--- a/TODO Thu Sep 16 09:08:11 2010 +0200
+++ b/TODO Thu Sep 16 10:16:12 2010 +0200
@@ -13,41 +13,28 @@
* Ethernet drivers:
- Fix link detection in generic driver.
- Add native drivers from 2.6.24 up to 2.6.31.
-* Change SDO index at runtime for SDO request.
-* Output skipped datagrams again.
-* Output warning when send_ext() is called in illegal context.
-* Implement CompleteAccess for SDO uploads.
-* Check for Enable SDO Complete Access flag.
-* Remove allow_scanning flag.
* ethercat tool:
- Output error after usage.
- - Data type abbreviations.
- Implement ranges for slaves and domains.
- - Add -x switch for hex display.
- - Implement CompleteAccess
- - Implement --output-file argument in foe_read.
- - Fix arguments of reg_read.
- - Number layout for reg_read.
- - Implement identifier parameter for cstruct command.
- - Implement sync delimiter for cstruct command.
- - Implement indent in 'ethercat ma'
- - Implement 0xXXXX:YY format for specifying SDOs.
- - Implement reading from stream for soe_write.
- - Fix AL state display if error bit set.
+* Fix casting away constness during expected WC calculation.
+* Include SoE drive_no in ethercat tool.
+
+Future issues:
+
+* Remove allow_scanning flag.
+* Output skipped datagrams again.
+* Check for Enable SDO Complete Access flag.
+* Do not output 'SDO does not exist' when querying data type.
+* Always write down PDO assignment/mapping in doubt? If not, add an interface
+ for enforcing this.
+* Read AL status code on spontaneous state change.
* recompile tool/CommandVersion.cpp if revision changes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.
-* Fix casting away constness during expected WC calculation.
-* Read AL status code on spontaneous state change.
-* Fix clearing domains etc. when not activated and releasing.
-* Output -EPROTO if mailbox protocol is not supported.
* Only output watchdog config if not default.
-* Do not output 'SDO does not exist' when querying data type.
-* Always write down PDO assignment/mapping in doubt? If not, add an interface
- for enforcing this.
-
-Future issues:
-
+* Implement CompleteAccess for SDO uploads.
+* Output warning when send_ext() is called in illegal context.
+* Change SDO index at runtime for SDO request.
* Implement ecrt_slave_config_request_state().
* Remove default buffer size in SDO upload.
* Override sync manager size?
@@ -80,6 +67,13 @@
- Add a -n (numeric) switch.
- Check for unwanted options.
- Fix number of digits in negative integer hex output.
+ - Data type abbreviations.
+ - Add -x switch for hex display.
+ - Implement CompleteAccess
+ - Implement --output-file argument in foe_read.
+ - Implement indent in 'ethercat ma'
+ - Implement 0xXXXX:YY format for specifying SDOs.
+ - Implement reading from stream for soe_write.
* Simplify master fsm by introducing a common request state to handle external
requests (replace write_sii, sdo_request, etc).
* Write PDO mapping/assignment by default?
--- a/include/ecrt.h Thu Sep 16 09:08:11 2010 +0200
+++ b/include/ecrt.h Thu Sep 16 10:16:12 2010 +0200
@@ -674,6 +674,8 @@
uint32_t *abort_code /**< Abort code of the SDO upload. */
);
+#endif /* #ifndef __KERNEL__ */
+
/** Executes an SoE write request.
*
* Starts writing an IDN and blocks until the request was processed, or an
@@ -685,10 +687,11 @@
int ecrt_master_write_idn(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
+ uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
uint8_t *data, /**< Pointer to data to write. */
size_t data_size, /**< Size of data to write. */
- uint32_t *error_code /**< Pointer to variable, where an SoE error code
+ uint16_t *error_code /**< Pointer to variable, where an SoE error code
can be stored. */
);
@@ -703,17 +706,16 @@
int ecrt_master_read_idn(
ec_master_t *master, /**< EtherCAT master. */
uint16_t slave_position, /**< Slave position. */
+ uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN (see ecrt_slave_config_idn()). */
uint8_t *target, /**< Pointer to memory where the read data can be
stored. */
size_t target_size, /**< Size of the memory \a target points to. */
size_t *result_size, /**< Actual size of the received data. */
- uint32_t *error_code /**< Pointer to variable, where an SoE error code
+ uint16_t *error_code /**< Pointer to variable, where an SoE error code
can be stored. */
);
-#endif /* #ifndef __KERNEL__ */
-
/** Finishes the configuration phase and prepares for cyclic operation.
