# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1217322295 0
# Node ID cf0b5293eea6d0645b698eaf2ac91df9e03bfbee
# Parent  b4c464c54a46ee49792ea071b835664bb9c6580b
Use expedited transfer type for Sdos <= 4 byte.

diff -r b4c464c54a46 -r cf0b5293eea6 NEWS
--- a/NEWS	Mon Jul 28 14:59:22 2008 +0000
+++ b/NEWS	Tue Jul 29 09:04:55 2008 +0000
@@ -97,16 +97,16 @@
   queried via the ecrt_domain_state() and ecrt_slave_config_state() functions.
 * Added support for slaves that do not support the LRW datagram type. Separate
   domains have to be used for inputs and output.
-* Allow gaps in PDO mapping read from CoE.
-* Fixed bug in CoE code.
-* Added some timeouts for CoE transfers.
-* Ansynchronous handling of CoE Emergency requests.
+* CoE implementation:
+    - Use expedites transfer type for Sdos <= 4 byte (thanks to J. Mohre).
+    - Allow gaps in Pdo mapping (thanks to R. Roesch).
+    - Added some transfer timeouts.
+    - Ansynchronous handling of Emergency requests.
+    - Bugfixes.
 * Sync managers are disabled, if the size is zero.
-* Improved handling of large EEPROM contents.
 * Renamed ec_master module parameters main and backup to main_devices and
   backup_devices to avoid warnings of some compilers.
-* List end evaluate CoE detail flags from general category, list
-  'Flags' from general category in slave info file.
+* List end evaluate CoE detail flags from general category.
 * Added MODPROBE_FLAGS variable in start script and sysconfig file.
 * Implemented missing datagram types.
 * Changed all occurrences of 'EEPROM' to 'SII'
diff -r b4c464c54a46 -r cf0b5293eea6 master/fsm_coe.c
--- a/master/fsm_coe.c	Mon Jul 28 14:59:22 2008 +0000
+++ b/master/fsm_coe.c	Tue Jul 29 09:04:55 2008 +0000
@@ -1053,6 +1053,7 @@
     ec_slave_t *slave = fsm->slave;
     ec_sdo_request_t *request = fsm->request;
     uint8_t *data;
+    uint8_t size;
 
     if (fsm->slave->master->debug_level) {
         EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
@@ -1065,31 +1066,54 @@
         fsm->state = ec_fsm_coe_error;
         return;
     }
-
-    if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
-        EC_ERR("Sdo fragmenting not supported yet!\n");
-        fsm->state = ec_fsm_coe_error;
-        return;
-    }
-
-    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
-                                            request->data_size + 10))) {
-        fsm->state = ec_fsm_coe_error;
-        return;
-    }
-
-    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
-    EC_WRITE_U8 (data + 2, (0x1 // size specified
-                            | 0x1 << 5)); // Download request
-    EC_WRITE_U16(data + 3, request->index);
-    EC_WRITE_U8 (data + 5, request->subindex);
-    EC_WRITE_U32(data + 6, request->data_size);
-    memcpy(data + 10, request->data, request->data_size);
-
-    if (slave->master->debug_level) {
-        EC_DBG("Download request:\n");
-        ec_print_data(data, 10 + request->data_size);
-    }
+	
+	if (request->data_size <= 4) { // use expedited transfer type
+	    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
+	        fsm->state = ec_fsm_coe_error;
+	        return;
+	    }
+
+	    size = 4 - request->data_size;
+
+	    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+	    EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
+								| size << 2
+	                            | 0x1 << 5)); // Download request
+	    EC_WRITE_U16(data + 3, request->index);
+	    EC_WRITE_U8 (data + 5, request->subindex);
+	    memcpy(data + 6, request->data, request->data_size);
+
+        if (slave->master->debug_level) {
+            EC_DBG("Expedited download request:\n");
+            ec_print_data(data, 10 + request->data_size);
+        }
+	}
+    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");
+	        fsm->state = ec_fsm_coe_error;
+	        return;
+	    }
+
+	    if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
+	                                            request->data_size + 10))) {
+	        fsm->state = ec_fsm_coe_error;
+	        return;
+	    }
+
+	    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);
+	    EC_WRITE_U8 (data + 5, request->subindex);
+	    EC_WRITE_U32(data + 6, request->data_size);
+	    memcpy(data + 10, request->data, request->data_size);
+
+        if (slave->master->debug_level) {
+            EC_DBG("Normal download request:\n");
+            ec_print_data(data, 10 + request->data_size);
+        }
+	}
 
     fsm->request->jiffies_sent = jiffies;
     fsm->retries = EC_FSM_RETRIES;