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ethercat
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Use expedited transfer type for Sdos <= 4 byte.

This commit is contained in:
Florian Pose 2008-07-29 09:04:55 +00:00
parent b1eaec0b13
commit cdd1315dbd
2 changed files with 52 additions and 28 deletions
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14
NEWS
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@ -97,16 +97,16 @@ Changes in version 1.4.0:
queried via the ecrt_domain_state() and ecrt_slave_config_state() functions.
* Added support for slaves that do not support the LRW datagram type. Separate
domains have to be used for inputs and output.
* Allow gaps in PDO mapping read from CoE.
* Fixed bug in CoE code.
* Added some timeouts for CoE transfers.
* Ansynchronous handling of CoE Emergency requests.
* CoE implementation:
- Use expedites transfer type for Sdos <= 4 byte (thanks to J. Mohre).
- Allow gaps in Pdo mapping (thanks to R. Roesch).
- Added some transfer timeouts.
- Ansynchronous handling of Emergency requests.
- Bugfixes.
* Sync managers are disabled, if the size is zero.
* Improved handling of large EEPROM contents.
* Renamed ec_master module parameters main and backup to main_devices and
backup_devices to avoid warnings of some compilers.
* List end evaluate CoE detail flags from general category, list
'Flags' from general category in slave info file.
* List end evaluate CoE detail flags from general category.
* Added MODPROBE_FLAGS variable in start script and sysconfig file.
* Implemented missing datagram types.
* Changed all occurrences of 'EEPROM' to 'SII'

66
master/fsm_coe.c
View File

@ -1053,6 +1053,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request = fsm->request;
uint8_t *data;
uint8_t size;
if (fsm->slave->master->debug_level) {
EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
@ -1065,31 +1066,54 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
fsm->state = ec_fsm_coe_error;
return;
}
if (request->data_size <= 4) { // use expedited transfer type
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
EC_ERR("Sdo fragmenting not supported yet!\n");
fsm->state = ec_fsm_coe_error;
return;
}
size = 4 - request->data_size;
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
request->data_size + 10))) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| size << 2
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
memcpy(data + 6, request->data, request->data_size);
EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
memcpy(data + 10, request->data, request->data_size);
if (slave->master->debug_level) {
EC_DBG("Expedited download request:\n");
ec_print_data(data, 10 + request->data_size);
}
}
else { // request->data_size > 4, use normal transfer type
if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
EC_ERR("Sdo fragmenting not supported yet!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (slave->master->debug_level) {
EC_DBG("Download request:\n");
ec_print_data(data, 10 + request->data_size);
}
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
request->data_size + 10))) {
fsm->state = ec_fsm_coe_error;
return;
}
EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
memcpy(data + 10, request->data, request->data_size);
if (slave->master->debug_level) {
EC_DBG("Normal download request:\n");
ec_print_data(data, 10 + request->data_size);
}
}
fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;