*
* This function tells the master that the configuration phase is finished and
@@ -1212,6 +1214,7 @@
*/
int ecrt_slave_config_idn(
ec_slave_config_t *sc, /**< Slave configuration. */
+ uint8_t drive_no, /**< Drive number. */
uint16_t idn, /**< SoE IDN. */
ec_al_state_t state, /**< AL state in which to write the IDN (PREOP or
SAFEOP). */
--- a/lib/master.c Thu Sep 16 09:08:11 2010 +0200
+++ b/lib/master.c Thu Sep 16 10:16:12 2010 +0200
@@ -384,11 +384,13 @@
/*****************************************************************************/
int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
- uint16_t idn, uint8_t *data, size_t data_size, uint32_t *error_code)
+ uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
+ uint16_t *error_code)
{
ec_ioctl_slave_soe_write_t io;
io.slave_position = slave_position;
+ io.drive_no = drive_no;
io.idn = idn;
io.data_size = data_size;
io.data = data;
@@ -407,12 +409,13 @@
/*****************************************************************************/
int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
- uint16_t idn, uint8_t *target, size_t target_size,
- size_t *result_size, uint32_t *error_code)
+ uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
+ size_t *result_size, uint16_t *error_code)
{
ec_ioctl_slave_soe_read_t io;
io.slave_position = slave_position;
+ io.drive_no = drive_no;
io.idn = idn;
io.mem_size = target_size;
io.data = target;
--- a/lib/slave_config.c Thu Sep 16 09:08:11 2010 +0200
+++ b/lib/slave_config.c Thu Sep 16 10:16:12 2010 +0200
@@ -533,12 +533,13 @@
/*****************************************************************************/
-int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
- ec_al_state_t al_state, const uint8_t *data, size_t size)
+int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
+ uint16_t idn, ec_al_state_t al_state, const uint8_t *data, size_t size)
{
ec_ioctl_sc_idn_t io;
io.config_index = sc->index;
+ io.drive_no = drive_no;
io.idn = idn;
io.al_state = al_state;
io.data = data;
--- a/master/cdev.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/cdev.c Thu Sep 16 10:16:12 2010 +0200
@@ -894,7 +894,11 @@
if (request.req.state != EC_INT_REQUEST_SUCCESS) {
data.data_size = 0;
- retval = -EIO;
+ if (request.req.errno) {
+ retval = -request.req.errno;
+ } else {
+ retval = -EIO;
+ }
} else {
if (request.req.data_size > data.target_size) {
EC_MASTER_ERR(master, "Buffer too small.\n");
@@ -999,7 +1003,13 @@
data.abort_code = request.req.abort_code;
- retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+ if (request.req.state == EC_INT_REQUEST_SUCCESS) {
+ retval = 0;
+ } else if (request.req.errno) {
+ retval = -request.req.errno;
+ } else {
+ retval = -EIO;
+ }
if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
retval = -EFAULT;
@@ -2477,7 +2487,7 @@
up(&master->master_sem); // FIXME
ret = ecrt_slave_config_idn(
- sc, ioctl.idn, ioctl.al_state, data, ioctl.size);
+ sc, ioctl.drive_no, ioctl.idn, ioctl.al_state, data, ioctl.size);
kfree(data);
return ret;
}
@@ -3332,86 +3342,40 @@
)
{
ec_ioctl_slave_soe_read_t ioctl;
- ec_master_soe_request_t request;
+ u8 *data;
int retval;
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
return -EFAULT;
}
- ec_soe_request_init(&request.req);
- ec_soe_request_set_idn(&request.req, ioctl.idn);
- ec_soe_request_read(&request.req);
-
- if (down_interruptible(&master->master_sem))
- return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(
- master, 0, ioctl.slave_position))) {
- up(&master->master_sem);
- ec_soe_request_clear(&request.req);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- ioctl.slave_position);
- return -EINVAL;
- }
-
- // schedule request.
- list_add_tail(&request.list, &request.slave->soe_requests);
-
- up(&master->master_sem);
-
- EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
-
- // wait for processing through FSM
- if (wait_event_interruptible(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
- list_del(&request.list);
- up(&master->master_sem);
- ec_soe_request_clear(&request.req);
- return -EINTR;
- }
- // request already processing: interrupt not possible.
