--- a/master/fsm_coe.c Wed Jun 18 15:03:03 2008 +0000
+++ b/master/fsm_coe.c Thu Jun 19 07:54:45 2008 +0000
@@ -1024,6 +1024,7 @@
ec_print_data(data, 10 + request->data_size);
}
+ fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_down_request;
}
@@ -1052,6 +1053,19 @@
}
if (datagram->working_counter != 1) {
+ if (!datagram->working_counter) {
+ unsigned long diff_ms =
+ (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+ if (diff_ms < fsm->request->response_timeout) {
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Slave %u did no respond to Sdo download request. "
+ "Retrying after %u ms...\n",
+ slave->ring_position, (u32) diff_ms);
+ // no response; send request datagram again
+ return;
+ }
+ }
+ }
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE download request failed on slave %u: ",
slave->ring_position);
@@ -1253,6 +1267,7 @@
ec_print_data(data, 10);
}
+ fsm->request->jiffies_sent = jiffies;
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_up_request;
}
@@ -1281,6 +1296,19 @@
}
if (datagram->working_counter != 1) {
+ if (!datagram->working_counter) {
+ unsigned long diff_ms =
+ (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
+ if (diff_ms < fsm->request->response_timeout) {
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Slave %u did no respond to Sdo upload request. "
+ "Retrying after %u ms...\n",
+ slave->ring_position, (u32) diff_ms);
+ // no response; send request datagram again
+ return;
+ }
+ }
+ }
fsm->state = ec_fsm_coe_error;
EC_ERR("Reception of CoE upload request failed on slave %u: ",
slave->ring_position);
--- a/master/fsm_coe_map.c Wed Jun 18 15:03:03 2008 +0000
+++ b/master/fsm_coe_map.c Thu Jun 19 07:54:45 2008 +0000
@@ -44,10 +44,6 @@
#include "sdo_request.h"
#include "fsm_coe_map.h"
-/** Retry reading the number of assigned Pdos if this time is not elapsed.
- */
-#define EC_FSM_COE_MAP_TIMEOUT 5
-
/*****************************************************************************/
void ec_fsm_coe_map_state_start(ec_fsm_coe_map_t *);
@@ -186,8 +182,8 @@
ec_pdo_list_clear_pdos(&fsm->pdos);
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index, 0);
+ fsm->request.response_timeout = 10000;
ecrt_sdo_request_read(&fsm->request);
- fsm->jiffies_start = jiffies;
fsm->state = ec_fsm_coe_map_state_pdo_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
@@ -214,15 +210,6 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- if (jiffies - fsm->jiffies_start < HZ * EC_FSM_COE_MAP_TIMEOUT) {
- if (fsm->slave->master->debug_level)
- EC_DBG("Failed to read number of assigned Pdos from "
- "slave %u. Retrying...\n", fsm->slave->ring_position);
- ecrt_sdo_request_read(&fsm->request);
- ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
- ec_fsm_coe_exec(fsm->fsm_coe); // execute immediately
- return;
- }
EC_ERR("Failed to read number of assigned Pdos from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
@@ -252,6 +239,7 @@
if (fsm->sync_subindex <= fsm->sync_subindices) {
ec_sdo_request_address(&fsm->request, fsm->sync_sdo_index,
fsm->sync_subindex);
+ fsm->request.response_timeout = 0;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -309,6 +297,7 @@
list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
ec_sdo_request_address(&fsm->request, fsm->pdo->index, 0);
+ fsm->request.response_timeout = 0;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -356,6 +345,7 @@
{
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
ec_sdo_request_address(&fsm->request, fsm->pdo->index, fsm->pdo_subindex);
+ fsm->request.response_timeout = 0;
ecrt_sdo_request_read(&fsm->request);
fsm->state = ec_fsm_coe_map_state_pdo_entry;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
--- a/master/fsm_coe_map.h Wed Jun 18 15:03:03 2008 +0000
+++ b/master/fsm_coe_map.h Thu Jun 19 07:54:45 2008 +0000
@@ -72,8 +72,6 @@
ec_sdo_t *pdo_sdo; /**< Current Pdo Sdo. */
uint8_t pdo_subindices; /**< Number of Pdo entries. */
uint16_t pdo_subindex; /**< Current subindex in Pdo Sdo. */
-
- unsigned long jiffies_start; /**< Timestamp. */
};
/*****************************************************************************/
--- a/master/sdo_request.c Wed Jun 18 15:03:03 2008 +0000
+++ b/master/sdo_request.c Thu Jun 19 07:54:45 2008 +0000
@@ -70,7 +70,8 @@
req->mem_size = 0;
req->data_size = 0;
req->dir = EC_DIR_OUTPUT;
- req->timeout = 0; // no timeout
+ req->issue_timeout = 0; // no timeout
+ req->response_timeout = 0; // immediate response required
req->state = EC_REQUEST_INIT;
}
@@ -170,8 +171,8 @@
*/
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */)
{
- return req->timeout
- && jiffies - req->start_jiffies > HZ * req->timeout / 1000;
+ return req->issue_timeout
+ && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;
}
/*****************************************************************************
@@ -180,7 +181,7 @@
void ecrt_sdo_request_timeout(ec_sdo_request_t *req, uint32_t timeout)
{
- req->timeout = timeout;
+ req->issue_timeout = timeout;
}
/*****************************************************************************/
@@ -210,7 +211,7 @@
{
req->dir = EC_DIR_INPUT;
req->state = EC_REQUEST_QUEUED;
- req->start_jiffies = jiffies;
+ req->jiffies_start = jiffies;
}
/*****************************************************************************/
@@ -219,7 +220,7 @@
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_REQUEST_QUEUED;
- req->start_jiffies = jiffies;
+ req->jiffies_start = jiffies;
}
/*****************************************************************************/
--- a/master/sdo_request.h Wed Jun 18 15:03:03 2008 +0000
+++ b/master/sdo_request.h Thu Jun 19 07:54:45 2008 +0000
@@ -58,12 +58,17 @@
uint8_t *data; /**< Pointer to Sdo data. */
size_t mem_size; /**< Size of Sdo data memory. */
size_t data_size; /**< Size of Sdo data. */
- uint32_t timeout; /**< Timeout in ms. */
+ uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
+ request may take. */
+ uint32_t response_timeout; /**< Maximum time in ms, the transfer is
+ retried, if the slave does not respond. */
ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
the slave, EC_DIR_INPUT means uploading from the
slave. */
ec_request_state_t state; /**< Sdo request state. */
- unsigned long start_jiffies; /**< Jiffies, when the request was issued. */
+ unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
+ unsigned long jiffies_sent; /**< Jiffies, when the upload/download
+ request was sent. */
};
/*****************************************************************************/