--- a/master/canopen.c Fri Oct 20 13:03:01 2006 +0000
+++ b/master/canopen.c Fri Oct 20 13:05:48 2006 +0000
@@ -41,6 +41,7 @@
#include <linux/module.h>
#include "canopen.h"
+#include "master.h"
/*****************************************************************************/
@@ -50,11 +51,16 @@
void ec_sdo_clear(struct kobject *);
void ec_sdo_entry_clear(struct kobject *);
+void ec_sdo_request_init_read(ec_sdo_request_t *, ec_sdo_t *,
+ ec_sdo_entry_t *);
+void ec_sdo_request_clear(ec_sdo_request_t *);
+
/*****************************************************************************/
/** \cond */
EC_SYSFS_READ_ATTR(info);
+EC_SYSFS_READ_ATTR(value);
static struct attribute *sdo_def_attrs[] = {
&attr_info,
@@ -74,6 +80,7 @@
static struct attribute *sdo_entry_def_attrs[] = {
&attr_info,
+ &attr_value,
NULL,
};
@@ -101,6 +108,7 @@
ec_slave_t *slave /**< parent slave */
)
{
+ sdo->slave = slave;
sdo->index = index;
sdo->object_code = 0x00;
sdo->name = NULL;
@@ -185,6 +193,7 @@
ec_sdo_t *sdo /**< parent SDO */
)
{
+ entry->sdo = sdo;
entry->subindex = subindex;
entry->data_type = 0x0000;
entry->bit_length = 0;
@@ -237,6 +246,76 @@
/*****************************************************************************/
+ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
+ ec_sdo_request_t *request, /**< SDO request */
+ char *buffer /**< target buffer */
+ )
+{
+ off_t off = 0;
+ unsigned int i;
+
+ if (entry->data_type == 0x0002 && entry->bit_length == 8) { // int8
+ off += sprintf(buffer + off, "%i\n", *((int8_t *) request->data));
+ }
+ else if (entry->data_type == 0x0003 && entry->bit_length == 16) { // int16
+ off += sprintf(buffer + off, "%i\n", *((int16_t *) request->data));
+ }
+ else if (entry->data_type == 0x0004 && entry->bit_length == 32) { // int32
+ off += sprintf(buffer + off, "%i\n", *((int32_t *) request->data));
+ }
+ else if (entry->data_type == 0x0005 && entry->bit_length == 8) { // uint8
+ off += sprintf(buffer + off, "%i\n", *((uint8_t *) request->data));
+ }
+ else if (entry->data_type == 0x0006 && entry->bit_length == 16) { // uint16
+ off += sprintf(buffer + off, "%i\n", *((uint16_t *) request->data));
+ }
+ else if (entry->data_type == 0x0007 && entry->bit_length == 32) { // uint32
+ off += sprintf(buffer + off, "%i\n", *((uint32_t *) request->data));
+ }
+ else if (entry->data_type == 0x0009) { // string
+ off += sprintf(buffer + off, "%s\n", request->data);
+ }
+ else {
+ for (i = 0; i < request->size; i++)
+ off += sprintf(buffer + off, "%02X (%c)\n",
+ request->data[i], request->data[i]);
+ }
+
+ return off;
+}
+
+/*****************************************************************************/
+
+ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
+ char *buffer /**< target buffer */
+ )
+{
+ ec_sdo_t *sdo = entry->sdo;
+ ec_master_t *master = sdo->slave->master;
+ off_t off = 0;
+ ec_sdo_request_t request;
+
+ ec_sdo_request_init_read(&request, sdo, entry);
+ list_add_tail(&request.queue, &master->sdo_requests);
+ if (wait_event_interruptible(master->sdo_wait_queue,
+ request.return_code)) {
+ // interrupted by signal
+ list_del_init(&request.queue);
+ }
+
+ if (request.return_code == 1 && request.data) {
+ off += ec_sdo_entry_format_data(entry, &request, buffer);
+ }
+ else if (request.return_code < 0) {
+ off = -EINVAL;
+ }
+
+ ec_sdo_request_clear(&request);
+ return off;
+}
+
+/*****************************************************************************/
+
ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
struct attribute *attr,
char *buffer
@@ -247,84 +326,40 @@
if (attr == &attr_info) {
return ec_sdo_entry_info(entry, buffer);
}
+ else if (attr == &attr_value) {
+ return ec_sdo_entry_read_value(entry, buffer);
+ }
return 0;
}
/*****************************************************************************/
-#if 0
-int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
- uint16_t sdo_index, /**< SDO index */
- uint8_t sdo_subindex, /**< SDO subindex */
- uint8_t *target, /**< memory for value */
- size_t *size /**< target memory size */
- )
-{
- uint8_t *data;
- size_t rec_size, data_size;
- uint32_t complete_size;
- ec_datagram_t datagram;
-
- ec_datagram_init(&datagram);
-
- if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
- goto err;
-
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
- EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
- EC_WRITE_U16(data + 3, sdo_index);