- up(&master->master_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
-
- ioctl.error_code = request.req.error_code;
-
- EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
- request.req.data_size);
-
- if (request.req.state != EC_INT_REQUEST_SUCCESS) {
- ioctl.data_size = 0;
- retval = -EIO;
- } else {
- if (request.req.data_size > ioctl.mem_size) {
- EC_MASTER_ERR(master, "Buffer too small.\n");
- ec_soe_request_clear(&request.req);
- return -EOVERFLOW;
- }
- ioctl.data_size = request.req.data_size;
- if (copy_to_user((void __user *) ioctl.data,
- request.req.data, ioctl.data_size)) {
- ec_soe_request_clear(&request.req);
- return -EFAULT;
- }
- retval = 0;
- }
+ data = kmalloc(ioctl.mem_size, GFP_KERNEL);
+ if (!data) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
+ ioctl.mem_size);
+ return -ENOMEM;
+ }
+
+ retval = ecrt_master_read_idn(master, ioctl.slave_position,
+ ioctl.drive_no, ioctl.idn, data, ioctl.mem_size, &ioctl.data_size,
+ &ioctl.error_code);
+ if (retval) {
+ kfree(data);
+ return retval;
+ }
+
+ if (copy_to_user((void __user *) ioctl.data,
+ data, ioctl.data_size)) {
+ kfree(data);
+ return -EFAULT;
+ }
+ kfree(data);
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
retval = -EFAULT;
}
- EC_SLAVE_DBG(request.slave, 1, "Finished SoE read request.\n");
-
- ec_soe_request_clear(&request.req);
-
+ EC_MASTER_DBG(master, 1, "Finished SoE read request.\n");
return retval;
}
@@ -3425,79 +3389,37 @@
)
{
ec_ioctl_slave_soe_write_t ioctl;
- ec_master_soe_request_t request;
+ u8 *data;
int retval;
if (copy_from_user(&ioctl, (void __user *) arg, sizeof(ioctl))) {
return -EFAULT;
}
- INIT_LIST_HEAD(&request.list);
-
- ec_soe_request_init(&request.req);
- ec_soe_request_set_idn(&request.req, ioctl.idn);
-
- if (ec_soe_request_alloc(&request.req, ioctl.data_size)) {
- ec_soe_request_clear(&request.req);
+ data = kmalloc(ioctl.data_size, GFP_KERNEL);
+ if (!data) {
+ EC_MASTER_ERR(master, "Failed to allocate %u bytes of IDN data.\n",
+ ioctl.data_size);
return -ENOMEM;
}
- if (copy_from_user(request.req.data,
- (void __user *) ioctl.data, ioctl.data_size)) {
- ec_soe_request_clear(&request.req);
- return -EFAULT;
- }
- request.req.data_size = ioctl.data_size;
- ec_soe_request_write(&request.req);
-
- if (down_interruptible(&master->master_sem))
- return -EINTR;
-
- if (!(request.slave = ec_master_find_slave(
- master, 0, ioctl.slave_position))) {
- up(&master->master_sem);
- EC_MASTER_ERR(master, "Slave %u does not exist!\n",
- ioctl.slave_position);
- ec_soe_request_clear(&request.req);
- return -EINVAL;
- }
-
- EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
-
- // schedule SoE write request.
- list_add_tail(&request.list, &request.slave->soe_requests);
-
- up(&master->master_sem);
-
- // wait for processing through FSM
- if (wait_event_interruptible(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_QUEUED)) {
- // interrupted by signal
- down(&master->master_sem);
- if (request.req.state == EC_INT_REQUEST_QUEUED) {
- // abort request
- list_del(&request.list);
- up(&master->master_sem);
- ec_soe_request_clear(&request.req);
- return -EINTR;
- }
- up(&master->master_sem);
- }
-
- // wait until master FSM has finished processing
- wait_event(request.slave->soe_queue,
- request.req.state != EC_INT_REQUEST_BUSY);
-
- ioctl.error_code = request.req.error_code;
- retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+ if (copy_from_user(data, (void __user *) ioctl.data, ioctl.data_size)) {
+ kfree(data);
+ return -EFAULT;
+ }
+
+ retval = ecrt_master_write_idn(master, ioctl.slave_position,
+ ioctl.drive_no, ioctl.idn, data, ioctl.data_size,
+ &ioctl.error_code);
+ kfree(data);
+ if (retval) {
+ return retval;
+ }
if (__copy_to_user((void __user *) arg, &ioctl, sizeof(ioctl))) {
retval = -EFAULT;
}
- ec_soe_request_clear(&request.req);
-
- EC_SLAVE_DBG(request.slave, 1, "Finished SoE write request.\n");
-
+ EC_MASTER_DBG(master, 1, "Finished SoE write request.\n");
return retval;
}
--- a/master/device.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/device.c Thu Sep 16 10:16:12 2010 +0200
@@ -315,7 +315,7 @@
u32 tx_frame_rate =
(u32) (device->tx_count - device->last_tx_count) * 1000;
u32 tx_byte_rate =
- (device->tx_bytes - device->last_tx_bytes) * 1000;
+ (device->tx_bytes - device->last_tx_bytes);
u64 loss = device->tx_count - device->rx_count;
s32 loss_rate = (s32) (loss - device->last_loss) * 1000;
for (i = 0; i < EC_RATE_COUNT; i++) {
--- a/master/fsm_coe.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/fsm_coe.c Thu Sep 16 10:16:12 2010 +0200
@@ -1103,6 +1103,7 @@
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
+ request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1110,6 +1111,7 @@
if (slave->configured_rx_mailbox_size <
EC_MBOX_HEADER_SIZE + EC_COE_DOWN_REQ_HEADER_SIZE) {
EC_SLAVE_ERR(slave, "Mailbox too small!\n");
+ request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1118,6 +1120,7 @@
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
EC_COE_DOWN_REQ_HEADER_SIZE);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1159,6 +1162,7 @@
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1212,6 +1216,7 @@
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" request datagram: ");
@@ -1233,6 +1238,7 @@
return;
}
}
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download request"
" for SDO 0x%04x:%x failed with timeout after %lu ms: ",
@@ -1268,6 +1274,7 @@
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -1276,6 +1283,7 @@
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1287,6 +1295,7 @@
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting"
" for SDO 0x%04x:%x download response.\n", diff_ms,
@@ -1343,6 +1352,7 @@
