etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:399ef727bf62
+:e206f4485f60
 void ec_fsm_coe_error(ec_fsm_coe_t *);
 /*****************************************************************************/
 /**
-Sdo abort messages.
+SDO abort messages.
-The "abort Sdo transfer request" supplies an abort code,
+The "abort SDO transfer request" supplies an abort code,
 which can be translated to clear text. This table does
 the mapping of the codes and messages.
 */
 const ec_code_msg_t sdo_abort_messages[] = {
 {0x05030000, "Toggle bit not changed"},
-{0x05040000, "Sdo protocol timeout"},
+{0x05040000, "SDO protocol timeout"},
 {0x05040001, "Client/Server command specifier not valid or unknown"},
 {0x05040005, "Out of memory"},
 {0x06010000, "Unsupported access to an object"},
 {0x06010001, "Attempt to read a write-only object"},
 {0x06010002, "Attempt to write a read-only object"},
 {0x06020000, "This object does not exist in the object directory"},
-{0x06040041, "The object cannot be mapped into the Pdo"},
+{0x06040041, "The object cannot be mapped into the PDO"},
 {0x06040042, "The number and length of the objects to be mapped would"
-" exceed the Pdo length"},
+" exceed the PDO length"},
 {0x06040043, "General parameter incompatibility reason"},
 {0x06040047, "Gerneral internal incompatibility in device"},
 {0x06060000, "Access failure due to a hardware error"},
 {0x06070010, "Data type does not match, length of service parameter does"
 " not match"},
 };
 /*****************************************************************************/
 /**
-Outputs an Sdo abort message.
+Outputs an SDO abort message.
 */
 void ec_canopen_abort_msg(uint32_t abort_code)
 {
 const ec_code_msg_t *abort_msg;
 for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
 if (abort_msg->code == abort_code) {
-EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",
+EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
 abort_msg->code, abort_msg->message);
 return;
 }
 }
-EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
+EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
 }
 /*****************************************************************************/
 /**
 }
 /*****************************************************************************/
 /**
-Starts reading a slaves' Sdo dictionary.
+Starts reading a slaves' SDO dictionary.
 */
 void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
 ec_slave_t *slave /**< EtherCAT slave */
 )
 }
 /*****************************************************************************/
 /**
-Starts to transfer an Sdo to/from a slave.
+Starts to transfer an SDO to/from a slave.
 */
 void ec_fsm_coe_transfer(
 ec_fsm_coe_t *fsm, /**< State machine. */
 ec_slave_t *slave, /**< EtherCAT slave. */
-ec_sdo_request_t *request /**< Sdo request. */
+ec_sdo_request_t *request /**< SDO request. */
 )
 {
 fsm->slave = slave;
 fsm->request = request;
 if (request->dir == EC_DIR_OUTPUT)
 fsm->state = ec_fsm_coe_error;
 return;
 }
 if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
-EC_ERR("Slave %u does not support Sdo information service!\n",
+EC_ERR("Slave %u does not support SDO information service!\n",
 slave->ring_position);
 fsm->state = ec_fsm_coe_error;
 return;
 }
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
+EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_dict_request;
 }
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo dictionary list response "
+EC_ERR("Timeout while waiting for SDO dictionary list response "
 "on slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 fsm->state = ec_fsm_coe_dict_check;
 return;
 }
 if (rec_size < 3) {
-EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",
+EC_ERR("Received corrupted SDO dictionary response (size %u).\n",
 rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
 (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %u!\n",
+EC_ERR("SDO information error response at slave %u!\n",
 slave->ring_position);
 if (rec_size < 10) {
-EC_ERR("Incomplete Sdo information error response:\n");
+EC_ERR("Incomplete SDO information error response:\n");
 ec_print_data(data, rec_size);
 } else {
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 }
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
 (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
 if (fsm->slave->master->debug_level) {
-EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",
+EC_DBG("Invalid SDO list response at slave %u! Retrying...\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 fsm->retries = EC_FSM_RETRIES;
 for (i = 0; i < sdo_count; i++) {
 sdo_index = EC_READ_U16(data + 8 + i * 2);
 if (!sdo_index) {
 if (slave->master->debug_level)
-EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",
+EC_WARN("SDO dictionary of slave %u contains index 0x0000.\n",
 slave->ring_position);
 continue;
 }
 if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
-EC_ERR("Failed to allocate memory for Sdo!\n");
+EC_ERR("Failed to allocate memory for SDO!\n");
 fsm->state = ec_fsm_coe_error;
 return;
 }
 ec_sdo_init(sdo, slave, sdo_index);
 list_add_tail(&sdo->list, &slave->sdo_dictionary);
 }
 fragments_left = EC_READ_U16(data + 4);
 if (slave->master->debug_level && fragments_left) {
-EC_DBG("Sdo list fragments left: %u\n", fragments_left);
+EC_DBG("SDO list fragments left: %u\n", fragments_left);
 }
 if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
 fsm->jiffies_start = datagram->jiffies_sent;
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 fsm->state = ec_fsm_coe_dict_check;
 return;
 }
 if (list_empty(&slave->sdo_dictionary)) {
-// no Sdos in dictionary. finished.
