--- a/master/fsm_master.c Thu Mar 11 16:50:27 2010 +0100
+++ b/master/fsm_master.c Fri Mar 19 10:48:16 2010 +0100
@@ -426,8 +426,8 @@
if (ec_sdo_request_timed_out(req)) {
req->state = EC_INT_REQUEST_FAILURE;
if (master->debug_level)
- EC_DBG("Internal SDO request for slave %u"
- " timed out...\n", slave->ring_position);
+ EC_DBG("Internal SDO request for slave %u"
+ " timed out...\n", slave->ring_position);
continue;
}
--- a/master/fsm_slave_config.c Thu Mar 11 16:50:27 2010 +0100
+++ b/master/fsm_slave_config.c Fri Mar 19 10:48:16 2010 +0100
@@ -812,7 +812,7 @@
}
// All SDOs are now configured.
- ec_fsm_slave_config_enter_soe_conf(fsm);
+ ec_fsm_slave_config_enter_soe_conf(fsm);
}
/*****************************************************************************/
@@ -824,7 +824,7 @@
)
{
ec_slave_t *slave = fsm->slave;
- ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+ ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (!slave->config) {
ec_fsm_slave_config_enter_pdo_sync(fsm);
@@ -842,9 +842,10 @@
fsm->soe_request = list_entry(fsm->slave->config->soe_configs.next,
ec_soe_request_t, list);
ec_soe_request_copy(&fsm->soe_request_copy, fsm->soe_request);
- ec_soe_request_write(&fsm->soe_request_copy);
+ ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
+ ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
}
/*****************************************************************************/
@@ -856,11 +857,12 @@
)
{
ec_slave_t *slave = fsm->slave;
- ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
+ ec_fsm_soe_t *fsm_soe = &slave->fsm.fsm_soe;
if (ec_fsm_soe_exec(fsm_soe)) {
- return;
- }
+ ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
+ return;
+ }
if (!ec_fsm_soe_success(fsm_soe)) {
EC_ERR("SoE configuration failed for slave %u.\n",
@@ -883,6 +885,7 @@
ec_soe_request_write(&fsm->soe_request_copy);
ec_fsm_soe_transfer(fsm_soe, fsm->slave, &fsm->soe_request_copy);
ec_fsm_soe_exec(fsm_soe); // execute immediately
+ ec_master_queue_external_datagram(slave->master, fsm_soe->datagram);
return;
}
--- a/master/fsm_soe.c Thu Mar 11 16:50:27 2010 +0100
+++ b/master/fsm_soe.c Fri Mar 19 10:48:16 2010 +0100
@@ -77,9 +77,9 @@
/** Constructor.
*/
void ec_fsm_soe_init(
- ec_fsm_soe_t *fsm, /**< finite state machine */
- ec_datagram_t *datagram /**< datagram */
- )
+ ec_fsm_soe_t *fsm, /**< finite state machine */
+ ec_datagram_t *datagram /**< datagram */
+ )
{
fsm->state = NULL;
fsm->datagram = datagram;
@@ -90,8 +90,8 @@
/** Destructor.
*/
void ec_fsm_soe_clear(
- ec_fsm_soe_t *fsm /**< finite state machine */
- )
+ ec_fsm_soe_t *fsm /**< finite state machine */
+ )
{
}
@@ -109,9 +109,9 @@
fsm->request = request;
if (request->dir == EC_DIR_OUTPUT) {
fsm->state = ec_fsm_soe_write_start;
- } else {
+ } else {
fsm->state = ec_fsm_soe_read_start;
- }
+ }
}
/*****************************************************************************/
@@ -165,7 +165,7 @@
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
- EC_SOE_READ_REQUEST_SIZE);
+ EC_SOE_READ_REQUEST_SIZE);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
return;
@@ -254,7 +254,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Reception of SoE mailbox check datagram failed on slave %u: ",
- slave->ring_position);
+ slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@@ -334,15 +334,15 @@
if (rec_size < EC_SOE_READ_RESPONSE_SIZE) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Received currupted SoE read response (%zu bytes)!\n",
- rec_size);
+ rec_size);
ec_print_data(data, rec_size);
return;
}
header = EC_READ_U8(data);
- opcode = header & 0x7;
+ opcode = header & 0x7;
incomplete = (header >> 3) & 1;
- error_flag = (header >> 4) & 1;
+ error_flag = (header >> 4) & 1;
if (opcode != EC_SOE_OPCODE_READ_RESPONSE) {
EC_ERR("Received no read response (opcode %x).\n", opcode);
@@ -351,29 +351,29 @@
return;
}
- if (error_flag) {
- req->error_code = EC_READ_U16(data + rec_size - 2);
- EC_ERR("Received error response: 0x%04x.\n",
- req->error_code);
- fsm->state = ec_fsm_soe_error;
- return;
- } else {
- req->error_code = 0x0000;
- }
-
- value_included = (EC_READ_U8(data + 1) >> 6) & 1;
- if (!value_included) {
- EC_ERR("No value included!\n");
- fsm->state = ec_fsm_soe_error;
- return;
- }
-
- data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;
- if (ec_soe_request_append_data(req,
+ if (error_flag) {
+ req->error_code = EC_READ_U16(data + rec_size - 2);
+ EC_ERR("Received error response: 0x%04x.\n",
+ req->error_code);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ } else {
+ req->error_code = 0x0000;
+ }
+
+ value_included = (EC_READ_U8(data + 1) >> 6) & 1;
+ if (!value_included) {
+ EC_ERR("No value included!\n");
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ data_size = rec_size - EC_SOE_READ_RESPONSE_SIZE;
+ if (ec_soe_request_append_data(req,
data + EC_SOE_READ_RESPONSE_SIZE, data_size)) {
- fsm->state = ec_fsm_soe_error;
- return;
- }