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03,
data_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1389,6 +1399,7 @@
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download"
" response datagram: ");
@@ -1397,6 +1408,7 @@
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1405,11 +1417,13 @@
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1430,6 +1444,7 @@
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1440,6 +1455,7 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1497,6 +1513,7 @@
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1504,6 +1521,7 @@
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox segment check"
" datagram failed: ");
@@ -1515,6 +1533,7 @@
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO download"
" segment response.\n");
@@ -1553,6 +1572,7 @@
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE download response"
" datagram: ");
@@ -1561,6 +1581,7 @@
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE download response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1569,11 +1590,13 @@
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
@@ -1594,6 +1617,7 @@
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received data are too small (%zu bytes):\n",
rec_size);
@@ -1604,6 +1628,7 @@
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
if (request->complete_access) {
subidxstr[0] = 0x00;
@@ -1640,6 +1665,7 @@
EC_SLAVE_ERR(slave, "Invalid toggle received during"
" segmented download:\n");
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1671,12 +1697,14 @@
if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
EC_SLAVE_ERR(slave, "Slave does not support CoE!\n");
+ request->errno = EPROTONOSUPPORT;
fsm->state = ec_fsm_coe_error;
return;
}
data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1714,6 +1742,7 @@
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload request: ");
ec_datagram_print_state(datagram);
@@ -1734,6 +1763,7 @@
return;
}
}
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload request for"
" SDO 0x%04x:%x failed with timeout after %lu ms: ",
@@ -1771,6 +1801,7 @@
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check datagram: ");
ec_datagram_print_state(datagram);
@@ -1778,6 +1809,7 @@
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check"
" datagram failed: ");
@@ -1789,6 +1821,7 @@
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout after %lu ms while waiting for"
" SDO 0x%04x:%x upload response.\n", diff_ms,
@@ -1818,6 +1851,7 @@
uint8_t *data =
ec_slave_mbox_prepare_send(fsm->slave, fsm->datagram, 0x03, 10);
if (IS_ERR(data)) {
+ fsm->request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1850,11 +1884,13 @@
size_t rec_size, data_size;
ec_sdo_request_t *request = fsm->request;
unsigned int expedited, size_specified;
+ int ret;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload response"
" datagram: ");
@@ -1863,6 +1899,7 @@
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload response failed: ");
ec_datagram_print_wc_error(datagram);
@@ -1871,6 +1908,7 @@
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1881,6 +1919,7 @@
}
if (mbox_prot != 0x03) { // CoE
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_WARN(slave, "Received mailbox protocol 0x%02X"
" as response.\n", mbox_prot);
@@ -1896,6 +1935,7 @@
}
if (rec_size < 6) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO upload response"
" (%zu bytes)!\n", rec_size);
@@ -1913,6 +1953,7 @@
} else {
EC_SLAVE_ERR(slave, "No abort message.\n");
}
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1923,6 +1964,7 @@
" uploading SDO 0x%04X:%02X.\n",
request->index, request->subindex);
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1955,6 +1997,7 @@
}
if (rec_size < 6 + fsm->complete_size) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received corrupted SDO expedited upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1962,12 +2005,15 @@
return;
}
- if (ec_sdo_request_copy_data(request, data + 6, fsm->complete_size)) {
+ ret = ec_sdo_request_copy_data(request, data + 6, fsm->complete_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
} else { // normal
if (rec_size < 10) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Received currupted SDO normal upload"
" response (only %zu bytes)!\n", rec_size);
@@ -1979,18 +2025,23 @@
fsm->complete_size = EC_READ_U32(data + 6);
if (!fsm->complete_size) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "No complete size supplied!\n");
ec_print_data(data, rec_size);
return;
}
- if (ec_sdo_request_alloc(request, fsm->complete_size)) {
+ ret = ec_sdo_request_alloc(request, fsm->complete_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
- if (ec_sdo_request_copy_data(request, data + 10, data_size)) {
+ ret = ec_sdo_request_copy_data(request, data + 10, data_size);
+ if (ret) {
+ request->errno = -ret;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2031,6 +2082,7 @@
return; // FIXME: check for response first?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" request datagram: ");
@@ -2039,6 +2091,7 @@
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" request failed: ");
@@ -2068,6 +2121,7 @@
return;
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE mailbox check"
" datagram: ");
@@ -2076,6 +2130,7 @@
}
if (datagram->working_counter != 1) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE mailbox check datagram"
" failed: ");
@@ -2087,6 +2142,7 @@
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
if (diff_ms >= fsm->request->response_timeout) {
+ fsm->request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Timeout while waiting for SDO upload"
" segment response.\n");
@@ -2125,6 +2181,7 @@
return; // FIXME: request again?
