# HG changeset patch # User Florian Pose # Date 1214222617 0 # Node ID 0cb9604cbaa70a0089d197f0b74b06e1500cb5c1 # Parent 22b509f8c8982c8bdbbee0c90b10a0f51eb25160 Central CoE timeouts; retry on CoE response mismatch. diff -r 22b509f8c898 -r 0cb9604cbaa7 master/fsm_coe.c --- a/master/fsm_coe.c Mon Jun 23 10:31:26 2008 +0000 +++ b/master/fsm_coe.c Mon Jun 23 12:03:37 2008 +0000 @@ -45,6 +45,12 @@ /*****************************************************************************/ +/** Maximum time in ms to wait for responses when reading out the dictionary. + */ +#define EC_FSM_COE_DICT_TIMEOUT 3000 + +/*****************************************************************************/ + void ec_fsm_coe_dict_start(ec_fsm_coe_t *); void ec_fsm_coe_dict_request(ec_fsm_coe_t *); void ec_fsm_coe_dict_check(ec_fsm_coe_t *); @@ -357,7 +363,7 @@ if (!ec_slave_mbox_check(datagram)) { unsigned long diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; - if (diff_ms >= 100) { + if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { fsm->state = ec_fsm_coe_error; EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n", slave->ring_position); @@ -454,10 +460,14 @@ if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response - EC_ERR("Invalid Sdo list response at slave %u!\n", - slave->ring_position); - ec_print_data(data, rec_size); - fsm->state = ec_fsm_coe_error; + if (fsm->slave->master->debug_level) { + EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n", + slave->ring_position); + ec_print_data(data, rec_size); + } + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_dict_check; return; } @@ -597,7 +607,7 @@ if (!ec_slave_mbox_check(datagram)) { unsigned long diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; - if (diff_ms >= 100) { + if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { fsm->state = ec_fsm_coe_error; EC_ERR("Timeout while checking Sdo description on slave %u.\n", slave->ring_position); @@ -697,11 +707,16 @@ 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_ERR("Invalid object description response at slave %u while" - " fetching Sdo 0x%04X!\n", slave->ring_position, - sdo->index); - ec_print_data(data, rec_size); - fsm->state = ec_fsm_coe_error; + if (fsm->slave->master->debug_level) { + EC_DBG("Invalid object description response at slave %u while" + " fetching Sdo 0x%04X!\n", slave->ring_position, + sdo->index); + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_dict_desc_check; return; } @@ -827,7 +842,7 @@ if (!ec_slave_mbox_check(datagram)) { unsigned long diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; - if (diff_ms >= 100) { + if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) { fsm->state = ec_fsm_coe_error; EC_ERR("Timeout while checking Sdo entry on slave %u.\n", slave->ring_position); @@ -929,11 +944,16 @@ (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_ERR("Invalid entry description response at slave %u while" - " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position, - sdo->index, fsm->subindex); - ec_print_data(data, rec_size); - fsm->state = ec_fsm_coe_error; + 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, + sdo->index, fsm->subindex); + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_dict_entry_check; return; } @@ -1101,7 +1121,7 @@ (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 no 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); // no response; send request datagram again @@ -1156,10 +1176,10 @@ if (!ec_slave_mbox_check(datagram)) { unsigned long diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; - if (diff_ms >= 100) { + if (diff_ms >= fsm->request->response_timeout) { fsm->state = ec_fsm_coe_error; - EC_ERR("Timeout while checking Sdo configuration on slave %u.\n", - slave->ring_position); + EC_ERR("Timeout while waiting for Sdo download response on " + "slave %u.\n", slave->ring_position); return; } @@ -1260,12 +1280,15 @@ 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 - fsm->state = ec_fsm_coe_error; - EC_ERR("Sdo download 0x%04X:%02X (%u bytes) failed:\n", - request->index, request->subindex, request->data_size); - EC_ERR("Invalid Sdo download response at slave %u!\n", - slave->ring_position); - ec_print_data(data, rec_size); + if (slave->master->debug_level) { + EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n", + slave->ring_position); + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_down_check; return; } @@ -1518,12 +1541,15 @@ 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 - fsm->state = ec_fsm_coe_error; - EC_ERR("Sdo upload 0x%04X:%02X failed:\n", - request->index, request->subindex); - EC_ERR("Invalid Sdo upload expedited response at slave %u!