--- a/NEWS Mon Sep 29 10:17:33 2008 +0000
+++ b/NEWS Tue Sep 30 07:34:55 2008 +0000
@@ -7,6 +7,8 @@
Changes since 1.4.0:
* Added VoE protocol support.
+* Separated datagram initialization from filling the payload with zeros.
+ Introduced new method ec_datagram_zero() for that.
* Added phy_read and phy_write commands to ethercat tool.
Changes in version 1.4.0-rc2:
--- a/master/datagram.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/datagram.c Tue Sep 30 07:34:55 2008 +0000
@@ -56,7 +56,6 @@
#define EC_FUNC_FOOTER \
datagram->data_size = data_size; \
- memset(datagram->data, 0x00, data_size); \
return 0;
/** \endcond */
@@ -161,6 +160,15 @@
/*****************************************************************************/
+/** Fills the datagram payload memory with zeros.
+ */
+void ec_datagram_zero(ec_datagram_t *datagram /**< EtherCAT datagram. */)
+{
+ memset(datagram->data, 0x00, datagram->data_size);
+}
+
+/*****************************************************************************/
+
/** Initializes an EtherCAT APRD datagram.
*
* \return 0 in case of success, else < 0
--- a/master/datagram.h Mon Sep 29 10:17:33 2008 +0000
+++ b/master/datagram.h Tue Sep 30 07:34:55 2008 +0000
@@ -125,6 +125,7 @@
void ec_datagram_init(ec_datagram_t *);
void ec_datagram_clear(ec_datagram_t *);
int ec_datagram_prealloc(ec_datagram_t *, size_t);
+void ec_datagram_zero(ec_datagram_t *);
int ec_datagram_aprd(ec_datagram_t *, uint16_t, uint16_t, size_t);
int ec_datagram_apwr(ec_datagram_t *, uint16_t, uint16_t, size_t);
--- a/master/domain.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/domain.c Tue Sep 30 07:34:55 2008 +0000
@@ -177,6 +177,7 @@
domain->expected_working_counter = used[EC_DIR_INPUT];
}
+ ec_datagram_zero(datagram);
list_add_tail(&datagram->list, &domain->datagrams);
return 0;
}
--- a/master/fsm_change.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/fsm_change.c Tue Sep 30 07:34:55 2008 +0000
@@ -223,6 +223,7 @@
// read AL status from slave
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->spontaneous_change = 0;
fsm->state = ec_fsm_change_state_status;
@@ -299,6 +300,7 @@
req_state, slave->ring_position, cur_state);
// fetch AL status error code
ec_datagram_fprd(datagram, slave->station_address, 0x0134, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_code;
return;
@@ -319,6 +321,7 @@
check_again:
// no timeout yet. check again
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
}
@@ -457,6 +460,7 @@
// read new AL status
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_change_state_check_ack;
}
@@ -525,6 +529,7 @@
// reread new AL status
ec_datagram_fprd(datagram, slave->station_address, 0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
}
--- a/master/fsm_master.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/fsm_master.c Tue Sep 30 07:34:55 2008 +0000
@@ -165,6 +165,7 @@
{
fsm->idle = 1;
ec_datagram_brd(fsm->datagram, 0x0130, 2);
+ ec_datagram_zero(fsm->datagram);
fsm->state = ec_fsm_master_state_broadcast;
}
@@ -276,6 +277,7 @@
fsm->slave = master->slaves;
ec_datagram_fprd(fsm->datagram, fsm->slave->station_address,
0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
} else {
@@ -356,6 +358,7 @@
if (request->dir == EC_DIR_INPUT) {
ec_datagram_fprd(fsm->datagram, request->slave->station_address,
request->offset, request->length);
+ ec_datagram_zero(fsm->datagram);
} else {
if (request->length > fsm->datagram->mem_size) {
EC_ERR("Request length (%u) exceeds maximum datagram size (%u)!\n",
@@ -541,6 +544,7 @@
fsm->idle = 1;
ec_datagram_fprd(fsm->datagram,
fsm->slave->station_address, 0x0130, 2);
+ ec_datagram_zero(fsm->datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_master_state_read_state;
return;
--- a/master/fsm_sii.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/fsm_sii.c Tue Sep 30 07:34:55 2008 +0000
@@ -241,6 +241,7 @@
break;
}
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_read_fetch;
}
@@ -381,6 +382,7 @@
// issue check datagram
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x502, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_sii_state_write_check2;
}
--- a/master/fsm_slave_config.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/fsm_slave_config.c Tue Sep 30 07:34:55 2008 +0000
@@ -218,7 +218,7 @@
// clear FMMU configurations
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_config_state_clear_fmmus;
}
@@ -295,8 +295,7 @@
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);
- memset(datagram->data, 0x00,
- EC_SYNC_PAGE_SIZE * slave->sii.sync_count);
+ ec_datagram_zero(datagram);
for (i = 0; i < 2; i++) {
ec_sync_page(&slave->sii.syncs[i], i,
@@ -314,7 +313,7 @@
ec_datagram_fpwr(datagram, slave->station_address, 0x0800,
EC_SYNC_PAGE_SIZE * 2);
- memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * 2);
+ ec_datagram_zero(datagram);
ec_sync_init(&sync, slave);
sync.physical_start_address = slave->sii.rx_mailbox_offset;
@@ -553,7 +552,7 @@
ec_datagram_fpwr(datagram, slave->station_address,
0x0800 + EC_SYNC_PAGE_SIZE * offset,
EC_SYNC_PAGE_SIZE * num_pdo_syncs);
- memset(datagram->data, 0x00, EC_SYNC_PAGE_SIZE * num_pdo_syncs);
+ ec_datagram_zero(datagram);
for (i = 0; i < num_pdo_syncs; i++) {
sync_index = i + offset;
@@ -633,7 +632,7 @@
// configure FMMUs
ec_datagram_fpwr(datagram, slave->station_address,
0x0600, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
- memset(datagram->data, 0x00, EC_FMMU_PAGE_SIZE * slave->base_fmmu_count);
+ ec_datagram_zero(datagram);
for (i = 0; i < slave->config->used_fmmus; i++) {
fmmu = &slave->config->fmmu_configs[i];
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
--- a/master/fsm_slave_scan.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/fsm_slave_scan.c Tue Sep 30 07:34:55 2008 +0000
@@ -203,6 +203,7 @@
// Read AL state
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0130, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_state;
}
@@ -250,6 +251,7 @@
// read base data
ec_datagram_fprd(datagram, fsm->slave->station_address, 0x0000, 6);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_base;
}
@@ -299,6 +301,7 @@
// read data link status
ec_datagram_fprd(datagram, slave->station_address, 0x0110, 2);
+ ec_datagram_zero(datagram);
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_slave_scan_state_datalink;
}
--- a/master/mailbox.c Mon Sep 29 10:17:33 2008 +0000
+++ b/master/mailbox.c Tue Sep 30 07:34:55 2008 +0000
@@ -100,6 +100,7 @@
if (ec_datagram_fprd(datagram, slave->station_address, 0x808, 8))
return -1;
+ ec_datagram_zero(datagram);
return 0;
}
@@ -128,7 +129,10 @@
{
if (ec_datagram_fprd(datagram, slave->station_address,
slave->sii.tx_mailbox_offset,
- slave->sii.tx_mailbox_size)) return -1;
+ slave->sii.tx_mailbox_size))
+ return -1;
+
+ ec_datagram_zero(datagram);
return 0;
}