if (datagram->state != EC_DATAGRAM_RECEIVED) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Failed to receive CoE upload segment"
" response datagram: ");
@@ -2133,6 +2190,7 @@
}
if (datagram->working_counter != 1) {
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
EC_SLAVE_ERR(slave, "Reception of CoE upload segment"
" response failed: ");
@@ -2142,6 +2200,7 @@
data = ec_slave_mbox_fetch(slave, datagram, &mbox_prot, &rec_size);
if (IS_ERR(data)) {
+ request->errno = PTR_ERR(data);
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2154,6 +2213,7 @@
if (mbox_prot != 0x03) { // CoE
EC_SLAVE_ERR(slave, "Received mailbox protocol 0x%02X as response.\n",
mbox_prot);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2170,6 +2230,7 @@
EC_SLAVE_ERR(slave, "Received currupted SDO upload"
" segment response!\n");
ec_print_data(data, rec_size);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2180,6 +2241,7 @@
request->index, request->subindex);
request->abort_code = EC_READ_U32(data + 6);
ec_canopen_abort_msg(slave, request->abort_code);
+ request->errno = EIO;
fsm->state = ec_fsm_coe_error;
return;
}
@@ -2208,6 +2270,7 @@
EC_SLAVE_ERR(slave, "SDO upload 0x%04X:%02X failed: Fragment"
" exceeding complete size!\n",
request->index, request->subindex);
+ request->errno = EOVERFLOW;
fsm->state = ec_fsm_coe_error;
return;
}
--- a/master/fsm_sii.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/fsm_sii.c Thu Sep 16 10:16:12 2010 +0200
@@ -277,7 +277,8 @@
#endif
if (EC_READ_U8(datagram->data + 1) & 0x20) {
- EC_SLAVE_ERR(fsm->slave, "SII: Error on last SII command!\n");
+ EC_SLAVE_ERR(fsm->slave, "Error on last command while"
+ " reading from SII word 0x%04x.\n", fsm->word_offset);
fsm->state = ec_fsm_sii_state_error;
return;
}
--- a/master/fsm_slave_scan.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/fsm_slave_scan.c Thu Sep 16 10:16:12 2010 +0200
@@ -498,12 +498,14 @@
ec_slave_t *slave = fsm->slave;
uint16_t cat_type, cat_size;
- if (ec_fsm_sii_exec(&fsm->fsm_sii)) return;
+ if (ec_fsm_sii_exec(&fsm->fsm_sii))
+ return;
if (!ec_fsm_sii_success(&fsm->fsm_sii)) {
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_scan_state_error;
- EC_SLAVE_ERR(slave, "Failed to read SII size.\n");
+ EC_SLAVE_ERR(slave, "Failed to determine SII content size:"
+ " Reading word offset 0x%04x failed.\n", fsm->sii_offset);
return;
}
--- a/master/fsm_soe.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/fsm_soe.c Thu Sep 16 10:16:12 2010 +0200
@@ -201,7 +201,8 @@
ec_soe_request_t *request = fsm->request;
uint8_t *data;
- EC_SLAVE_DBG(slave, 1, "Reading IDN 0x%04X.\n", request->idn);
+ EC_SLAVE_DBG(slave, 1, "Reading IDN 0x%04X of drive %u.\n", request->idn,
+ request->drive_no);
if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_SLAVE_ERR(slave, "Slave does not support SoE!\n");
@@ -218,7 +219,7 @@
return;
}
- EC_WRITE_U8(data, OPCODE_READ_REQUEST);
+ EC_WRITE_U8(data, OPCODE_READ_REQUEST | (request->drive_no & 0x07) << 5);
EC_WRITE_U8(data + 1, 1 << 6); // request value
EC_WRITE_U16(data + 2, request->idn);
@@ -492,7 +493,8 @@
return;
}
- EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3);
+ EC_WRITE_U8(data, OPCODE_WRITE_REQUEST | incomplete << 3 |
+ (req->drive_no & 0x07) << 5);
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);
@@ -517,8 +519,8 @@
ec_slave_t *slave = fsm->slave;
ec_soe_request_t *req = fsm->request;
- EC_SLAVE_DBG(slave, 1, "Writing IDN 0x%04X (%zu byte).\n",
- req->idn, req->data_size);
+ EC_SLAVE_DBG(slave, 1, "Writing IDN 0x%04X of drive %u (%zu byte).\n",
+ req->idn, req->drive_no, req->data_size);
if (!(slave->sii.mailbox_protocols & EC_MBOX_SOE)) {
EC_SLAVE_ERR(slave, "Slave does not support SoE!\n");
--- a/master/ioctl.h Thu Sep 16 09:08:11 2010 +0200
+++ b/master/ioctl.h Thu Sep 16 10:16:12 2010 +0200
@@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
-#define EC_IOCTL_VERSION_MAGIC 7
+#define EC_IOCTL_VERSION_MAGIC 8
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@@ -414,6 +414,7 @@
typedef struct {
// inputs
