--- a/master/fsm_coe.c Thu Nov 19 14:39:10 2009 +0100
+++ b/master/fsm_coe.c Thu Nov 19 14:44:57 2009 +0100
@@ -1074,8 +1074,14 @@
uint8_t size;
if (fsm->slave->master->debug_level) {
- EC_DBG("Downloading SDO 0x%04X:%02X to slave %u.\n",
- request->index, request->subindex, slave->ring_position);
+ char subidxstr[10];
+ if (request->complete_access) {
+ subidxstr[0] = 0x00;
+ } else {
+ sprintf(subidxstr, ":%02X", request->subindex);
+ }
+ EC_DBG("Downloading SDO 0x%04X%s to slave %u.\n",
+ request->index, subidxstr, slave->ring_position);
ec_print_data(request->data, request->data_size);
}
@@ -1097,9 +1103,11 @@
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| size << 2
+ | ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
- EC_WRITE_U8 (data + 5, request->subindex);
+ EC_WRITE_U8 (data + 5,
+ request->complete_access ? 0x00 : request->subindex);
memcpy(data + 6, request->data, request->data_size);
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
@@ -1110,7 +1118,7 @@
}
else { // request->data_size > 4, use normal transfer type
if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) {
- EC_ERR("SDO fragmenting not supported yet!\n");
+ EC_ERR("SDO fragmenting not supported yet!\n"); // FIXME
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1124,9 +1132,11 @@
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
+ | ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
- EC_WRITE_U8 (data + 5, request->subindex);
+ EC_WRITE_U8 (data + 5,
+ request->complete_access ? 0x00 : request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
memcpy(data + 10, request->data, request->data_size);
@@ -1311,12 +1321,18 @@
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:%02X (%u bytes) aborted on slave %u.\n",
- request->index, request->subindex, request->data_size,
- slave->ring_position);
+ char subidxstr[10];
+ fsm->state = ec_fsm_coe_error;
+ if (request->complete_access) {
+ subidxstr[0] = 0x00;
+ } else {
+ sprintf(subidxstr, ":%02X", request->subindex);
+ }
+ EC_ERR("SDO download 0x%04X%s (%u bytes) aborted on slave %u.\n",
+ request->index, subidxstr, request->data_size,
+ slave->ring_position);
if (rec_size < 10) {
- EC_ERR("Incomplete Abort command:\n");
+ EC_ERR("Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);
@@ -1805,7 +1821,6 @@
uint8_t *data, mbox_prot;
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
- uint32_t seg_size;
unsigned int last_segment;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
@@ -1883,14 +1898,11 @@
return;
}
- last_segment = EC_READ_U8(data + 2) & 0x01;
- seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
- if (rec_size > 10) {
- data_size = rec_size - 3; /* Header of segment upload is smaller than
- normal upload */
- } else { // == 10
- /* seg_size contains the number of trailing bytes to ignore. */
- data_size = rec_size - seg_size;
+ data_size = rec_size - 3; /* Header of segment upload is smaller than
+ normal upload */
+ if (rec_size == 10) {
+ uint8_t seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
+ data_size -= seg_size;
}
if (request->data_size + data_size > fsm->complete_size) {
@@ -1904,6 +1916,7 @@
memcpy(request->data + request->data_size, data + 3, data_size);
request->data_size += data_size;
+ last_segment = EC_READ_U8(data + 2) & 0x01;
if (!last_segment) {
fsm->toggle = !fsm->toggle;
ec_fsm_coe_up_prepare_segment_request(fsm);