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
if (incomplete) {
if (master->debug_level) {
@@ -430,7 +430,7 @@
}
data = ec_slave_mbox_prepare_send(slave, datagram, EC_MBOX_TYPE_SOE,
- EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
+ EC_SOE_WRITE_REQUEST_SIZE + fragment_size);
if (IS_ERR(data)) {
fsm->state = ec_fsm_soe_error;
return;
@@ -439,7 +439,7 @@
EC_WRITE_U8(data, EC_SOE_OPCODE_WRITE_REQUEST | incomplete << 3);
EC_WRITE_U8(data + 1, 1 << 6); // only value included
EC_WRITE_U16(data + 2, incomplete ? fragments_left : req->idn);
- memcpy(data + 4, req->data + fsm->offset, fragment_size);
+ memcpy(data + 4, req->data + fsm->offset, fragment_size);
fsm->offset += fragment_size;
if (master->debug_level) {
@@ -546,7 +546,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Reception of SoE write request datagram failed on slave %u: ",
- slave->ring_position);
+ slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
}
@@ -588,7 +588,7 @@
ec_master_t *master = slave->master;
ec_soe_request_t *req = fsm->request;
uint8_t *data, mbox_prot, opcode, error_flag;
- uint16_t idn;
+ uint16_t idn;
size_t rec_size;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
@@ -630,12 +630,12 @@
if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE) {
fsm->state = ec_fsm_soe_error;
EC_ERR("Received currupted SoE write response (%zu bytes)!\n",
- rec_size);
- ec_print_data(data, rec_size);
- return;
- }
-
- opcode = EC_READ_U8(data) & 0x7;
+ rec_size);
+ ec_print_data(data, rec_size);
+ return;
+ }
+
+ opcode = EC_READ_U8(data) & 0x7;
if (opcode != EC_SOE_OPCODE_WRITE_RESPONSE) {
EC_ERR("Received no write response (opcode %x).\n", opcode);
ec_print_data(data, rec_size);
@@ -643,30 +643,30 @@
return;
}
- idn = EC_READ_U16(data + 2);
- if (idn != req->idn) {
- EC_ERR("Received response for wrong IDN 0x%04x.\n", idn);
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_soe_error;
- return;
- }
-
- error_flag = (EC_READ_U8(data) >> 4) & 1;
- if (error_flag) {
- if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE + 2) {
- EC_ERR("Received corrupted error response - error flag set,"
- " but received size is %zu.\n", rec_size);
- } else {
- req->error_code = EC_READ_U16(data + EC_SOE_WRITE_RESPONSE_SIZE);
- EC_ERR("Received error response: 0x%04x.\n",
- req->error_code);
- }
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_soe_error;
- return;
- } else {
- req->error_code = 0x0000;
- }
+ idn = EC_READ_U16(data + 2);
+ if (idn != req->idn) {
+ EC_ERR("Received response for wrong IDN 0x%04x.\n", idn);
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ }
+
+ error_flag = (EC_READ_U8(data) >> 4) & 1;
+ if (error_flag) {
+ if (rec_size < EC_SOE_WRITE_RESPONSE_SIZE + 2) {
+ EC_ERR("Received corrupted error response - error flag set,"
+ " but received size is %zu.\n", rec_size);
+ } else {
+ req->error_code = EC_READ_U16(data + EC_SOE_WRITE_RESPONSE_SIZE);
+ EC_ERR("Received error response: 0x%04x.\n",
+ req->error_code);
+ }
+ ec_print_data(data, rec_size);
+ fsm->state = ec_fsm_soe_error;
+ return;
+ } else {
+ req->error_code = 0x0000;
+ }
fsm->state = ec_fsm_soe_end; // success
}
--- a/master/master.c Thu Mar 11 16:50:27 2010 +0100
+++ b/master/master.c Fri Mar 19 10:48:16 2010 +0100
@@ -25,6 +25,8 @@
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
+ * vim: expandtab
+ *
*****************************************************************************/
/**
@@ -417,7 +419,7 @@
ec_master_sdo_request_t, list);
list_del_init(&request->list); // dequeue
EC_INFO("Discarding SDO request,"
- " slave %u does not exist anymore.\n",
+ " slave %u does not exist anymore.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->sdo_queue);
@@ -432,7 +434,7 @@
ec_master_foe_request_t, list);
list_del_init(&request->list); // dequeue
EC_INFO("Discarding FoE request,"
- " slave %u does not exist anymore.\n",
+ " slave %u does not exist anymore.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->foe_queue);
@@ -447,7 +449,7 @@
ec_master_soe_request_t, list);
list_del_init(&request->list); // dequeue
EC_INFO("Discarding SoE request,"
- " slave %u does not exist anymore.\n",
+ " slave %u does not exist anymore.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&slave->soe_queue);
--- a/master/slave_config.c Thu Mar 11 16:50:27 2010 +0100
+++ b/master/slave_config.c Fri Mar 19 10:48:16 2010 +0100
@@ -25,6 +25,8 @@
* EtherCAT technology and brand is only permitted in compliance with the
* industrial property and similar rights of Beckhoff Automation GmbH.
*
+ * vim: expandtab
+ *
*****************************************************************************/
/**
@@ -960,7 +962,7 @@
/*****************************************************************************/
int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
- const uint8_t *data, size_t size)
+ const uint8_t *data, size_t size)
{
ec_slave_t *slave = sc->slave;
ec_soe_request_t *req;