Fixed mailbox bug, added mailbox error codes.
--- a/master/ethernet.c Wed Oct 11 12:35:10 2006 +0000
+++ b/master/ethernet.c Thu Oct 12 13:49:01 2006 +0000
@@ -362,7 +362,7 @@
void ec_eoe_state_rx_fetch(ec_eoe_t *eoe /**< EoE handler */)
{
size_t rec_size, data_size;
- uint8_t *data, frame_type, last_fragment, time_appended;
+ uint8_t *data, frame_type, last_fragment, time_appended, mbox_type;
uint8_t frame_number, fragment_offset, fragment_number;
off_t offset;
#if EOE_DEBUG_LEVEL > 1
@@ -376,7 +376,13 @@
}
if (!(data = ec_slave_mbox_fetch(eoe->slave, &eoe->datagram,
- 0x02, &rec_size))) {
+ &mbox_type, &rec_size))) {
+ eoe->stats.rx_errors++;
+ eoe->state = ec_eoe_state_tx_start;
+ return;
+ }
+
+ if (mbox_type != 0x02) {
eoe->stats.rx_errors++;
eoe->state = ec_eoe_state_tx_start;
return;
--- a/master/fsm.c Wed Oct 11 12:35:10 2006 +0000
+++ b/master/fsm.c Thu Oct 12 13:49:01 2006 +0000
@@ -2064,7 +2064,7 @@
EC_WRITE_U16(data + 3, sdodata->index);
EC_WRITE_U8 (data + 5, sdodata->subindex);
EC_WRITE_U32(data + 6, sdodata->size);
- memcpy(data + 6, sdodata->data, sdodata->size);
+ memcpy(data + 10, sdodata->data, sdodata->size);
ec_master_queue_datagram(fsm->master, datagram);
fsm->coe_state = ec_fsm_coe_down_request;
@@ -2142,7 +2142,7 @@
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
- uint8_t *data;
+ uint8_t *data, mbox_type;
size_t rec_size;
ec_sdo_data_t *sdodata = fsm->sdodata;
@@ -2153,11 +2153,22 @@
return;
}
- if (!(data = ec_slave_mbox_fetch(slave, datagram, 0x03, &rec_size))) {
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_type, &rec_size))) {
fsm->coe_state = ec_fsm_error;
return;
}
+ if (mbox_type != 0x03) {
+ EC_WARN("Received mailbox protocol 0x%02X as a response."
+ " Trying again.\n", mbox_type);
+ fsm->coe_start = get_cycles();
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_down_check;
+ return;
+ }
+
if (rec_size < 6) {
fsm->coe_state = ec_fsm_error;
EC_ERR("Received data is too small (%i bytes):\n", rec_size);
--- a/master/mailbox.c Wed Oct 11 12:35:10 2006 +0000
+++ b/master/mailbox.c Thu Oct 12 13:49:01 2006 +0000
@@ -135,32 +135,63 @@
/*****************************************************************************/
/**
+ Mailbox error codes.
+*/
+
+const ec_code_msg_t mbox_error_messages[] = {
+ {0x00000001, "MBXERR_SYNTAX"},
+ {0x00000002, "MBXERR_UNSUPPORTEDPROTOCOL"},
+ {0x00000003, "MBXERR_INVAILDCHANNEL"},
+ {0x00000004, "MBXERR_SERVICENOTSUPPORTED"},
+ {0x00000005, "MBXERR_INVALIDHEADER"},
+ {0x00000006, "MBXERR_SIZETOOSHORT"},
+ {0x00000007, "MBXERR_NOMOREMEMORY"},
+ {0x00000008, "MBXERR_INVALIDSIZE"},
+ {}
+};
+
+/*****************************************************************************/
+
+/**
Processes received mailbox data.
\return pointer to the received data
*/
uint8_t *ec_slave_mbox_fetch(const ec_slave_t *slave, /**< slave */
ec_datagram_t *datagram, /**< datagram */
- uint8_t type, /**< expected mailbox protocol */
+ uint8_t *type, /**< expected mailbox protocol */
size_t *size /**< size of the received data */
)
{
size_t data_size;
- if ((EC_READ_U8(datagram->data + 5) & 0x0F) != type) {
- EC_ERR("Unexpected mailbox protocol 0x%02X (exp.: 0x%02X) at"
- " slave %i!\n", EC_READ_U8(datagram->data + 5), type,
- slave->ring_position);
+ if ((data_size = EC_READ_U16(datagram->data)) >
+ slave->sii_tx_mailbox_size - 6) {
+ EC_ERR("Corrupt mailbox response detected!\n");
return NULL;
}
- if ((data_size = EC_READ_U16(datagram->data)) >
- slave->sii_tx_mailbox_size - 6) {
- EC_ERR("Currupt mailbox response detected!\n");
+ *type = EC_READ_U8(datagram->data + 5) & 0x0F;
+ *size = data_size;
+
+ if (*type == 0x00) {
+ const ec_code_msg_t *mbox_msg;
+ uint16_t code = EC_READ_U16(datagram->data + 8);
+
+ EC_ERR("Mailbox error response received.\n");
+ for (mbox_msg = mbox_error_messages; mbox_msg->code; mbox_msg++) {
+ if (mbox_msg->code != code) continue;
+ EC_ERR("Error reply code: 0x%04X: \"%s\".\n",
+ mbox_msg->code, mbox_msg->message);
+ break;
+ }
+
+ if (!mbox_msg->code)
+ EC_ERR("Unknown error reply code 0x%04X.\n", code);
+
return NULL;
}
- *size = data_size;
return datagram->data + 6;
}
--- a/master/mailbox.h Wed Oct 11 12:35:10 2006 +0000
+++ b/master/mailbox.h Thu Oct 12 13:49:01 2006 +0000
@@ -51,7 +51,7 @@
int ec_slave_mbox_check(const ec_datagram_t *);
int ec_slave_mbox_prepare_fetch(const ec_slave_t *, ec_datagram_t *);
uint8_t *ec_slave_mbox_fetch(const ec_slave_t *, ec_datagram_t *,
- uint8_t, size_t *);
+ uint8_t *, size_t *);
/*****************************************************************************/