# HG changeset patch # User Florian Pose # Date 1232445332 0 # Node ID 2b017fcc1c6dc276ab018eb2a7081b60531d9156 # Parent 4522459bb5a491fe96376c6b497bed1a1092f880 Introduced configured_[tr]x_mailbox(size|offset) members of slave. diff -r 4522459bb5a4 -r 2b017fcc1c6d master/ethernet.c --- a/master/ethernet.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/ethernet.c Tue Jan 20 09:55:32 2009 +0000 @@ -146,7 +146,7 @@ // so the MTU is left on the Ethernet standard value and fragmenting // is done "manually". #if 0 - eoe->dev->mtu = slave->sii.rx_mailbox_size - ETH_HLEN - 10; + eoe->dev->mtu = slave->configured_rx_mailbox_size - ETH_HLEN - 10; #endif // connect the net_device to the kernel @@ -231,11 +231,11 @@ remaining_size = eoe->tx_frame->skb->len - eoe->tx_offset; - if (remaining_size <= eoe->slave->sii.std_tx_mailbox_size - 10) { + if (remaining_size <= eoe->slave->configured_tx_mailbox_size - 10) { current_size = remaining_size; last_fragment = 1; } else { - current_size = ((eoe->slave->sii.std_tx_mailbox_size - 10) / 32) * 32; + current_size = ((eoe->slave->configured_tx_mailbox_size - 10) / 32) * 32; last_fragment = 0; } @@ -695,7 +695,7 @@ ec_eoe_frame_t *frame; #if 0 - if (skb->len > eoe->slave->sii.tx_mailbox_size - 10) { + if (skb->len > eoe->slave->configured_tx_mailbox_size - 10) { EC_WARN("EoE TX frame (%u octets) exceeds MTU. dropping.\n", skb->len); dev_kfree_skb(skb); eoe->stats.tx_dropped++; diff -r 4522459bb5a4 -r 2b017fcc1c6d master/fsm_coe.c --- a/master/fsm_coe.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/fsm_coe.c Tue Jan 20 09:55:32 2009 +0000 @@ -1089,7 +1089,7 @@ } } else { // request->data_size > 4, use normal transfer type - if (slave->sii.std_rx_mailbox_size < 6 + 10 + request->data_size) { + if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) { EC_ERR("SDO fragmenting not supported yet!\n"); fsm->state = ec_fsm_coe_error; return; diff -r 4522459bb5a4 -r 2b017fcc1c6d master/fsm_foe.c --- a/master/fsm_foe.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/fsm_foe.c Tue Jan 20 09:55:32 2009 +0000 @@ -214,12 +214,12 @@ remaining_size = fsm->tx_buffer_size - fsm->tx_buffer_offset; - if (remaining_size < fsm->slave->sii.std_tx_mailbox_size + if (remaining_size < fsm->slave->configured_tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE) { current_size = remaining_size; fsm->tx_last_packet = 1; } else { - current_size = fsm->slave->sii.std_tx_mailbox_size + current_size = fsm->slave->configured_tx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE; } @@ -789,10 +789,10 @@ fsm->rx_last_packet = (rec_size + EC_MBOX_HEADER_SIZE + EC_FOE_HEADER_SIZE - != fsm->slave->sii.std_rx_mailbox_size); + != fsm->slave->configured_rx_mailbox_size); if (fsm->rx_last_packet || - (slave->sii.std_rx_mailbox_size - EC_MBOX_HEADER_SIZE + (slave->configured_rx_mailbox_size - EC_MBOX_HEADER_SIZE - EC_FOE_HEADER_SIZE + fsm->rx_buffer_offset) <= fsm->rx_buffer_size) { // either it was the last packet or a new packet will fit into the delivered buffer #ifdef myDEBUG @@ -812,7 +812,7 @@ printk (" rx_buffer_size = %d\n", fsm->rx_buffer_size); printk (" rx_buffer_offset= %d\n", fsm->rx_buffer_offset); printk (" rec_size = %d\n", rec_size); - printk (" rx_mailbox_size = %d\n", slave->sii.std_rx_mailbox_size); + printk (" rx_mailbox_size = %d\n", slave->configured_rx_mailbox_size); printk (" rx_last_packet = %d\n", fsm->rx_last_packet); // fsm->state = ec_fsm_state_wait_next_read; fsm->request->result = FOE_READY; diff -r 4522459bb5a4 -r 2b017fcc1c6d master/fsm_pdo.c --- a/master/fsm_pdo.