etherlabmaster: comparison master/fsm

equal deleted inserted replaced

-:726326d0aef4
+:f4f53be425ac
 /**
 Starts to download an Sdo to a slave.
 */
-void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
+void ec_fsm_coe_download(
-ec_slave_t *slave, /**< EtherCAT slave */
+ec_fsm_coe_t *fsm, /**< State machine. */
-ec_sdo_data_t *sdodata /**< Sdo data object */
+ec_slave_t *slave, /**< EtherCAT slave. */
-)
+ec_sdo_request_t *request /**< Sdo request. */
+)
 {
 fsm->slave = slave;
-fsm->sdodata = sdodata;
+fsm->request = request;
 fsm->state = ec_fsm_coe_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;
-ec_sdo_data_t *sdodata = fsm->sdodata;
+ec_sdo_request_t *request = fsm->request;
 uint8_t *data;
 if (fsm->slave->master->debug_level)
 EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n",
-sdodata->index, sdodata->subindex, slave->ring_position);
+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;
 return;
 }
-if (slave->sii.rx_mailbox_size < 6 + 10 + sdodata->size) {
+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 (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
-sdodata->size + 10))) {
+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 specified
 | 0x1 << 5)); // Download request
-EC_WRITE_U16(data + 3, sdodata->index);
+EC_WRITE_U16(data + 3, request->index);
-EC_WRITE_U8 (data + 5, sdodata->subindex);
+EC_WRITE_U8 (data + 5, request->subindex);
-EC_WRITE_U32(data + 6, sdodata->size);
+EC_WRITE_U32(data + 6, request->data_size);
-memcpy(data + 10, sdodata->data, sdodata->size);
+memcpy(data + 10, request->data, request->data_size);
 fsm->retries = EC_FSM_RETRIES;
 fsm->state = ec_fsm_coe_down_request;
 }
 {
 ec_datagram_t *datagram = fsm->datagram;
 ec_slave_t *slave = fsm->slave;
 uint8_t *data, mbox_prot;
 size_t rec_size;
-ec_sdo_data_t *sdodata = fsm->sdodata;
+ec_sdo_request_t *request = fsm->request;
 if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
 return; // FIXME: request again?
 if (datagram->state != EC_DATAGRAM_RECEIVED) {
 if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Sdo download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
-sdodata->index, sdodata->subindex, sdodata->size,
+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);
 }
 return;
 }
 if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
 EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
-EC_READ_U16(data + 3) != sdodata->index || // index
+EC_READ_U16(data + 3) != request->index || // index
-EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
+EC_READ_U8 (data + 5) != request->subindex) { // subindex
 fsm->state = ec_fsm_coe_error;
 EC_ERR("Sdo download 0x%04X:%X (%i bytes) failed:\n",
-sdodata->index, sdodata->subindex, sdodata->size);
+request->index, request->subindex, request->data_size);
 EC_ERR("Invalid Sdo download response at slave %i!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return;
 }
 else
 EC_ERR("No abort message.\n");
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (request->data) {
-kfree(request->data);
-request->data = NULL;
-}
-request->size = 0;
 // normal or expedited?
 expedited = EC_READ_U8(data + 2) & 0x02;
 if (expedited) {
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (!(request->data = (uint8_t *)
+if (ec_sdo_request_copy_data(request, data + 6, complete_size)) {
-kmalloc(complete_size + 1, GFP_ATOMIC))) {
+fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
+return;
-complete_size);
+}
-fsm->state = ec_fsm_coe_error;
-return;
-}
-request->data[complete_size] = 0x00; // just to be sure...
-memcpy(request->data, data + 6, complete_size);
-request->size = complete_size;
 } else { // normal
 if (rec_size < 10) {
 EC_ERR("Received currupted Sdo normal upload"
 " response (only %u bytes)!\n", rec_size);
 ec_print_data(data, rec_size);
 ec_print_data(data, rec_size);
 fsm->state = ec_fsm_coe_error;
 return;
 }
-if (!(request->data = (uint8_t *)
+if (ec_sdo_request_alloc(request, complete_size)) {
-kmalloc(complete_size + 1, GFP_ATOMIC))) {
+fsm->state = ec_fsm_coe_error;
-EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
+return;
-complete_size);
+}
-fsm->state = ec_fsm_coe_error;
-return;
+if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
-}
+fsm->state = ec_fsm_coe_error;
-request->data[complete_size] = 0x00; // just to be sure...
+return;
+}
-memcpy(request->data, data + 10, data_size);
-request->size = complete_size;
 fsm->toggle = 0;
 if (data_size < complete_size) {
 EC_WARN("Sdo data incomplete (%i / %i).\n",
 data_size, complete_size);
 /*****************************************************************************/
 /**
 CoE state: UP RESPONSE.
 \todo Timeout behavior
+\todo Check for \a data_size exceeding \a complete_size.
 */
 void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
 {
 ec_datagram_t *datagram = fsm->datagram;
 EC_WARN("Sdo segment data invalid (%i / %i)"
 " - Fragmenting not implemented.\n",
 data_size, seg_size);
 }
-memcpy(request->data + request->size, data + 10, data_size);
+memcpy(request->data + request->data_size, data + 10, data_size);
-request->size += data_size;
+request->data_size += data_size;
 if (!last_segment) {
 fsm->toggle = !fsm->toggle;
 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {

changeset 854	f4f53be425ac
parent 834	0791aac03180
child 859	233e32f428e1