- EC_WRITE_U8 (data + 5, sdo_subindex);
-
- if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
- goto err;
-
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
- sdo_index, sdo_subindex, slave->ring_position);
- ec_canopen_abort_msg(EC_READ_U32(data + 6));
- goto err;
- }
-
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
- EC_READ_U16(data + 3) != sdo_index || // index
- EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
- EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
- EC_ERR("Invalid SDO upload response at slave %i!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- goto err;
- }
-
- if (rec_size < 10) {
- EC_ERR("Received currupted SDO upload response!\n");
- ec_print_data(data, rec_size);
- goto err;
- }
-
- if ((complete_size = EC_READ_U32(data + 6)) > *size) {
- EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
- complete_size, *size);
- goto err;
- }
-
- data_size = rec_size - 10;
-
- if (data_size != complete_size) {
- EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
- goto err;
- }
-
- memcpy(target, data + 10, data_size);
-
- ec_datagram_clear(&datagram);
- return 0;
- err:
- ec_datagram_clear(&datagram);
- return -1;
-}
-#endif
-
-/*****************************************************************************/
+/**
+ SDO request constructor.
+*/
+
+void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
+ ec_sdo_t *sdo, /**< SDO */
+ ec_sdo_entry_t *entry /**< SDO entry */
+ )
+{
+ req->sdo = sdo;
+ req->entry = entry;
+ req->data = NULL;
+ req->size = 0;
+ req->return_code = 0;
+}
+
+/*****************************************************************************/
+
+/**
+ SDO request destructor.
+*/
+
+void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
+{
+ if (req->data) kfree(req->data);
+}
+
+/*****************************************************************************/
--- a/master/canopen.h Fri Oct 20 13:03:01 2006 +0000
+++ b/master/canopen.h Fri Oct 20 13:05:48 2006 +0000
@@ -57,6 +57,7 @@
{
struct kobject kobj; /**< kobject */
struct list_head list; /**< list item */
+ ec_slave_t *slave; /**< parent slave */
uint16_t index; /**< SDO index */
uint8_t object_code; /**< object code */
char *name; /**< SDO name */
@@ -75,6 +76,7 @@
{
struct kobject kobj; /**< kobject */
struct list_head list; /**< list item */
+ ec_sdo_t *sdo; /**< parent SDO */
uint8_t subindex; /**< entry subindex */
uint16_t data_type; /**< entry data type */
uint16_t bit_length; /**< entry length in bit */
@@ -100,6 +102,23 @@
/*****************************************************************************/
+/**
+ CANopen SDO request.
+*/
+
+typedef struct
+{
+ struct list_head queue; /**< list item */
+ ec_sdo_t *sdo;
+ ec_sdo_entry_t *entry;
+ uint8_t *data; /**< pointer to SDO data */
+ size_t size; /**< size of SDO data */
+ int return_code;
+}
+ec_sdo_request_t;
+
+/*****************************************************************************/
+
int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
--- a/master/fsm.c Fri Oct 20 13:03:01 2006 +0000
+++ b/master/fsm.c Fri Oct 20 13:05:48 2006 +0000
@@ -55,6 +55,7 @@
void ec_fsm_master_scan_slaves(ec_fsm_t *);
void ec_fsm_master_write_eeprom(ec_fsm_t *);
void ec_fsm_master_sdodict(ec_fsm_t *);
+void ec_fsm_master_sdo_request(ec_fsm_t *);
void ec_fsm_startup_start(ec_fsm_t *);
void ec_fsm_startup_broadcast(ec_fsm_t *);
@@ -109,6 +110,14 @@
void ec_fsm_coe_down_check(ec_fsm_t *);
void ec_fsm_coe_down_response(ec_fsm_t *);
+void ec_fsm_coe_up_start(ec_fsm_t *);
+void ec_fsm_coe_up_request(ec_fsm_t *);
+void ec_fsm_coe_up_check(ec_fsm_t *);
+void ec_fsm_coe_up_response(ec_fsm_t *);
+void ec_fsm_coe_up_seg_request(ec_fsm_t *);
+void ec_fsm_coe_up_seg_check(ec_fsm_t *);
+void ec_fsm_coe_up_seg_response(ec_fsm_t *);
+
void ec_fsm_end(ec_fsm_t *);
void ec_fsm_error(ec_fsm_t *);
@@ -568,6 +577,7 @@
ec_master_t *master = fsm->master;
ec_slave_t *slave;
char old_state[EC_STATE_STRING_SIZE], new_state[EC_STATE_STRING_SIZE];
+ ec_sdo_request_t *request, *next_request;
// check if any slaves are not in the state, they're supposed to be
list_for_each_entry(slave, &master->slaves, list) {
@@ -604,6 +614,31 @@
// Check, if EoE processing has to be started
ec_master_eoe_start(master);
+ // check, if there are pending SDO requests
+ list_for_each_entry_safe(request, next_request,
+ &master->sdo_requests, queue) {
+ // TODO: critical section!
