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Merge pull request #89 from lrsdnlssn/master 

Allow Download Complete Access data size to be less than full size
pull/97/head
Hans-Erik Floryd 2020-09-29 15:39:39 +02:00 committed by GitHub
parent 9ea52dff56 74d710b8b7
commit 71bb37091f
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 29 additions and 16 deletions
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41
soes/esc_coe.c
View File

@ -455,7 +455,8 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
int16_t nidx,
int16_t nsub,
uint8_t *mbxdata,
load_t load_type)
load_t load_type,
uint16_t max_bytes)
{
/* Objects with dynamic entries cannot be accessed with Complete Access */
if ((objd->datatype == DTYPE_VISIBLE_STRING) ||
@ -525,6 +526,11 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
/* Subindex 0 is padded to 16 bit */
size += (nsub == 0) ? 16 : bitlen;
nsub++;
if ((max_bytes > 0) && (BITS2BYTES(size) >= max_bytes))
{
break;
}
}
return size;
@ -576,7 +582,7 @@ static void SDO_upload_complete_access (void)
const _objd *objd = SDOobjects[nidx].objdesc;
/* loop through the subindexes to get the total size */
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD);
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, UPLOAD, 0);
if (size > 0xffff)
{
/* 'size' is in this case actually an abort code */
@ -599,7 +605,7 @@ static void SDO_upload_complete_access (void)
}
/* copy subindex data into the preallocated buffer */
complete_access_subindex_loop(objd, nidx, nsub, ESCvar.mbxdata, UPLOAD);
complete_access_subindex_loop(objd, nidx, nsub, ESCvar.mbxdata, UPLOAD, 0);
_COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
init_coesdo(coeres, COE_SDORESPONSE,
@ -770,7 +776,8 @@ static void SDO_download (void)
if (actsize != size)
{
/* entries with data types VISIBLE_STRING, OCTET_STRING,
* and UNICODE_STRING may have flexible length
* UNICODE_STRING, ARRAY_OF_INT, ARRAY_OF_SINT,
* ARRAY_OF_DINT, and ARRAY_OF_UDINT may have flexible length
*/
uint16_t type = (objd + nsub)->datatype;
if (type == DTYPE_VISIBLE_STRING)
@ -779,7 +786,11 @@ static void SDO_download (void)
memset((objd + nsub)->data + size, 0, actsize - size);
}
else if ((type != DTYPE_OCTET_STRING) &&
(type != DTYPE_UNICODE_STRING))
(type != DTYPE_UNICODE_STRING) &&
(type != DTYPE_ARRAY_OF_INT) &&
(type != DTYPE_ARRAY_OF_SINT) &&
(type != DTYPE_ARRAY_OF_DINT) &&
(type != DTYPE_ARRAY_OF_UDINT))
{
set_state_idle (index, subindex, ABORT_TYPEMISMATCH);
return;
@ -900,14 +911,20 @@ static void SDO_download_complete_access (void)
const _objd *objd = SDOobjects[nidx].objdesc;
/* loop through the subindexes to get the total size */
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, DOWNLOAD);
uint32_t size = complete_access_subindex_loop(objd, nidx, nsub, NULL, DOWNLOAD, 0);
if (size > 0xffff)
{
/* 'size' is in this case actually an abort code */
set_state_idle (index, subindex, size);
return;
}
else if (bytes == BITS2BYTES(size))
/* The document ETG.1020 S (R) V1.3.0, chapter 12.2, states that
* "The SDO Download Complete Access data length shall always match
* the full current object size (defined by SubIndex0)".
* But EtherCAT Conformance Test Tool doesn't follow this rule for some test
* cases, which is the reason to here only check for 'less than or equal'.
*/
else if (bytes <= BITS2BYTES(size))
{
abortcode = ESC_download_pre_objecthandler(index, subindex, mbxdata,
size, objd->flags | COMPLETE_ACCESS_FLAG);
@ -918,7 +935,7 @@ static void SDO_download_complete_access (void)
}
/* copy download data to subindexes */
complete_access_subindex_loop(objd, nidx, nsub, (uint8_t *)mbxdata, DOWNLOAD);
complete_access_subindex_loop(objd, nidx, nsub, (uint8_t *)mbxdata, DOWNLOAD, bytes);
abortcode = ESC_download_post_objecthandler(index, subindex,
objd->flags | COMPLETE_ACCESS_FLAG);
@ -930,16 +947,8 @@ static void SDO_download_complete_access (void)
}
else
{
#if 0
/* The document ETG.1020 S (R) V1.3.0, chapter 12.2, states that
* "The SDO Download Complete Access data length shall always match
* the full current object size (defined by SubIndex0)".
* But EtherCAT Conformance Test Tool doesn't follow this rule for some
* test cases, which thus will fail if the correct abort code is used :(
*/
set_state_idle (index, subindex, ABORT_TYPEMISMATCH);
return;
#endif
}
uint8_t MBXout = ESC_claimbuffer ();

4
soes/esc_coe.h
View File

@ -83,6 +83,10 @@ typedef struct
#define DTYPE_BIT6 0x0035
#define DTYPE_BIT7 0x0036
#define DTYPE_BIT8 0x0037
#define DTYPE_ARRAY_OF_INT 0x0260
#define DTYPE_ARRAY_OF_SINT 0x0261
#define DTYPE_ARRAY_OF_DINT 0x0262
#define DTYPE_ARRAY_OF_UDINT 0x0263
#define ATYPE_Rpre 0x01
#define ATYPE_Rsafe 0x02