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/fsm_pdo.c Tue Jan 20 09:55:32 2009 +0000 @@ -225,8 +225,8 @@ if (ec_fsm_coe_exec(fsm->fsm_coe)) return; if (!ec_fsm_coe_success(fsm->fsm_coe)) { - EC_ERR("Failed to read number of assigned PDOs for SM%u.\n", - fsm->sync_index); + EC_ERR("Failed to read number of assigned PDOs for SM%u" + " of slave %u.\n", fsm->sync_index, fsm->slave->ring_position); fsm->state = ec_fsm_pdo_state_error; return; } diff -r 4522459bb5a4 -r 2b017fcc1c6d master/fsm_slave_config.c --- a/master/fsm_slave_config.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/fsm_slave_config.c Tue Jan 20 09:55:32 2009 +0000 @@ -373,6 +373,10 @@ ec_sync_page(&sync, 0, slave->sii.boot_rx_mailbox_size, EC_DIR_INVALID, // use default direction datagram->data); + slave->configured_rx_mailbox_offset = + slave->sii.boot_rx_mailbox_offset; + slave->configured_rx_mailbox_size = + slave->sii.boot_rx_mailbox_size; ec_sync_init(&sync, slave); sync.physical_start_address = slave->sii.boot_tx_mailbox_offset; @@ -381,6 +385,11 @@ ec_sync_page(&sync, 1, slave->sii.boot_tx_mailbox_size, EC_DIR_INVALID, // use default direction datagram->data + EC_SYNC_PAGE_SIZE); + slave->configured_tx_mailbox_offset = + slave->sii.boot_tx_mailbox_offset; + slave->configured_tx_mailbox_size = + slave->sii.boot_tx_mailbox_size; + } else if (slave->sii.sync_count >= 2) { // mailbox configuration provided ec_datagram_fpwr(datagram, slave->station_address, 0x0800, EC_SYNC_PAGE_SIZE * slave->sii.sync_count); @@ -393,6 +402,15 @@ EC_DIR_INVALID, // use default direction datagram->data + EC_SYNC_PAGE_SIZE * i); } + + slave->configured_rx_mailbox_offset = + slave->sii.syncs[0].physical_start_address; + slave->configured_rx_mailbox_size = + slave->sii.syncs[0].default_length; + slave->configured_tx_mailbox_offset = + slave->sii.syncs[1].physical_start_address; + slave->configured_tx_mailbox_size = + slave->sii.syncs[1].default_length; } else { // no mailbox sync manager configurations provided ec_sync_t sync; @@ -412,6 +430,10 @@ ec_sync_page(&sync, 0, slave->sii.std_rx_mailbox_size, EC_DIR_INVALID, // use default direction datagram->data); + slave->configured_rx_mailbox_offset = + slave->sii.std_rx_mailbox_offset; + slave->configured_rx_mailbox_size = + slave->sii.std_rx_mailbox_size; ec_sync_init(&sync, slave); sync.physical_start_address = slave->sii.std_tx_mailbox_offset; @@ -420,6 +442,10 @@ ec_sync_page(&sync, 1, slave->sii.std_tx_mailbox_size, EC_DIR_INVALID, // use default direction datagram->data + EC_SYNC_PAGE_SIZE); + slave->configured_tx_mailbox_offset = + slave->sii.boot_tx_mailbox_offset; + slave->configured_tx_mailbox_size = + slave->sii.boot_tx_mailbox_size; } fsm->retries = EC_FSM_RETRIES; diff -r 4522459bb5a4 -r 2b017fcc1c6d master/fsm_slave_scan.c --- a/master/fsm_slave_scan.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/fsm_slave_scan.c Tue Jan 20 09:55:32 2009 +0000 @@ -48,6 +48,7 @@ void ec_fsm_slave_scan_state_sii_size(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_preop(ec_fsm_slave_scan_t *); +void ec_fsm_slave_scan_state_sync(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_pdos(ec_fsm_slave_scan_t *); void ec_fsm_slave_scan_state_end(ec_fsm_slave_scan_t *); @@ -586,17 +587,33 @@ ) { ec_slave_t *slave = fsm->slave; - - if ((slave->current_state & EC_SLAVE_STATE_MASK) < EC_SLAVE_STATE_PREOP) { - if (slave->master->debug_level) - EC_DBG("Slave %u is not in the state to do mailbox com, setting" - " to PREOP.