--- 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++;
--- 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;
--- 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;
--- 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;
}
--- 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;
--- 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(
--- 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;
}
--- 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;
--- 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. */