue_datagram(fsm->slave->master, datagram);
@ -1177,7 +1178,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != sdo->index || // index
EC_READ_U8 (data + 5) != entry->subindex) { // subindex
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
@ -1192,9 +1193,6 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
expedited = EC_READ_U8(data + 2) & 0x02;
if (expedited) {
if (master->debug_level)
EC_WARN("Received expedited response upon normal request!\n");
size_specified = EC_READ_U8(data + 2) & 0x01;
if (size_specified) {
complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);