+ list_del_init(&request->queue);
+
+ slave = request->sdo->slave;
+
+ if (slave->current_state == EC_SLAVE_STATE_INIT
+ || !slave->online
+ || slave->error_flag) {
+ request->return_code = -1;
+ wake_up_interruptible(&master->sdo_wait_queue);
+ continue;
+ }
+
+ // start uploading SDO
+ fsm->slave = slave;
+ fsm->master_state = ec_fsm_master_sdo_request;
+ fsm->coe_request = request;
+ fsm->coe_state = ec_fsm_coe_up_start;
+ fsm->coe_state(fsm); // execute immediately
+ return;
+ }
+
// check, if slaves have an SDO dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
@@ -1055,6 +1090,39 @@
fsm->master_state(fsm); // execute immediately
}
+/*****************************************************************************/
+
+/**
+ Master state: SDO REQUEST.
+*/
+
+void ec_fsm_master_sdo_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_master_t *master = fsm->master;
+ ec_sdo_request_t *request = fsm->coe_request;
+
+ fsm->coe_state(fsm); // execute CoE state machine
+
+ if (fsm->coe_state == ec_fsm_error) {
+ request->return_code = -1;
+ wake_up_interruptible(&master->sdo_wait_queue);
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+ return;
+ }
+
+ if (fsm->coe_state != ec_fsm_end) return;
+
+ // SDO dictionary fetching finished
+
+ request->return_code = 1;
+ wake_up_interruptible(&master->sdo_wait_queue);
+
+ // restart master state machine.
+ fsm->master_state = ec_fsm_master_start;
+ fsm->master_state(fsm); // execute immediately
+}
+
/******************************************************************************
* slave scan state machine
*****************************************************************************/
@@ -2991,6 +3059,416 @@
/*****************************************************************************/
/**
+ CoE state: UP START.
+*/
+
+void ec_fsm_coe_up_start(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ ec_sdo_request_t *request = fsm->coe_request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint8_t *data;
+
+ EC_INFO("Uploading SDO 0x%04X:%i from slave %i.\n",
+ sdo->index, entry->subindex, slave->ring_position);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 6))) {
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
+ EC_WRITE_U16(data + 3, sdo->index);
+ EC_WRITE_U8 (data + 5, entry->subindex);
+
+ if (master->debug_level) {
+ EC_DBG("Upload request:\n");
+ ec_print_data(data, 6);
+ }
+
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_request;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE upload request failed.\n");
+ return;
+ }
+
+ fsm->coe_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ return;
+ }
+
+ if (!ec_slave_mbox_check(datagram)) {
+ if (datagram->cycles_received
+ - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Timeout while checking SDO upload on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_response(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ uint8_t *data, mbox_prot;
+ size_t rec_size, data_size;
+ ec_sdo_request_t *request = fsm->coe_request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint32_t complete_size;
+ unsigned int expedited, size_specified;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE upload response failed.\n");
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Upload response:\n");
+ ec_print_data(data, rec_size);
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (rec_size < 10) {
+ EC_ERR("Received currupted SDO upload response!\n");
+ ec_print_data(data, rec_size);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+ EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+ sdo->index, entry->subindex, slave->ring_position);
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
+ EC_READ_U16(data + 3) != sdo->index || // index
+ EC_READ_U8 (data + 5) != entry->subindex) { // subindex
+ EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+ EC_ERR("Invalid SDO upload response at slave %i!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ data_size = rec_size - 10;
+ expedited = EC_READ_U8(data + 2) & 0x02;
+
+ if (expedited) {
+ EC_WARN("Received expedited response upon normal request!\n");
+
+ size_specified = EC_READ_U8(data + 2) & 0x01;
+ if (size_specified) {
+ complete_size = 4 - ((EC_READ_U8(data + 2) & 0x0C) >> 2);
+ }
+ else {
+ complete_size = 4;
+ }
+ }
+ else {
+ complete_size = EC_READ_U32(data + 6);
+ }
+
+ if (request->data) {
+ kfree(request->data);
+ request->data = NULL;
+ }
+ request->size = 0;
+
+ if (complete_size) {
+ if (!(request->data = (uint8_t *) kmalloc(complete_size + 1, GFP_ATOMIC))) {
+ EC_ERR("Failed to allocate %i bytes of SDO data!\n", complete_size);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+ request->data[complete_size] = 0x00; // just to be sure...
