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ethercat
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merge

This commit is contained in:
Florian Pose 2016-09-16 11:56:53 +02:00
parent 8f599d1eb8 a5cfa32f4b
commit c7f2a93cc5
1 changed files with 32 additions and 29 deletions
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61
master/fsm_soe.c
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@ -58,6 +58,10 @@ enum ec_soe_opcodes {
*/
#define EC_SOE_SIZE 0x04
/** SoE header size.
*/
#define EC_SOE_HEADER_SIZE (EC_MBOX_HEADER_SIZE + EC_SOE_SIZE)
/** SoE response timeout [ms].
*/
#define EC_SOE_RESPONSE_TIMEOUT 1000
@ -237,7 +241,7 @@ int ec_fsm_soe_prepare_read(
EC_WRITE_U16(data + 2, request->idn);
if (master->debug_level) {
EC_SLAVE_DBG(slave, 0, "SCC read request:\n");
EC_SLAVE_DBG(slave, 0, "SSC read request:\n");
ec_print_data(data, EC_SOE_SIZE);
}
@ -434,7 +438,7 @@ void ec_fsm_soe_read_response(
}
if (master->debug_level) {
EC_SLAVE_DBG(slave, 0, "SCC read response:\n");
EC_SLAVE_DBG(slave, 0, "SSC read response:\n");
ec_print_data(data, rec_size);
}
@ -528,20 +532,11 @@ void ec_fsm_soe_write_next_fragment(
ec_master_t *master = slave->master;
ec_soe_request_t *req = fsm->request;
uint8_t incomplete, *data;
size_t header_size, max_fragment_size, remaining_size;
size_t max_fragment_size, remaining_size;
uint16_t fragments_left;
header_size = EC_MBOX_HEADER_SIZE + EC_SOE_SIZE;
if (slave->configured_rx_mailbox_size <= header_size) {
EC_SLAVE_ERR(slave, "Mailbox size (%u) too small for SoE write.\n",
slave->configured_rx_mailbox_size);
fsm->state = ec_fsm_soe_error;
ec_fsm_soe_print_error(fsm);
return;
}
remaining_size = req->data_size - fsm->offset;
max_fragment_size = slave->configured_rx_mailbox_size - header_size;
max_fragment_size = slave->configured_rx_mailbox_size - EC_SOE_HEADER_SIZE;
incomplete = remaining_size > max_fragment_size;
fsm->fragment_size = incomplete ? max_fragment_size : remaining_size;
fragments_left = remaining_size / fsm->fragment_size - 1;
@ -561,10 +556,10 @@ void ec_fsm_soe_write_next_fragment(
(req->drive_no & 0x07) << 5);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);
memcpy(data + 4, req->data + fsm->offset, fsm->fragment_size);
memcpy(data + EC_SOE_SIZE, req->data + fsm->offset, fsm->fragment_size);
if (master->debug_level) {
EC_SLAVE_DBG(slave, 0, "SCC write request:\n");
EC_SLAVE_DBG(slave, 0, "SSC write request:\n");
ec_print_data(data, EC_SOE_SIZE + fsm->fragment_size);
}
@ -594,6 +589,14 @@ void ec_fsm_soe_write_start(
return;
}
if (slave->configured_rx_mailbox_size <= EC_SOE_HEADER_SIZE) {
EC_SLAVE_ERR(slave, "Mailbox size (%u) too small for SoE write.\n",
slave->configured_rx_mailbox_size);
fsm->state = ec_fsm_soe_error;
ec_fsm_soe_print_error(fsm);
return;
}
fsm->offset = 0;
fsm->retries = EC_FSM_RETRIES;
ec_fsm_soe_write_next_fragment(fsm, datagram);
@ -642,11 +645,20 @@ void ec_fsm_soe_write_request(
return;
}
fsm->jiffies_start = fsm->datagram->jiffies_sent;
// fragment successfully sent
fsm->offset += fsm->fragment_size;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_soe_write_check;
if (fsm->offset < fsm->request->data_size) {
// next fragment
fsm->retries = EC_FSM_RETRIES;
ec_fsm_soe_write_next_fragment(fsm, datagram);
} else {
// all fragments sent; query response
fsm->jiffies_start = fsm->datagram->jiffies_sent;
ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_soe_write_check;
}
}
/*****************************************************************************/
@ -749,7 +761,7 @@ void ec_fsm_soe_write_response(
}
if (master->debug_level) {
EC_SLAVE_DBG(slave, 0, "SCC write response:\n");
EC_SLAVE_DBG(slave, 0, "SSC write response:\n");
ec_print_data(data, rec_size);
}
@ -804,17 +816,8 @@ void ec_fsm_soe_write_response(
ec_print_data(data, rec_size);
ec_fsm_soe_print_error(fsm);
fsm->state = ec_fsm_soe_error;
return;
} else {
req->error_code = 0x0000;
}
fsm->offset += fsm->fragment_size;
if (fsm->offset < req->data_size) {
fsm->retries = EC_FSM_RETRIES;
ec_fsm_soe_write_next_fragment(fsm, datagram);
} else {
fsm->state = ec_fsm_soe_end; // success
}
}