uint16_t slave_position;
+ uint8_t drive_no;
uint16_t idn;
uint32_t mem_size;
uint8_t *data;
@@ -428,6 +429,7 @@
typedef struct {
// inputs
uint16_t slave_position;
+ uint8_t drive_no;
uint16_t idn;
uint32_t data_size;
uint8_t *data;
@@ -583,6 +585,7 @@
typedef struct {
// inputs
uint32_t config_index;
+ uint8_t drive_no;
uint16_t idn;
ec_al_state_t al_state;
const uint8_t *data;
--- a/master/master.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/master.c Thu Sep 16 10:16:12 2010 +0200
@@ -2344,6 +2344,163 @@
/*****************************************************************************/
+int ecrt_master_write_idn(ec_master_t *master, uint16_t slave_position,
+ uint8_t drive_no, uint16_t idn, uint8_t *data, size_t data_size,
+ uint16_t *error_code)
+{
+ ec_master_soe_request_t request;
+ int retval;
+
+ if (drive_no > 7) {
+ EC_MASTER_ERR(master, "Invalid drive number!\n");
+ return -EINVAL;
+ }
+
+ INIT_LIST_HEAD(&request.list);
+ ec_soe_request_init(&request.req);
+ ec_soe_request_set_drive_no(&request.req, drive_no);
+ ec_soe_request_set_idn(&request.req, idn);
+
+ if (ec_soe_request_alloc(&request.req, data_size)) {
+ ec_soe_request_clear(&request.req);
+ return -ENOMEM;
+ }
+
+ memcpy(request.req.data, data, data_size);
+ request.req.data_size = data_size;
+ ec_soe_request_write(&request.req);
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(request.slave = ec_master_find_slave(
+ master, 0, slave_position))) {
+ up(&master->master_sem);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n",
+ slave_position);
+ ec_soe_request_clear(&request.req);
+ return -EINVAL;
+ }
+
+ EC_SLAVE_DBG(request.slave, 1, "Scheduling SoE write request.\n");
+
+ // schedule SoE write request.
+ list_add_tail(&request.list, &request.slave->soe_requests);
+
+ up(&master->master_sem);
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(request.slave->soe_queue,
+ request.req.state != EC_INT_REQUEST_QUEUED)) {
+ // interrupted by signal
+ down(&master->master_sem);
+ if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ // abort request
+ list_del(&request.list);
+ up(&master->master_sem);
+ ec_soe_request_clear(&request.req);
+ return -EINTR;
+ }
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(request.slave->soe_queue,
+ request.req.state != EC_INT_REQUEST_BUSY);
+
+ if (error_code) {
+ *error_code = request.req.error_code;
+ }
+ retval = request.req.state == EC_INT_REQUEST_SUCCESS ? 0 : -EIO;
+ ec_soe_request_clear(&request.req);
+
+ return retval;
+}
+
+/*****************************************************************************/
+
+int ecrt_master_read_idn(ec_master_t *master, uint16_t slave_position,
+ uint8_t drive_no, uint16_t idn, uint8_t *target, size_t target_size,
+ size_t *result_size, uint16_t *error_code)
+{
+ ec_master_soe_request_t request;
+
+ if (drive_no > 7) {
+ EC_MASTER_ERR(master, "Invalid drive number!\n");
+ return -EINVAL;
+ }
+
+ INIT_LIST_HEAD(&request.list);
+ ec_soe_request_init(&request.req);
+ ec_soe_request_set_drive_no(&request.req, drive_no);
+ ec_soe_request_set_idn(&request.req, idn);
+ ec_soe_request_read(&request.req);
+
+ if (down_interruptible(&master->master_sem))
+ return -EINTR;
+
+ if (!(request.slave = ec_master_find_slave(master, 0, slave_position))) {
+ up(&master->master_sem);
+ ec_soe_request_clear(&request.req);
+ EC_MASTER_ERR(master, "Slave %u does not exist!\n", slave_position);
+ return -EINVAL;
+ }
+
+ // schedule request.
+ list_add_tail(&request.list, &request.slave->soe_requests);
+
+ up(&master->master_sem);
+
+ EC_SLAVE_DBG(request.slave, 1, "Scheduled SoE read request.\n");
+
+ // wait for processing through FSM
+ if (wait_event_interruptible(request.slave->soe_queue,
+ request.req.state != EC_INT_REQUEST_QUEUED)) {
+ // interrupted by signal
+ down(&master->master_sem);
+ if (request.req.state == EC_INT_REQUEST_QUEUED) {
+ list_del(&request.list);
+ up(&master->master_sem);
+ ec_soe_request_clear(&request.req);
+ return -EINTR;
+ }
+ // request already processing: interrupt not possible.
