--- a/master/canopen.c Sun Feb 26 12:26:23 2006 +0000
+++ b/master/canopen.c Tue Feb 28 09:09:08 2006 +0000
@@ -56,14 +56,11 @@
value >>= 8;
}
- ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
- data);
-
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox send - Slave %i did not respond!\n",
- slave->ring_position);
+ ec_frame_init_npwr(&frame, master, slave->station_address,
+ 0x1800, 0xF6, data);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -74,10 +71,8 @@
{
ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox check - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -97,10 +92,8 @@
ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox receive - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -149,14 +142,11 @@
EC_WRITE_U16(data + 9, sdo_index);
EC_WRITE_U8 (data + 11, sdo_subindex);
- ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
- data);
-
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox send - Slave %i did not respond!\n",
- slave->ring_position);
+ ec_frame_init_npwr(&frame, master, slave->station_address,
+ 0x1800, 0xF6, data);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -167,10 +157,8 @@
{
ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox check - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox checking failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -190,10 +178,8 @@
ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Mailbox receive - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Mailbox receiving failed on slave %i!\n",
slave->ring_position);
return -1;
}
--- a/master/frame.c Sun Feb 26 12:26:23 2006 +0000
+++ b/master/frame.c Tue Feb 28 09:09:08 2006 +0000
@@ -405,6 +405,12 @@
/**
Sendet einen einzeln Rahmen und wartet auf dessen Empfang.
+ Wenn der Working-Counter nicht gesetzt wurde, wird der Rahmen
+ nochmals gesendet.
+
+ \todo Das ist noch nicht schön, da hier zwei Protokollschichten
+ vermischt werden.
+
\return 0 bei Erfolg, sonst < 0
*/
@@ -412,32 +418,49 @@
/**< Rahmen zum Senden/Empfangen */
)
{
- unsigned int tries_left;
-
- if (unlikely(ec_frame_send(frame) < 0)) {
- EC_ERR("Frame sending failed!\n");
- return -1;
- }
-
- tries_left = 20;
+ unsigned int timeout_tries_left, response_tries_left;
+ unsigned int tries;
+
+ tries = 0;
+ response_tries_left = 10;
do
{
- udelay(1);
- ec_device_call_isr(&frame->master->device);
- tries_left--;
- }
- while (unlikely(!ec_device_received(&frame->master->device)
- && tries_left));
-
- if (unlikely(!tries_left)) {
- EC_ERR("Frame timeout!\n");
- return -1;
- }
-
- if (unlikely(ec_frame_receive(frame) < 0)) {
- EC_ERR("Frame receiving failed!\n");
- return -1;
- }
+ tries++;
+ if (unlikely(ec_frame_send(frame) < 0)) {
+ EC_ERR("Frame sending failed!\n");
+ return -1;
+ }
+
+ timeout_tries_left = 20;
+ do
+ {
+ udelay(1);
+ ec_device_call_isr(&frame->master->device);
+ timeout_tries_left--;
+ }
+ while (unlikely(!ec_device_received(&frame->master->device)
+ && timeout_tries_left));
+
+ if (unlikely(!timeout_tries_left)) {
+ EC_ERR("Frame timeout!\n");
+ return -1;
+ }
+
+ if (unlikely(ec_frame_receive(frame) < 0)) {
+ EC_ERR("Frame receiving failed!\n");
+ return -1;
+ }
+
+ response_tries_left--;
+ }
+ while (unlikely(!frame->working_counter && response_tries_left));
+
+ if (unlikely(!response_tries_left)) {
+ EC_ERR("No response!");
+ return -1;
+ }
+
+ if (tries > 1) EC_WARN("%i tries necessary...\n", tries);
return 0;
}
--- a/master/master.c Sun Feb 26 12:26:23 2006 +0000
+++ b/master/master.c Tue Feb 28 09:09:08 2006 +0000
@@ -204,11 +204,8 @@
ec_frame_init_apwr(&frame, master, slave->ring_position, 0x0010,
sizeof(uint16_t), data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Slave %i did not repond while writing station address!\n",
- i);
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Writing station address failed on slave %i!\n", i);
return -1;
}
@@ -489,9 +486,8 @@
memset(data, 0x00, EC_FMMU_SIZE * slave->base_fmmu_count);
ec_frame_init_npwr(&frame, master, slave->station_address, 0x0600,
EC_FMMU_SIZE * slave->base_fmmu_count, data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Resetting FMMUs - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Resetting FMMUs failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -502,9 +498,8 @@
memset(data, 0x00, EC_SYNC_SIZE * slave->base_sync_count);
ec_frame_init_npwr(&frame, master, slave->station_address, 0x0800,
EC_SYNC_SIZE * slave->base_sync_count, data);
- if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Resetting SMs - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) {
+ EC_ERR("Resetting sync managers failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -519,10 +514,8 @@
ec_frame_init_npwr(&frame, master, slave->station_address,
0x0800 + j * EC_SYNC_SIZE, EC_SYNC_SIZE, data);
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Setting sync manager %i - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Setting sync manager %i failed on slave %i!\n",
j, slave->ring_position);
return -1;
}
@@ -548,11 +541,9 @@
ec_frame_init_npwr(&frame, master, slave->station_address,
0x0600 + j * EC_FMMU_SIZE, EC_FMMU_SIZE, data);