\n", slave->ring_position); + uint8_t current_state = slave->current_state & EC_SLAVE_STATE_MASK; + + if (current_state != EC_SLAVE_STATE_PREOP + && current_state != EC_SLAVE_STATE_SAFEOP + && current_state != EC_SLAVE_STATE_OP) { + if (slave->master->debug_level) { + char str[EC_STATE_STRING_SIZE]; + ec_state_string(current_state, str, 0); + EC_DBG("Slave %u is not in the state to do mailbox com (%s)," + " setting to PREOP.\n", slave->ring_position, str); + } + fsm->state = ec_fsm_slave_scan_state_preop; ec_slave_request_state(slave, EC_SLAVE_STATE_PREOP); ec_fsm_slave_config_start(fsm->fsm_slave_config, slave); ec_fsm_slave_config_exec(fsm->fsm_slave_config); } else { - ec_fsm_slave_scan_enter_pdos(fsm); + if (slave->master->debug_level) + EC_DBG("Reading mailbox syncmanager configuration of slave %u.\n", + slave->ring_position); + + /* Scan current sync manager configuration to get configured mailbox + * sizes. */ + ec_datagram_fprd(fsm->datagram, slave->station_address, 0x0800, + EC_SYNC_PAGE_SIZE * 2); + fsm->retries = EC_FSM_RETRIES; + fsm->state = ec_fsm_slave_scan_state_sync; } } @@ -621,6 +638,55 @@ /*****************************************************************************/ +/** Slave scan state: SYNC. + */ +void ec_fsm_slave_scan_state_sync( + ec_fsm_slave_scan_t *fsm /**< slave state machine */ + ) +{ + ec_datagram_t *datagram = fsm->datagram; + ec_slave_t *slave = fsm->slave; + + if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--) + return; + + if (datagram->state != EC_DATAGRAM_RECEIVED) { + fsm->state = ec_fsm_slave_scan_state_error; + EC_ERR("Failed to receive sync manager configuration datagram" + " from slave %u (datagram state %u).\n", + slave->ring_position, datagram->state); + return; + } + + if (datagram->working_counter != 1) { + fsm->slave->error_flag = 1; + fsm->state = ec_fsm_slave_scan_state_error; + EC_ERR("Failed to read DL status from slave %u: ", + slave->ring_position); + ec_datagram_print_wc_error(datagram); + return; + } + + slave->configured_rx_mailbox_offset = EC_READ_U16(datagram->data); + slave->configured_rx_mailbox_size = EC_READ_U16(datagram->data + 2); + slave->configured_tx_mailbox_offset = EC_READ_U16(datagram->data + 8); + slave->configured_tx_mailbox_size = EC_READ_U16(datagram->data + 10); + + if (slave->master->debug_level) { + EC_DBG("Mailbox configuration of slave %u:\n", slave->ring_position); + EC_DBG(" RX offset=0x%04x size=%u\n", + slave->configured_rx_mailbox_offset, + slave->configured_rx_mailbox_size); + EC_DBG(" TX offset=0x%04x size=%u\n", + slave->configured_tx_mailbox_offset, + slave->configured_tx_mailbox_size); + } + + ec_fsm_slave_scan_enter_pdos(fsm); +} + +/*****************************************************************************/ + /** Enter slave scan state PDOS. */ void ec_fsm_slave_scan_enter_pdos( diff -r 4522459bb5a4 -r 2b017fcc1c6d master/mailbox.c --- a/master/mailbox.