+ up(&master->master_sem);
+ }
+
+ // wait until master FSM has finished processing
+ wait_event(request.slave->soe_queue,
+ request.req.state != EC_INT_REQUEST_BUSY);
+
+ if (error_code) {
+ *error_code = request.req.error_code;
+ }
+
+ EC_SLAVE_DBG(request.slave, 1, "Read %zd bytes via SoE.\n",
+ request.req.data_size);
+
+ if (request.req.state != EC_INT_REQUEST_SUCCESS) {
+ if (result_size) {
+ *result_size = 0;
+ }
+ ec_soe_request_clear(&request.req);
+ return -EIO;
+ } else {
+ if (request.req.data_size > target_size) {
+ EC_MASTER_ERR(master, "Buffer too small.\n");
+ ec_soe_request_clear(&request.req);
+ return -EOVERFLOW;
+ }
+ if (result_size) {
+ *result_size = request.req.data_size;
+ }
+ memcpy(target, request.req.data, request.req.data_size);
+ return 0;
+ }
+}
+
+/*****************************************************************************/
+
/** \cond */
EXPORT_SYMBOL(ecrt_master_create_domain);
@@ -2362,6 +2519,8 @@
EXPORT_SYMBOL(ecrt_master_sync_slave_clocks);
EXPORT_SYMBOL(ecrt_master_sync_monitor_queue);
EXPORT_SYMBOL(ecrt_master_sync_monitor_process);
+EXPORT_SYMBOL(ecrt_master_write_idn);
+EXPORT_SYMBOL(ecrt_master_read_idn);
/** \endcond */
--- a/master/sdo_request.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/sdo_request.c Thu Sep 16 10:16:12 2010 +0200
@@ -64,6 +64,7 @@
req->issue_timeout = 0; // no timeout
req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_INT_REQUEST_INIT;
+ req->errno = 0;
req->abort_code = 0x00000000;
}
@@ -226,6 +227,7 @@
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
+ req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
@@ -236,6 +238,7 @@
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;
+ req->errno = 0;
req->abort_code = 0x00000000;
req->jiffies_start = jiffies;
}
--- a/master/sdo_request.h Thu Sep 16 09:08:11 2010 +0200
+++ b/master/sdo_request.h Thu Sep 16 10:16:12 2010 +0200
@@ -64,6 +64,7 @@
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
+ int errno; /**< Error number. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};
--- a/master/slave_config.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/slave_config.c Thu Sep 16 10:16:12 2010 +0200
@@ -938,16 +938,22 @@
/*****************************************************************************/
-int ecrt_slave_config_idn(ec_slave_config_t *sc, uint16_t idn,
- ec_al_state_t state, const uint8_t *data, size_t size)
+int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
+ uint16_t idn, ec_al_state_t state, const uint8_t *data,
+ size_t size)
{
ec_slave_t *slave = sc->slave;
ec_soe_request_t *req;
int ret;
- EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, idn = 0x%04X, state = %u, "
- "data = 0x%p, size = %zu)\n",
- __func__, sc, idn, state, data, size);
+ EC_CONFIG_DBG(sc, 1, "%s(sc = 0x%p, drive_no = %u, idn = 0x%04X, "
+ "state = %u, data = 0x%p, size = %zu)\n",
+ __func__, sc, drive_no, idn, state, data, size);
+
+ if (drive_no > 7) {
+ EC_CONFIG_ERR(sc, "Invalid drive number!\n");
+ return -EINVAL;
+ }
if (state != EC_AL_STATE_PREOP && state != EC_AL_STATE_SAFEOP) {
EC_CONFIG_ERR(sc, "AL state for IDN config"
@@ -967,6 +973,7 @@
}
ec_soe_request_init(req);
+ ec_soe_request_set_drive_no(req, drive_no);
ec_soe_request_set_idn(req, idn);
req->al_state = state;
--- a/master/soe_request.c Thu Sep 16 09:08:11 2010 +0200
+++ b/master/soe_request.c Thu Sep 16 10:16:12 2010 +0200
@@ -56,6 +56,8 @@
ec_soe_request_t *req /**< SoE request. */
)
{
+ req->drive_no = 0x00;
+ req->idn = 0x0000;
req->al_state = EC_AL_STATE_INIT;
req->data = NULL;
req->mem_size = 0;
@@ -86,6 +88,7 @@
const ec_soe_request_t *other /**< Other SoE request to copy from. */
)
{
+ req->drive_no = other->drive_no;
req->idn = other->idn;
req->al_state = other->al_state;
return ec_soe_request_copy_data(req, other->data, other->data_size);
@@ -93,6 +96,18 @@
/*****************************************************************************/
+/** Set drive number.
+ */
+void ec_soe_request_set_drive_no(
+ ec_soe_request_t *req, /**< SoE request. */
+ uint8_t drive_no /** Drive Number. */
+ )
+{
+ req->drive_no = drive_no;
+}
+
+/*****************************************************************************/
+
/** Set IDN.
*/
void ec_soe_request_set_idn(
--- a/master/soe_request.h Thu Sep 16 09:08:11 2010 +0200
+++ b/master/soe_request.h Thu Sep 16 10:16:12 2010 +0200
@@ -47,6 +47,7 @@
*/
typedef struct {
struct list_head list; /**< List item. */
+ uint8_t drive_no; /**< Drive number. */
uint16_t idn; /**< Sercos ID-Number. */
ec_al_state_t al_state; /**< AL state (only valid for IDN config). */
uint8_t *data; /**< Pointer to SDO data. */
@@ -66,6 +67,7 @@
void ec_soe_request_clear(ec_soe_request_t *);
int ec_soe_request_copy(ec_soe_request_t *, const ec_soe_request_t *);
+void ec_soe_request_set_drive_no(ec_soe_request_t *, uint8_t);
void ec_soe_request_set_idn(ec_soe_request_t *, uint16_t);
int ec_soe_request_alloc(ec_soe_request_t *, size_t);
int ec_soe_request_copy_data(ec_soe_request_t *, const uint8_t *, size_t);
--- a/tool/CommandCStruct.cpp Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandCStruct.cpp Thu Sep 16 10:16:12 2010 +0200
@@ -117,7 +117,7 @@
for (i = 0; i < slave.sync_count; i++) {
m.getSync(&sync, slave.position, i);
- syncs << " {" << dec << sync.sync_index
+ syncs << " {" << dec << sync.sync_index
<< ", " << (EC_READ_BIT(&sync.control_register, 2) ?
