--- a/master/canopen.c Sun Apr 02 09:26:56 2006 +0000
+++ b/master/canopen.c Mon Apr 03 10:03:34 2006 +0000
@@ -48,19 +48,21 @@
uint8_t *target /**< Speicher für 4 Bytes */
)
{
- uint8_t data[0x20];
size_t rec_size;
-
+ uint8_t *data;
+
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
| 0x2 << 5)); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
-
- if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
-
- rec_size = 0x20;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ return -1;
+ }
+
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -97,7 +99,7 @@
size_t size
)
{
- uint8_t data[0x0A];
+ uint8_t *data;
size_t rec_size;
if (size == 0 || size > 4) {
@@ -105,6 +107,7 @@
return -1;
}
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 0x0A))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 1 // expedited transfer
@@ -112,15 +115,14 @@
| 0x1 << 5)); // initiate download request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
-
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
-
- // Mailox senden und empfangen
- if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
-
- rec_size = 0x0A;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ return -1;
+ }
+
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -158,19 +160,21 @@
size_t *size /**< Größe des Speichers */
)
{
- uint8_t data[0x20];
+ uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
-
- if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
-
- rec_size = 0x20;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ return -1;
+ }
+
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
@@ -222,23 +226,26 @@
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
{
- uint8_t data[0xF0];
+ uint8_t *data;
size_t rec_size;
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
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!
-
- if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
+ return -1;
+ }
do {
- rec_size = 0xF0;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
+ return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
@@ -290,21 +297,24 @@
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
{
- uint8_t data[0xF0];
+ uint8_t *data;
size_t rec_size, name_size;
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
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, sdo->index); // SDO index
-
- if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
-
- rec_size = 0xF0;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
@@ -370,12 +380,14 @@
uint8_t subindices /**< Anzahl Subindizes */
)
{
- uint8_t data[0xF0];
+ uint8_t *data;
size_t rec_size, data_size;
uint8_t i;
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
+ if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 10)))
+ return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
@@ -383,11 +395,13 @@
EC_WRITE_U16(data + 6, sdo->index); // SDO index
EC_WRITE_U8 (data + 8, i); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
-
- if (ec_slave_mailbox_send(slave, 0x03, data, 10)) return -1;
-
- rec_size = 0xF0;
- if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size))
+ if (unlikely(ec_master_simple_io(slave->master))) {
+ EC_ERR("Mailbox sending failed on slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information