+ }
+
+ if (expedited) {
+ memcpy(request->data, data + 6, complete_size);
+ request->size = complete_size;
+ }
+ else {
+ memcpy(request->data, data + 10, data_size);
+ request->size = data_size;
+ fsm->coe_toggle = 0;
+
+ if (data_size < complete_size) {
+ EC_WARN("SDO data incomplete (%i / %i).\n", data_size, complete_size);
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
+ | 0x3 << 5)); // upload segment request
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment request:\n");
+ ec_print_data(data, 3);
+ }
+
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_seg_request;
+ return;
+ }
+ }
+
+ fsm->coe_state = ec_fsm_end; // success
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP REQUEST.
+*/
+
+void ec_fsm_coe_up_seg_request(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE upload segment request failed.\n");
+ return;
+ }
+
+ fsm->coe_start = datagram->cycles_sent;
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_seg_check;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP CHECK.
+*/
+
+void ec_fsm_coe_up_seg_check(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE mailbox check datagram failed.\n");
+ return;
+ }
+
+ if (!ec_slave_mbox_check(datagram)) {
+ if (datagram->cycles_received
+ - fsm->coe_start >= (cycles_t) 100 * cpu_khz) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
+ slave->ring_position);
+ return;
+ }
+
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ return;
+ }
+
+ // Fetch response
+ ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_seg_response;
+}
+
+/*****************************************************************************/
+
+/**
+ CoE state: UP RESPONSE.
+*/
+
+void ec_fsm_coe_up_seg_response(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_datagram_t *datagram = &fsm->datagram;
+ ec_slave_t *slave = fsm->slave;
+ ec_master_t *master = slave->master;
+ uint8_t *data, mbox_prot;
+ size_t rec_size, data_size;
+ ec_sdo_request_t *request = fsm->coe_request;
+ ec_sdo_t *sdo = request->sdo;
+ ec_sdo_entry_t *entry = request->entry;
+ uint32_t seg_size;
+ unsigned int last_segment;
+
+ if (datagram->state != EC_DATAGRAM_RECEIVED
+ || datagram->working_counter != 1) {
+ fsm->coe_state = ec_fsm_error;
+ EC_ERR("Reception of CoE upload segment response failed.\n");
+ return;
+ }
+
+ if (!(data = ec_slave_mbox_fetch(slave, datagram,
+ &mbox_prot, &rec_size))) {
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment response:\n");
+ ec_print_data(data, rec_size);
+ }
+
+ if (mbox_prot != 0x03) { // CoE
+ EC_WARN("Received mailbox protocol 0x%02X as response.\n", mbox_prot);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (rec_size < 10) {
+ EC_ERR("Received currupted SDO upload segment response!\n");
+ ec_print_data(data, rec_size);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
+ EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+ sdo->index, entry->subindex, slave->ring_position);
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
+ EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo->index, entry->subindex);
+ EC_ERR("Invalid SDO upload segment response at slave %i!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ last_segment = EC_READ_U8(data + 2) & 0x01;
+ seg_size = (EC_READ_U8(data + 2) & 0xE) >> 1;
+ data_size = rec_size - 10;
+
+ if (data_size != seg_size) {
+ EC_WARN("SDO segment data invalid (%i / %i)"
+ " - Fragmenting not implemented.\n",
+ data_size, seg_size);
+ }
+
+ memcpy(request->data + request->size, data + 10, data_size);
+ request->size += data_size;
+
+ if (!last_segment) {
+ fsm->coe_toggle = !fsm->coe_toggle;
+
+ if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 3))) {
+ fsm->coe_state = ec_fsm_error;
+ return;
+ }
+
+ EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U8 (data + 2, (fsm->coe_toggle << 4 // toggle
+ | 0x3 << 5)); // upload segment request
+
+ if (master->debug_level) {
+ EC_DBG("Upload segment request:\n");
+ ec_print_data(data, 3);
+ }
+
+ ec_master_queue_datagram(fsm->master, datagram);
+ fsm->coe_state = ec_fsm_coe_up_seg_request;
+ return;
+ }
+
+ fsm->coe_state = ec_fsm_end; // success
+}
+
+/*****************************************************************************/
+
+/**
SDO abort messages.