+// no SDOs in dictionary. finished.
 fsm->state = ec_fsm_coe_end; // success
 return;
 }
-// fetch Sdo descriptions
+// fetch SDO descriptions
 fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x03); // Get object description request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
+EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_dict_desc_request;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE Sdo description request datagram for"
+EC_ERR("Failed to receive CoE SDO description request datagram for"
 " slave %u (datagram state %u).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE Sdo description"
+EC_ERR("Reception of CoE SDO description"
 " request failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo object description "
+EC_ERR("Timeout while waiting for SDO object description "
 "response on slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE Sdo description response datagram from"
+EC_ERR("Failed to receive CoE SDO description response datagram from"
 " slave %u (datagram state %u).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE Sdo description"
+EC_ERR("Reception of CoE SDO description"
 " response failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->state = ec_fsm_coe_dict_desc_check;
 return;
 }
 if (rec_size < 3) {
-EC_ERR("Received corrupted Sdo description response (size %u).\n",
+EC_ERR("Received corrupted SDO description response (size %u).\n",
 rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %u while"
+EC_ERR("SDO information error response at slave %u while"
-" fetching Sdo 0x%04X!\n", slave->ring_position,
+" fetching SDO 0x%04X!\n", slave->ring_position,
 sdo->index);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
 return;
 }
 if (rec_size < 8) {
-EC_ERR("Received corrupted Sdo description response (size %u).\n",
+EC_ERR("Received corrupted SDO description response (size %u).\n",
 rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
 (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
-EC_READ_U16(data + 6) != sdo->index) { // Sdo index
+EC_READ_U16(data + 6) != sdo->index) { // SDO index
 if (fsm->slave->master->debug_level) {
 EC_DBG("Invalid object description response at slave %u while"
-" fetching Sdo 0x%04X!\n", slave->ring_position,
+" fetching SDO 0x%04X!\n", slave->ring_position,
 sdo->index);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 sdo->object_code = EC_READ_U8(data + 11);
 name_size = rec_size - 12;
 if (name_size) {
 if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
-EC_ERR("Failed to allocate Sdo name!\n");
+EC_ERR("Failed to allocate SDO name!\n");
 fsm->state = ec_fsm_coe_error;
 return;
 }
 memcpy(sdo->name, data + 12, name_size);
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+EC_WRITE_U16(data + 6, sdo->index); // SDO index
-EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
+EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
 EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_dict_entry_request;
 }
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: check for response first?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE Sdo entry request datagram for"
+EC_ERR("Failed to receive CoE SDO entry request datagram for"
 " slave %u (datagram state %u).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE Sdo entry request failed on slave %u: ",
+EC_ERR("Reception of CoE SDO entry request failed on slave %u: ",
 slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo entry description response "
+EC_ERR("Timeout while waiting for SDO entry description response "
 "on slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to receive CoE Sdo description response datagram from"
+EC_ERR("Failed to receive CoE SDO description response datagram from"
 " slave %u (datagram state %u).\n",
 slave->ring_position, datagram->state);
 return;
 }
 if (datagram->working_counter != 1) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Reception of CoE Sdo description"
+EC_ERR("Reception of CoE SDO description"
 " response failed on slave %u: ", slave->ring_position);
 ec_datagram_print_wc_error(datagram);
 return;
 }
 fsm->state = ec_fsm_coe_dict_entry_check;
 return;
 }
 if (rec_size < 3) {
-EC_ERR("Received corrupted Sdo entry description response "
+EC_ERR("Received corrupted SDO entry description response "
 "(size %u).\n", rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-EC_ERR("Sdo information error response at slave %u while"
+EC_ERR("SDO information error response at slave %u while"
-" fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+" fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
 sdo->index, fsm->subindex);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 fsm->state = ec_fsm_coe_error;
 return;
 }
 if (rec_size < 9) {
-EC_ERR("Received corrupted Sdo entry description response "
