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FoE: resend packet on BUSY answer while writing

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Change-Id: Ifbcfd90628fd92297434ecc3dba4a1299cdcd7a9
This commit is contained in:
Sebastian Block
2016-08-26 15:19:41 +02:00
committed by Hans-Erik Floryd
parent fed0fd538a
commit 83d2f22758
1 changed files with 36 additions and 4 deletions
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40
soem/ethercatfoe.c
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@@ -323,13 +323,45 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
/* otherwise ignore */
if (sendpacket)
{
if (!psize)
{
dofinalzero = TRUE;
}
psize += segmentdata;
p = (uint8 *)p - segmentdata;
--sendpacket;
tsize = psize;
if (tsize > maxdata)
{
tsize = maxdata;
}
if(tsize || dofinalzero)
{
worktodo = TRUE;
dofinalzero = FALSE;
segmentdata = tsize;
psize -= segmentdata;
/* if last packet was full size, add a zero size packet as final */
/* EOF is defined as packetsize < full packetsize */
if (!psize && (segmentdata == maxdata))
{
dofinalzero = TRUE;
}
FOEp->MbxHeader.length = htoes((uint16)(0x0006 + segmentdata));
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + MBX_HDR_SET_CNT(cnt); /* FoE */
FOEp->OpCode = ECT_FOE_DATA;
sendpacket++;
FOEp->PacketNumber = htoel(sendpacket);
memcpy(&FOEp->Data[0], p, segmentdata);
p = (uint8 *)p + segmentdata;
/* send FoE data to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
{
worktodo = FALSE;
}
}
}
break;
}