"EC_DIR_OUTPUT" : "EC_DIR_INPUT")
<< ", " << dec << (unsigned int) sync.pdo_count
@@ -136,7 +136,7 @@
for (j = 0; j < sync.pdo_count; j++) {
m.getPdo(&pdo, slave.position, i, j);
- pdos << " {0x" << hex << setfill('0')
+ pdos << " {0x" << hex << setfill('0')
<< setw(4) << pdo.index
<< ", " << dec << (unsigned int) pdo.entry_count
<< ", ";
@@ -155,7 +155,7 @@
for (k = 0; k < pdo.entry_count; k++) {
m.getPdoEntry(&entry, slave.position, i, j, k);
- entries << " {0x" << hex << setfill('0')
+ entries << " {0x" << hex << setfill('0')
<< setw(4) << entry.index
<< ", 0x" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
@@ -201,6 +201,7 @@
cout << "ec_sync_info_t " << id.str() << "syncs[] = {" << endl
<< syncs.str()
+ << " {0xff}" << endl
<< "};" << endl
<< endl;
}
--- a/tool/CommandDomains.cpp Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandDomains.cpp Thu Sep 16 10:16:12 2010 +0200
@@ -71,7 +71,7 @@
<< endl
<< " SlaveConfig 1001:0, SM3 ( Input), LogAddr 0x00000006, Size 6"
<< endl
- << " 0x00 0x00 0x00 0x00 0x00 0x00" << endl
+ << " 00 00 00 00 00 00" << endl
<< endl
<< "The process data are displayed as hexadecimal bytes." << endl
<< endl
@@ -185,7 +185,7 @@
for (j = 0; j < fmmu.data_size; j++) {
if (j && !(j % BreakAfterBytes))
cout << endl << indent << " ";
- cout << "0x" << setw(2)
+ cout << setw(2)
<< (unsigned int) *(processData + dataOffset + j) << " ";
}
cout << endl;
--- a/tool/CommandMaster.cpp Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandMaster.cpp Thu Sep 16 10:16:12 2010 +0200
@@ -149,8 +149,8 @@
<< " Tx frame rate [1/s]: "
<< setfill(' ') << setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
- cout <<
- setw(5) << data.devices[i].tx_frame_rates[j] / 1000.0;
+ cout << setw(ColWidth)
+ << data.devices[i].tx_frame_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -159,8 +159,8 @@
<< " Tx rate [KByte/s]: "
<< setprecision(1) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
- cout << setw(5)
- << data.devices[i].tx_byte_rates[j] / 1024000.0;
+ cout << setw(ColWidth)
+ << data.devices[i].tx_byte_rates[j] / 1024.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -169,7 +169,8 @@
<< " Loss rate [1/s]: "
<< setprecision(0) << fixed;
for (j = 0; j < EC_RATE_COUNT; j++) {
- cout << setw(5) << data.devices[i].loss_rates[j] / 1000.0;
+ cout << setw(ColWidth)
+ << data.devices[i].loss_rates[j] / 1000.0;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
@@ -183,7 +184,7 @@
perc = 100.0 * data.devices[i].loss_rates[j] /
data.devices[i].tx_frame_rates[j];
}
- cout << setw(5) << perc;
+ cout << setw(ColWidth) << perc;
if (j < EC_RATE_COUNT - 1) {
cout << " ";
}
--- a/tool/CommandMaster.h Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandMaster.h Thu Sep 16 10:16:12 2010 +0200
@@ -42,6 +42,9 @@
string helpString() const;
void execute(const StringVector &);
+
+ private:
+ enum {ColWidth = 6};
};
/****************************************************************************/
--- a/tool/CommandSoeRead.cpp Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandSoeRead.cpp Thu Sep 16 10:16:12 2010 +0200
@@ -90,6 +90,8 @@
throwInvalidUsageException(err);
}
+ ioctl.drive_no = 0; // FIXME
+
try {
ioctl.idn = parseIdn(args[0]);
} catch (runtime_error &e) {
--- a/tool/CommandSoeWrite.cpp Thu Sep 16 09:08:11 2010 +0200
+++ b/tool/CommandSoeWrite.cpp Thu Sep 16 10:16:12 2010 +0200
@@ -92,6 +92,8 @@
throwInvalidUsageException(err);
}
+ ioctl.drive_no = 0; // FIXME
+
try {
ioctl.idn = parseIdn(args[0]);
} catch (runtime_error &e) {