The "abort SDO transfer request" supplies an abort code,
which can be translated to clear text. This table does
--- a/master/fsm.h Fri Oct 20 13:03:01 2006 +0000
+++ b/master/fsm.h Fri Oct 20 13:05:48 2006 +0000
@@ -85,6 +85,8 @@
cycles_t coe_start; /**< CoE timestamp */
ec_sdo_t *coe_sdo; /**< current SDO */
uint8_t coe_subindex; /**< current subindex */
+ ec_sdo_request_t *coe_request; /**< SDO request */
+ uint8_t coe_toggle; /**< toggle bit for segment commands */
};
/*****************************************************************************/
--- a/master/master.c Fri Oct 20 13:03:01 2006 +0000
+++ b/master/master.c Fri Oct 20 13:05:48 2006 +0000
@@ -130,6 +130,8 @@
master->idle_cycle_time_pos = 0;
master->eoe_cycle_time_pos = 0;
master->debug_level = 0;
+ INIT_LIST_HEAD(&master->sdo_requests);
+ init_waitqueue_head(&master->sdo_wait_queue);
// create workqueue
if (!(master->workqueue = create_singlethread_workqueue("EtherCAT"))) {
@@ -237,6 +239,7 @@
ec_master_eoe_stop(master);
ec_master_idle_stop(master);
+ ec_master_flush_sdo_requests(master);
ec_master_clear_slaves(master);
// empty datagram queue
@@ -293,6 +296,24 @@
/*****************************************************************************/
/**
+ Flushes the SDO request queue.
+*/
+
+void ec_master_flush_sdo_requests(ec_master_t *master)
+{
+ ec_sdo_request_t *req, *next_req;
+
+ list_for_each_entry_safe(req, next_req, &master->sdo_requests, queue) {
+ list_del_init(&req->queue);
+ req->return_code = -1;
+ }
+
+ wake_up_interruptible(&master->sdo_wait_queue);
+}
+
+/*****************************************************************************/
+
+/**
Places a datagram in the datagram queue.
*/
--- a/master/master.h Fri Oct 20 13:03:01 2006 +0000
+++ b/master/master.h Fri Oct 20 13:05:48 2006 +0000
@@ -44,6 +44,7 @@
#include <linux/list.h>
#include <linux/sysfs.h>
#include <linux/timer.h>
+#include <linux/wait.h>
#include <asm/atomic.h>
#include <asm/semaphore.h>
@@ -137,6 +138,9 @@
void *cb_data; /**< data parameter of locking callbacks */
uint8_t eeprom_write_enable; /**< allow write operations to EEPROMs */
+
+ struct list_head sdo_requests; /**< list of SDO read/write requests */
+ wait_queue_head_t sdo_wait_queue; /**< wait queue for SDO access */
};
/*****************************************************************************/
@@ -169,6 +173,7 @@
void ec_sync_config(const ec_sii_sync_t *, const ec_slave_t *, uint8_t *);
void ec_fmmu_config(const ec_fmmu_t *, const ec_slave_t *, uint8_t *);
void ec_master_calc_addressing(ec_master_t *);
+void ec_master_flush_sdo_requests(ec_master_t *);
/*****************************************************************************/
--- a/master/module.c Fri Oct 20 13:03:01 2006 +0000
+++ b/master/module.c Fri Oct 20 13:05:48 2006 +0000
@@ -401,6 +401,7 @@
if (!(master = ec_find_master(master_index))) return;
ec_master_idle_stop(master);
+ ec_master_flush_sdo_requests(master);
if (ec_device_close(master->device))
EC_WARN("Failed to close device!\n");