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Implemented CompleteAccess for SDO downloads.

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This commit is contained in:
Florian Pose
2009-08-13 13:53:56 +02:00
parent 454d502ada
commit 10c7501851
11 changed files with 146 additions and 30 deletions
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master/fsm_coe.c
+25 -9
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@@ -1074,8 +1074,14 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
uint8_t size;
if (fsm->slave->master->debug_level) {
EC_DBG("Downloading SDO 0x%04X:%02X to slave %u.\n",
request->index, request->subindex, slave->ring_position);
char subidxstr[10];
if (request->complete_access) {
subidxstr[0] = 0x00;
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
EC_DBG("Downloading SDO 0x%04X%s to slave %u.\n",
request->index, subidxstr, slave->ring_position);
ec_print_data(request->data, request->data_size);
}
@@ -1097,9 +1103,11 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
| size << 2
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
EC_WRITE_U8 (data + 5,
request->complete_access ? 0x00 : request->subindex);
memcpy(data + 6, request->data, request->data_size);
memset(data + 6 + request->data_size, 0x00, 4 - request->data_size);
@@ -1110,7 +1118,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
}
else { // request->data_size > 4, use normal transfer type
if (slave->configured_rx_mailbox_size < 6 + 10 + request->data_size) {
EC_ERR("SDO fragmenting not supported yet!\n");
EC_ERR("SDO fragmenting not supported yet!\n"); // FIXME
fsm->state = ec_fsm_coe_error;
return;
}
@@ -1124,9 +1132,11 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
| ((request->complete_access ? 1 : 0) << 4)
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, request->index);
EC_WRITE_U8 (data + 5, request->subindex);
EC_WRITE_U8 (data + 5,
request->complete_access ? 0x00 : request->subindex);
EC_WRITE_U32(data + 6, request->data_size);
memcpy(data + 10, request->data, request->data_size);
@@ -1311,12 +1321,18 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
char subidxstr[10];
fsm->state = ec_fsm_coe_error;
EC_ERR("SDO download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
request->index, request->subindex, request->data_size,
slave->ring_position);
if (request->complete_access) {
subidxstr[0] = 0x00;
} else {
sprintf(subidxstr, ":%02X", request->subindex);
}
EC_ERR("SDO download 0x%04X%s (%u bytes) aborted on slave %u.\n",
request->index, subidxstr, request->data_size,
slave->ring_position);
if (rec_size < 10) {
EC_ERR("Incomplete Abort command:\n");
EC_ERR("Incomplete abort command:\n");
ec_print_data(data, rec_size);
} else {
fsm->request->abort_code = EC_READ_U32(data + 6);