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Setting FMMU %i - Slave %i did not respond!\n", j,
- slave->ring_position);
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Setting FMMU %i failed on slave %i!\n",
+ j, slave->ring_position);
return -1;
}
}
--- a/master/slave.c Sun Feb 26 12:26:23 2006 +0000
+++ b/master/slave.c Tue Feb 28 09:09:08 2006 +0000
@@ -68,10 +68,8 @@
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0000, 6);
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Slave %i did not respond while reading base data!\n",
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Reading base datafrom slave %i failed!\n",
slave->ring_position);
return -1;
}
@@ -141,13 +139,11 @@
EC_WRITE_U16(data + 2, offset);
EC_WRITE_U16(data + 4, 0x0000);
- ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x502, 6,
- data);
-
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("SII-read - Slave %i did not respond!\n", slave->ring_position);
+ ec_frame_init_npwr(&frame, slave->master, slave->station_address,
+ 0x502, 6, data);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("SII-read failed on slave %i!\n", slave->ring_position);
return -1;
}
@@ -160,13 +156,11 @@
{
udelay(10);
- ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x502,
- 10);
-
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("SII-read status - Slave %i did not respond!\n",
+ ec_frame_init_nprd(&frame, slave->master, slave->station_address,
+ 0x502, 10);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Getting SII-read status failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -207,17 +201,12 @@
EC_WRITE_U16(data, state | EC_ACK);
- ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
- 2, data);
-
- if (unlikely(ec_frame_send_receive(&frame) != 0)) {
- EC_WARN("Could no acknowledge state %02X - Unable to send!\n", state);
- return;
- }
-
- if (unlikely(frame.working_counter != 1)) {
- EC_WARN("Could not acknowledge state %02X - Slave %i did not"
- " respond!\n", state, slave->ring_position);
+ ec_frame_init_npwr(&frame, slave->master, slave->station_address,
+ 0x0120, 2, data);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_WARN("State %02X acknowledge failed on slave %i!\n",
+ state, slave->ring_position);
return;
}
@@ -229,15 +218,9 @@
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0130, 2);
- if (unlikely(ec_frame_send_receive(&frame) != 0)) {
- EC_WARN("Could not check state acknowledgement %02X - Unable to"
- " send!\n", state);
- return;
- }
-
- if (unlikely(frame.working_counter != 1)) {
- EC_WARN("Could not check state acknowledgement %02X - Slave %i did"
- " not respond!\n", state, slave->ring_position);
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_WARN("State %02X acknowledge checking failed on slave %i!\n",
+ state, slave->ring_position);
return;
}
@@ -284,17 +267,12 @@
EC_WRITE_U16(data, state);
- ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0120,
- 2, data);
-
- if (unlikely(ec_frame_send_receive(&frame) != 0)) {
- EC_ERR("Could not set state %02X - Unable to send!\n", state);
- return -1;
- }
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Could not set state %02X - Slave %i did not respond!\n", state,
- slave->ring_position);
+ ec_frame_init_npwr(&frame, slave->master, slave->station_address,
+ 0x0120, 2, data);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Failed to set state %02X on slave %i!\n",
+ state, slave->ring_position);
return -1;
}
@@ -306,13 +284,8 @@
ec_frame_init_nprd(&frame, slave->master, slave->station_address,
0x0130, 2);
- if (unlikely(ec_frame_send_receive(&frame) != 0)) {
- EC_ERR("Could not check state %02X - Unable to send!\n", state);
- return -1;
- }
-
- if (unlikely(frame.working_counter != 1)) {
- EC_ERR("Could not check state %02X - Slave %i did not respond!\n",
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_ERR("Failed to check state %02X on slave %i!\n",
state, slave->ring_position);
return -1;
}
@@ -431,17 +404,11 @@
ec_frame_t frame;
uint8_t data[4];
- ec_frame_init_nprd(&frame, slave->master, slave->station_address, 0x0300,
- 4);
-
- if (unlikely(ec_frame_send_receive(&frame))) {
- EC_WARN("Reading CRC fault counters failed on slave %i - Could not"
- " send command!\n", slave->ring_position);
- return -1;
- }
-
- if (unlikely(frame.working_counter != 1)) {
- EC_WARN("Reading CRC fault counters - Slave %i did not respond!\n",
+ ec_frame_init_nprd(&frame, slave->master, slave->station_address,
+ 0x0300, 4);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_WARN("Reading CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}
@@ -455,13 +422,11 @@
// Reset CRC counters
EC_WRITE_U16(data, 0x0000);
EC_WRITE_U16(data + 2, 0x0000);
- ec_frame_init_npwr(&frame, slave->master, slave->station_address, 0x0300,
- 4, data);
-
- if (unlikely(ec_frame_send_receive(&frame))) return -1;
-
- if (unlikely(frame.working_counter != 1)) {
- EC_WARN("Resetting CRC fault counters - Slave %i did not respond!\n",
+ ec_frame_init_npwr(&frame, slave->master, slave->station_address,
+ 0x0300, 4, data);
+
+ if (unlikely(ec_frame_send_receive(&frame))) {
+ EC_WARN("Resetting CRC fault counters failed on slave %i!\n",
slave->ring_position);
return -1;
}