+EC_ERR("Received corrupted SDO entry description response "
 "(size %u).\n", rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
 (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
-EC_READ_U16(data + 6) != sdo->index || // Sdo index
+EC_READ_U16(data + 6) != sdo->index || // SDO index
-EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
+EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
 if (fsm->slave->master->debug_level) {
 EC_DBG("Invalid entry description response at slave %u while"
-" fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+" fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
 sdo->index, fsm->subindex);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 entry->bit_length = EC_READ_U16(data + 12);
 if (data_size) {
 uint8_t *desc;
 if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
-EC_ERR("Failed to allocate Sdo entry name!\n");
+EC_ERR("Failed to allocate SDO entry name!\n");
 fsm->state = ec_fsm_coe_error;
 return;
 }
 memcpy(desc, data + 16, data_size);
 desc[data_size] = 0;
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+EC_WRITE_U16(data + 6, sdo->index); // SDO index
-EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
+EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
 EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_dict_entry_request;
 return;
 }
-// another Sdo description to fetch?
+// another SDO description to fetch?
 if (fsm->sdo->list.next != &slave->sdo_dictionary) {
 fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x03); // Get object description request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
+EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_dict_desc_request;
 return;
 }
 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",
+EC_DBG("Downloading SDO 0x%04X:%02X to slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 ec_print_data(request->data, request->data_size);
 }
 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
 	        return;
 	    }
 	    size = 4 - request->data_size;
-	    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+	    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);
 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");
+	        EC_ERR("SDO fragmenting not supported yet!\n");
 	        fsm->state = ec_fsm_coe_error;
 	        return;
 	    }
 	    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_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);
 if (!datagram->working_counter) {
 unsigned long diff_ms =
 (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
 if (diff_ms < fsm->request->response_timeout) {
 if (fsm->slave->master->debug_level) {
-EC_DBG("Slave %u did not respond to Sdo download request. "
+EC_DBG("Slave %u did not respond to SDO download request. "
 "Retrying after %u ms...\n",
 slave->ring_position, (u32) diff_ms);
 }
 // no response; send request datagram again
 return;
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= fsm->request->response_timeout) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo download response on "
+EC_ERR("Timeout while waiting for SDO download response on "
 "slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 EC_ERR("Received data are too small (%u bytes):\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Sdo download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
+EC_ERR("SDO download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
 request->index, request->subindex, request->data_size,
 slave->ring_position);
 if (rec_size < 10) {
 EC_ERR("Incomplete Abort command:\n");
 ec_print_data(data, rec_size);
 ec_canopen_abort_msg(fsm->request->abort_code);
 }
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
 EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 if (slave->master->debug_level) {
-EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n",
+EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 ec_master_t *master = slave->master;
 ec_sdo_request_t *request = fsm->request;
 uint8_t *data;
 if (master->debug_level)
-EC_DBG("Uploading Sdo 0x%04X:%02X from slave %u.\n",
+EC_DBG("Uploading SDO 0x%04X:%02X from slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
 EC_ERR("Slave %u does not support CoE!\n", slave->ring_position);
 fsm->state = ec_fsm_coe_error;
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+EC_WRITE_U16(data, 0x2 << 12); // SDO request
 EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
 EC_WRITE_U16(data + 3, request->index);
 EC_WRITE_U8 (data + 5, request->subindex);
 memset(data + 6, 0x00, 4);
 if (!datagram->working_counter) {
 unsigned long diff_ms =
 (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
 if (diff_ms < fsm->request->response_timeout) {
 if (fsm->slave->master->debug_level) {
-EC_DBG("Slave %u did not respond to Sdo upload request. "
