--- a/master/fsm_coe.c Fri May 13 15:33:16 2011 +0200
+++ b/master/fsm_coe.c Fri May 13 15:34:20 2011 +0200
@@ -168,11 +168,11 @@
*/
void ec_fsm_coe_init(ec_fsm_coe_t *fsm, /**< finite state machine */
- ec_datagram_t *datagram /**< datagram */
+ ec_mailbox_t *mbox /**< mailbox */
)
{
fsm->state = NULL;
- fsm->datagram = datagram;
+ fsm->mbox = mbox;
}
/*****************************************************************************/
@@ -286,7 +286,7 @@
void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
ec_slave_t *slave = fsm->slave;
uint8_t *data;
@@ -303,7 +303,7 @@
return;
}
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -328,13 +328,14 @@
void ec_fsm_coe_dict_request(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
" request datagram: ");
@@ -342,7 +343,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE dictionary request failed: ");
ec_datagram_print_wc_error(datagram);
@@ -351,7 +352,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
}
@@ -364,20 +365,21 @@
void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave,"Reception of CoE mailbox check"
" datagram failed: ");
@@ -385,7 +387,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
@@ -395,13 +397,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_response;
}
@@ -415,18 +417,21 @@
void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
size_t rec_size;
unsigned int sdo_count, i;
uint16_t sdo_index, fragments_left;
ec_sdo_t *sdo;
-
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ bool first_segment;
+ size_t index_list_offset;
+
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE dictionary"
" response datagram: ");
@@ -434,14 +439,14 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE dictionary response failed: ");
ec_datagram_print_wc_error(datagram);
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -456,7 +461,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
return;
@@ -490,7 +495,7 @@
" Retrying...\n");
ec_print_data(data, rec_size);
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
return;
@@ -503,10 +508,13 @@
return;
}
- sdo_count = (rec_size - 8) / 2;
+ first_segment = list_empty(&slave->sdo_dictionary) ? true : false;
+ index_list_offset = first_segment ? 8 : 6;
+
+ sdo_count = (rec_size - index_list_offset) / 2;
for (i = 0; i < sdo_count; i++) {
- sdo_index = EC_READ_U16(data + 8 + i * 2);
+ sdo_index = EC_READ_U16(data + index_list_offset + i * 2);
if (!sdo_index) {
EC_SLAVE_DBG(slave, 1, "SDO dictionary contains index 0x0000.\n");
continue;
@@ -531,7 +539,7 @@
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.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_check;
return;
@@ -546,7 +554,7 @@
// fetch SDO descriptions
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -571,13 +579,14 @@
void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: check for response first?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
" description request datagram: ");
@@ -585,7 +594,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
" request failed: ");
@@ -595,7 +604,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_check;
}
@@ -608,20 +617,21 @@
void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -629,7 +639,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
@@ -640,13 +650,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_response;
}
@@ -661,16 +671,17 @@
void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
/**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_t *sdo = fsm->sdo;
uint8_t *data, mbox_prot;
size_t rec_size, name_size;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO description"
" response datagram: ");
@@ -678,7 +689,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
" response failed: ");
@@ -686,7 +697,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -701,7 +712,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_check;
return;
@@ -739,7 +750,7 @@
ec_print_data(data, rec_size);
}
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_check;
return;
@@ -777,7 +788,7 @@
fsm->subindex = 0;
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -805,13 +816,14 @@
void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
/**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: check for response first?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO entry"
" request datagram: ");
@@ -819,7 +831,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE SDO entry request failed: ");
ec_datagram_print_wc_error(datagram);
@@ -828,7 +840,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_check;
}
@@ -842,20 +854,21 @@
void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
/**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -863,7 +876,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
@@ -874,13 +887,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_response;
}
@@ -895,7 +908,8 @@
void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
/**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
ec_sdo_t *sdo = fsm->sdo;
uint8_t *data, mbox_prot;
@@ -903,10 +917,10 @@
ec_sdo_entry_t *entry;
u16 word;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE SDO"
" description response datagram: ");
@@ -914,7 +928,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE SDO description"
" response failed: ");
@@ -922,7 +936,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -937,7 +951,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_check;
return;
@@ -978,7 +992,7 @@
ec_print_data(data, rec_size);
}
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_check;
return;
@@ -1030,7 +1044,7 @@
if (fsm->subindex < sdo->max_subindex) {
fsm->subindex++;
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -1053,7 +1067,7 @@
if (fsm->sdo->list.next != &slave->sdo_dictionary) {
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 8);
if (IS_ERR(data)) {
fsm->state = ec_fsm_coe_error;
return;
@@ -1083,7 +1097,7 @@
ec_fsm_coe_t *fsm /**< finite state machine */
)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request = fsm->request;
uint8_t *data;
@@ -1117,7 +1131,7 @@
}
if (request->data_size <= 4) { // use expedited transfer type
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
@@ -1159,7 +1173,7 @@
data_size = required_data_size;
}
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
data_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
@@ -1208,14 +1222,15 @@
void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
unsigned long diff_ms;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: check for response first?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
@@ -1226,8 +1241,8 @@
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
- if (datagram->working_counter != 1) {
- if (!datagram->working_counter) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
+ if (ec_mbox_is_datagram_wc(mbox,0)) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
EC_SLAVE_DBG(slave, 1, "Slave did not respond to SDO"
@@ -1256,7 +1271,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_check;