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/mailbox.c Tue Jan 20 09:55:32 2009 +0000 @@ -52,7 +52,6 @@ ) { size_t total_size; - uint16_t mailbox_offset, mailbox_size; if (unlikely(!slave->sii.mailbox_protocols)) { EC_ERR("Slave %u does not support mailbox communication!\n", @@ -62,21 +61,15 @@ total_size = size + 6; - if (slave->current_state != EC_SLAVE_STATE_BOOT) { - mailbox_offset = slave->sii.std_rx_mailbox_offset; - mailbox_size = slave->sii.std_rx_mailbox_size; - } else { - mailbox_offset = slave->sii.boot_rx_mailbox_offset; - mailbox_size = slave->sii.boot_rx_mailbox_size; - } - - if (unlikely(total_size > mailbox_size)) { - EC_ERR("Data size does not fit in mailbox!\n"); + if (unlikely(total_size > slave->configured_rx_mailbox_size)) { + EC_ERR("Data size (%u) does not fit in mailbox (%u)!\n", + total_size, slave->configured_rx_mailbox_size); return NULL; } if (ec_datagram_fpwr(datagram, slave->station_address, - mailbox_offset, mailbox_size)) + slave->configured_rx_mailbox_offset, + slave->configured_rx_mailbox_size)) return NULL; EC_WRITE_U16(datagram->data, size); // mailbox service data length @@ -128,18 +121,9 @@ ec_datagram_t *datagram /**< datagram */ ) { - uint16_t mailbox_offset, mailbox_size; - - if (slave->current_state != EC_SLAVE_STATE_BOOT) { - mailbox_offset = slave->sii.std_tx_mailbox_offset; - mailbox_size = slave->sii.std_tx_mailbox_size; - } else { - mailbox_offset = slave->sii.boot_tx_mailbox_offset; - mailbox_size = slave->sii.boot_tx_mailbox_size; - } - if (ec_datagram_fprd(datagram, slave->station_address, - mailbox_offset, mailbox_size)) + slave->configured_tx_mailbox_offset, + slave->configured_tx_mailbox_size)) return -1; return 0; @@ -177,22 +161,13 @@ ) { size_t data_size; - uint16_t mailbox_offset, mailbox_size; - - if (slave->current_state != EC_SLAVE_STATE_BOOT) { - mailbox_offset = slave->sii.std_tx_mailbox_offset; - mailbox_size = slave->sii.std_tx_mailbox_size; - } else { - mailbox_offset = slave->sii.boot_tx_mailbox_offset; - mailbox_size = slave->sii.boot_tx_mailbox_size; - } data_size = EC_READ_U16(datagram->data); - if (data_size > mailbox_size - 6) { + if (data_size > slave->configured_tx_mailbox_size - 6) { EC_ERR("Corrupt mailbox response received from slave %u!\n", slave->ring_position); - ec_print_data(datagram->data, mailbox_size); + ec_print_data(datagram->data, slave->configured_tx_mailbox_size); return NULL; } diff -r 4522459bb5a4 -r 2b017fcc1c6d master/slave.c --- a/master/slave.c Tue Jan 20 08:04:50 2009 +0000 +++ b/master/slave.c Tue Jan 20 09:55:32 2009 +0000 @@ -74,6 +74,10 @@ slave->current_state = EC_SLAVE_STATE_UNKNOWN; slave->error_flag = 0; slave->force_config = 0; + slave->configured_rx_mailbox_offset = 0x0000; + slave->configured_rx_mailbox_size = 0x0000; + slave->configured_tx_mailbox_offset = 0x0000; + slave->configured_tx_mailbox_size = 0x0000; slave->base_type = 0; slave->base_revision = 0; diff -r 4522459bb5a4 -r 2b017fcc1c6d master/slave.h --- a/master/slave.h Tue Jan 20 08:04:50 2009 +0000 +++ b/master/slave.h Tue Jan 20 09:55:32 2009 +0000 @@ -117,6 +117,10 @@ ec_slave_state_t current_state; /**< Current application state. */ unsigned int error_flag; /**< Stop processing after an error. */ unsigned int force_config; /**< Force (re-)configuration. */ + uint16_t configured_rx_mailbox_offset; + uint16_t configured_rx_mailbox_size; + uint16_t configured_tx_mailbox_offset; + uint16_t configured_tx_mailbox_size; // base data uint8_t base_type; /**< Slave type. */