\n", - slave->ring_position); - ec_print_data(data, rec_size); + if (fsm->slave->master->debug_level) { + EC_DBG("Invalid Sdo upload expedited response at slave %u!\n", + slave->ring_position); + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_up_check; return; } @@ -1559,12 +1585,15 @@ 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 - fsm->state = ec_fsm_coe_error; - EC_ERR("Sdo upload 0x%04X:%02X failed:\n", - request->index, request->subindex); - EC_ERR("Invalid Sdo normal upload response at slave %u!\n", - slave->ring_position); - ec_print_data(data, rec_size); + if (fsm->slave->master->debug_level) { + EC_DBG("Invalid Sdo normal upload response at slave %u!\n", + slave->ring_position); + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_up_check; return; } @@ -1694,10 +1723,10 @@ if (!ec_slave_mbox_check(datagram)) { unsigned long diff_ms = (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ; - if (diff_ms >= 100) { + if (diff_ms >= fsm->request->response_timeout) { fsm->state = ec_fsm_coe_error; - EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n", - slave->ring_position); + EC_ERR("Timeout while waiting for Sdo upload segment response " + "on slave %u.\n", slave->ring_position); return; } @@ -1794,11 +1823,15 @@ if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response - EC_ERR("Sdo upload 0x%04X:%02X failed:\n", request->index, request->subindex); - EC_ERR("Invalid Sdo upload segment response at slave %u!\n", + if (fsm->slave->master->debug_level) { + EC_DBG("Invalid Sdo upload segment response at slave %u!\n", slave->ring_position); - ec_print_data(data, rec_size); - fsm->state = ec_fsm_coe_error; + ec_print_data(data, rec_size); + } + // check for CoE response again + ec_slave_mbox_prepare_check(slave, datagram); // can not fail. + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_coe_up_seg_check; return; } diff -r 22b509f8c898 -r 0cb9604cbaa7 master/fsm_coe_map.c --- a/master/fsm_coe_map.c Mon Jun 23 10:31:26 2008 +0000 +++ b/master/fsm_coe_map.c Mon Jun 23 12:03:37 2008 +0000 @@ -61,12 +61,6 @@ /*****************************************************************************/ -/** Sdo upload timeout in ms for reading Pdo assigment/mapping. - */ -#define EC_FSM_COE_MAP_UPLOAD_TIMEOUT 3000 - -/*****************************************************************************/ - /** Constructor. */ @@ -79,7 +73,6 @@ fsm->fsm_coe = fsm_coe; fsm->state = NULL; ec_sdo_request_init(&fsm->request); - fsm->request.response_timeout = EC_FSM_COE_MAP_UPLOAD_TIMEOUT; ec_pdo_list_init(&fsm->pdos); } diff -r 22b509f8c898 -r 0cb9604cbaa7 master/fsm_slave_config.c --- a/master/fsm_slave_config.c Mon Jun 23 10:31:26 2008 +0000 +++ b/master/fsm_slave_config.c Mon Jun 23 12:03:37 2008 +0000 @@ -44,10 +44,6 @@ #include "slave_config.h" #include "fsm_slave_config.h" -/** Time in ms to wait for a response when downloading Sdo configurations. - */ -#define EC_FSM_SLAVE_CONF_SDO_CONF_TIMEOUT 3000 - /*****************************************************************************/ void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *); @@ -452,7 +448,6 @@ fsm->request = list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_request_t, list); ecrt_sdo_request_write(fsm->request); - fsm->request->response_timeout = EC_FSM_SLAVE_CONF_SDO_CONF_TIMEOUT; ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request); ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately } diff -r 22b509f8c898 -r 0cb9604cbaa7 master/sdo_request.c --- a/master/sdo_request.c Mon Jun 23 10:31:26 2008 +0000 +++ b/master/sdo_request.c Mon Jun 23 12:03:37 2008 +0000 @@ -44,6 +44,12 @@ /*****************************************************************************/ +/** Default timeout in ms to wait for Sdo transfer responses. + */ +#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000 + +/*****************************************************************************/ + void ec_sdo_request_clear_data(ec_sdo_request_t *); /*****************************************************************************/ @@ -71,7 +77,7 @@ req->data_size = 0; req->dir = EC_DIR_OUTPUT; req->issue_timeout = 0; // no timeout - req->response_timeout = 0; // immediate response required + req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT; req->state = EC_REQUEST_INIT; req->abort_code = 0x00000000; }