}
@@ -1267,13 +1282,14 @@
*/
void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
@@ -1282,7 +1298,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
@@ -1291,7 +1307,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
@@ -1303,13 +1319,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_response;
}
@@ -1322,7 +1338,7 @@
ec_fsm_coe_t *fsm /**< finite state machine */
)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
ec_slave_t *slave = fsm->slave;
ec_sdo_request_t *request = fsm->request;
size_t max_segment_size =
@@ -1349,7 +1365,7 @@
+ EC_COE_DOWN_SEG_MIN_DATA_SIZE;
}
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03,
data_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
@@ -1389,16 +1405,17 @@
void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = fsm->mbox->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
size_t rec_size;
ec_sdo_request_t *request = fsm->request;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
@@ -1407,7 +1424,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
@@ -1415,7 +1432,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -1432,7 +1449,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_check;
return;
@@ -1484,7 +1501,7 @@
ec_print_data(data, rec_size);
}
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_check;
return;
@@ -1506,13 +1523,14 @@
void ec_fsm_coe_down_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
@@ -1520,7 +1538,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
@@ -1529,7 +1547,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
@@ -1540,13 +1558,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_seg_response;
}
@@ -1562,16 +1580,17 @@
ec_fsm_coe_t *fsm /**< finite state machine */
)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
size_t rec_size;
ec_sdo_request_t *request = fsm->request;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
@@ -1580,7 +1599,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
@@ -1588,7 +1607,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -1605,7 +1624,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_check;
return;
@@ -1655,7 +1674,7 @@
ec_print_data(data, rec_size);
}
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_seg_check;
return;
@@ -1686,7 +1705,7 @@
void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
ec_sdo_request_t *request = fsm->request;
@@ -1702,7 +1721,7 @@
return;
}
- data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
+ data = ec_slave_mbox_prepare_send(slave, mbox, 0x03, 10);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -1734,14 +1753,15 @@
void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
unsigned long diff_ms;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: check for response first?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
@@ -1751,8 +1771,8 @@
diff_ms = (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
- if (datagram->working_counter != 1) {
- if (!datagram->working_counter) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
+ if (ec_mbox_is_datagram_wc(mbox,0)) {
if (diff_ms < fsm->request->response_timeout) {
#if DEBUG_RETRIES
EC_SLAVE_DBG(slave, 1, "Slave did not respond to"
@@ -1781,7 +1801,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
}
@@ -1794,13 +1814,14 @@
void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
@@ -1808,7 +1829,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
@@ -1817,7 +1838,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
@@ -1829,13 +1850,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_response;
}
@@ -1849,7 +1870,7 @@
)
{
uint8_t *data =
- ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
+ ec_slave_mbox_prepare_send(fsm->slave, fsm->mbox, 0x03, 10);
if (IS_ERR(data)) {
fsm->request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -1876,7 +1897,8 @@
void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
uint16_t rec_index;
@@ -1886,10 +1908,10 @@
unsigned int expedited, size_specified;
int ret;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
@@ -1898,7 +1920,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
@@ -1906,7 +1928,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -1928,7 +1950,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
@@ -1979,7 +2001,7 @@
ec_print_data(data, rec_size);
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_check;
return;
@@ -2075,13 +2097,14 @@
void ec_fsm_coe_up_seg_request(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: check for response first?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
@@ -2090,7 +2113,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
@@ -2101,7 +2124,7 @@
fsm->jiffies_start = datagram->jiffies_sent;
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_check;
}
@@ -2114,13 +2137,14 @@
void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
- return;
-
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
+ return;
+
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
@@ -2129,7 +2153,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
@@ -2138,7 +2162,7 @@
return;
}
- if (!ec_slave_mbox_check(datagram)) {
+ if (!ec_slave_mbox_check(mbox)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
@@ -2149,13 +2173,13 @@
return;
}
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
return;
}
// Fetch response
- ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_fetch(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_response;
}
@@ -2169,7 +2193,8 @@
void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
{
- ec_datagram_t *datagram = fsm->datagram;
+ ec_mailbox_t *mbox = fsm->mbox;
+ ec_datagram_t *datagram = mbox->datagram;
ec_slave_t *slave = fsm->slave;
ec_master_t *master = slave->master;
uint8_t *data, mbox_prot;
@@ -2177,10 +2202,10 @@
ec_sdo_request_t *request = fsm->request;
unsigned int last_segment;
- if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
+ if (ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_TIMED_OUT) && fsm->retries--)
return; // FIXME: request again?
- if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ if (!ec_mbox_is_datagram_state(mbox,EC_DATAGRAM_RECEIVED)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
@@ -2189,7 +2214,7 @@
return;
}
- if (datagram->working_counter != 1) {
+ if (!ec_mbox_is_datagram_wc(mbox,1)) {
request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
@@ -2198,7 +2223,7 @@
return;
}
- data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
+ data = ec_slave_mbox_fetch(slave, mbox, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
@@ -2220,7 +2245,7 @@
if (ec_fsm_coe_check_emergency(fsm, data, rec_size)) {
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_check;
return;
@@ -2253,7 +2278,7 @@
ec_print_data(data, rec_size);
}
// check for CoE response again
- ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_slave_mbox_prepare_check(slave, mbox); // can not fail.
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_seg_check;
return;