+EC_DBG("Slave %u did not respond to SDO upload request. "
 "Retrying after %u ms...\n",
 slave->ring_position, (u32) diff_ms);
 }
 // no response; send request datagram again
 return;
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= fsm->request->response_timeout) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo upload response on "
+EC_ERR("Timeout while waiting for SDO upload response on "
 "slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 return;
 }
 if (rec_size < 3) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
+EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 if (rec_size >= 10) {
 request->abort_code = EC_READ_U32(data + 6);
 ec_canopen_abort_msg(request->abort_code);
 } else {
 expedited = EC_READ_U8(data + 2) & 0x02;
 if (expedited) {
 if (rec_size < 7) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Received currupted Sdo expedited upload"
+EC_ERR("Received currupted SDO expedited upload"
 " response (only %u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
 EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 if (fsm->slave->master->debug_level) {
-EC_DBG("Invalid Sdo upload expedited response at slave %u!\n",
+EC_DBG("Invalid SDO upload expedited response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 complete_size = 4;
 }
 if (rec_size < 6 + complete_size) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Received currupted Sdo expedited upload"
+EC_ERR("Received currupted SDO expedited upload"
 " response (only %u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
 return;
 }
 } else { // normal
 if (rec_size < 10) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Received currupted Sdo normal upload"
+EC_ERR("Received currupted SDO normal upload"
 " response (only %u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
 EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
 EC_READ_U16(data + 3) != request->index || // index
 EC_READ_U8 (data + 5) != request->subindex) { // subindex
 if (fsm->slave->master->debug_level) {
-EC_DBG("Invalid Sdo normal upload response at slave %u!\n",
+EC_DBG("Invalid SDO normal upload response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 }
 fsm->toggle = 0;
 if (data_size < complete_size) {
-EC_WARN("Sdo data incomplete (%u / %u).\n",
+EC_WARN("SDO data incomplete (%u / %u).\n",
 data_size, complete_size);
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
 0x03, 3))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+EC_WRITE_U16(data, 0x2 << 12); // SDO request
 EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
 | 0x3 << 5)); // upload segment request
 if (master->debug_level) {
 EC_DBG("Upload segment request:\n");
 if (!ec_slave_mbox_check(datagram)) {
 unsigned long diff_ms =
 (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
 if (diff_ms >= fsm->request->response_timeout) {
 fsm->state = ec_fsm_coe_error;
-EC_ERR("Timeout while waiting for Sdo upload segment response "
+EC_ERR("Timeout while waiting for SDO upload segment response "
 "on slave %u.\n", slave->ring_position);
 return;
 }
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 fsm->state = ec_fsm_coe_up_seg_check;
 return;
 }
 if (rec_size < 10) {
-EC_ERR("Received currupted Sdo upload segment response!\n");
+EC_ERR("Received currupted SDO upload segment response!\n");
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
 request->index, request->subindex, slave->ring_position);
 request->abort_code = EC_READ_U32(data + 6);
 ec_canopen_abort_msg(request->abort_code);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
 EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
 if (fsm->slave->master->debug_level) {
-EC_DBG("Invalid Sdo upload segment response at slave %u!\n",
+EC_DBG("Invalid SDO upload segment response at slave %u!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 // check for CoE response again
 ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
 last_segment = EC_READ_U8(data + 2) & 0x01;
 seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
 data_size = rec_size - 10;
 if (data_size != seg_size) {
-EC_WARN("Sdo segment data invalid (%u / %u)"
+EC_WARN("SDO segment data invalid (%u / %u)"
 " - Fragmenting not implemented.\n",
 data_size, seg_size);
 }
 memcpy(request->data + request->data_size, data + 10, data_size);
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
 fsm->state = ec_fsm_coe_error;
 return;
 }
-EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+EC_WRITE_U16(data, 0x2 << 12); // SDO request
 EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
 | 0x3 << 5)); // upload segment request
 if (master->debug_level) {
 EC_DBG("Upload segment request:\n");

branch	stable-1.4
changeset 1686	e206f4485f60
parent 1685	399ef727bf62
child 1696	c9bfe98e00d5
child 1709	63e4bc918640