--- a/master/fsm_coe.c Mon Dec 29 14:10:27 2008 +0000
+++ b/master/fsm_coe.c Mon Dec 29 15:19:16 2008 +0000
@@ -74,24 +74,24 @@
/*****************************************************************************/
/**
- Sdo abort messages.
- The "abort Sdo transfer request" supplies an abort code,
+ SDO abort messages.
+ 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"},
@@ -120,7 +120,7 @@
/*****************************************************************************/
/**
- Outputs an Sdo abort message.
+ Outputs an SDO abort message.
*/
void ec_canopen_abort_msg(uint32_t abort_code)
@@ -129,13 +129,13 @@
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);
}
/*****************************************************************************/
@@ -165,7 +165,7 @@
/*****************************************************************************/
/**
- 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 */
@@ -179,13 +179,13 @@
/*****************************************************************************/
/**
- 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;
@@ -275,7 +275,7 @@
}
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;
@@ -286,11 +286,11 @@
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;
@@ -369,7 +369,7 @@
(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;
}
@@ -442,18 +442,18 @@
}
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));
@@ -462,10 +462,10 @@
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);
}
@@ -488,13 +488,13 @@
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;
}
@@ -505,7 +505,7 @@
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.
@@ -517,12 +517,12 @@
}
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))) {
@@ -530,11 +530,11 @@
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;
@@ -557,7 +557,7 @@
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;
@@ -565,7 +565,7 @@
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;
@@ -613,7 +613,7 @@
(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;
}
@@ -650,7 +650,7 @@
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;
@@ -658,7 +658,7 @@
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;
@@ -685,16 +685,16 @@
}
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"
- " fetching Sdo 0x%04X!\n", slave->ring_position,
+ EC_ERR("SDO information error response at slave %u while"
+ " 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;
@@ -702,18 +702,18 @@
}
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);
}
@@ -737,7 +737,7 @@
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;
}
@@ -761,12 +761,12 @@
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_U8 (data + 8, fsm->subindex); // Sdo subindex
+ EC_WRITE_U16(data + 6, sdo->index); // SDO index
+ EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fsm->retries = EC_FSM_RETRIES;
@@ -791,7 +791,7 @@
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;
@@ -799,7 +799,7 @@
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;
@@ -848,7 +848,7 @@
(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;
}
@@ -886,7 +886,7 @@
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;
@@ -894,7 +894,7 @@
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;
@@ -921,16 +921,16 @@
}
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"
- " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+ EC_ERR("SDO information error response at slave %u while"
+ " 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;
@@ -938,19 +938,19 @@
}
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_U8(data + 8) != fsm->subindex) { // Sdo subindex
+ EC_READ_U16(data + 6) != sdo->index || // SDO index
+ 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);
}
@@ -984,7 +984,7 @@
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;
}
@@ -1003,12 +1003,12 @@
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_U8 (data + 8, fsm->subindex); // Sdo subindex
+ EC_WRITE_U16(data + 6, sdo->index); // SDO index
+ EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fsm->retries = EC_FSM_RETRIES;
@@ -1016,7 +1016,7 @@
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);
@@ -1025,11 +1025,11 @@
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;
@@ -1056,7 +1056,7 @@
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);
}
@@ -1075,7 +1075,7 @@
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
@@ -1090,7 +1090,7 @@
}
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;
}
@@ -1101,7 +1101,7 @@
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);
@@ -1149,7 +1149,7 @@
(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);
}
@@ -1206,7 +1206,7 @@
(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;
}
@@ -1288,10 +1288,10 @@
return;
}
- 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",
+ 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);
if (rec_size < 10) {
@@ -1304,12 +1304,12 @@
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);
}
@@ -1338,7 +1338,7 @@
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)) {
@@ -1352,7 +1352,7 @@
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);
@@ -1397,7 +1397,7 @@
(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);
}
@@ -1454,7 +1454,7 @@
(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;
}
@@ -1534,14 +1534,14 @@
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
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
- EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+ 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);
@@ -1559,18 +1559,18 @@
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);
}
@@ -1590,7 +1590,7 @@
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;
@@ -1603,18 +1603,18 @@
} 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);
}
@@ -1648,7 +1648,7 @@
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,
@@ -1657,7 +1657,7 @@
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
@@ -1753,7 +1753,7 @@
(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;
}
@@ -1833,15 +1833,15 @@
}
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
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
- EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+ 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);
@@ -1849,10 +1849,10 @@
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);
}
@@ -1868,7 +1868,7 @@
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);
}
@@ -1884,7 +1884,7 @@
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