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Merge pull request #80 from lrsdnlssn/master 

SOES extensions: Add Download SDO Segment
pull/82/head
nakarlsson 2020-08-12 13:58:31 +02:00 committed by GitHub
parent 24b700e1c4 e428008ea3
commit ba3adf8b74
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 180 additions and 83 deletions
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3
soes/esc.c
View File

@ -395,6 +395,9 @@ void ESC_stopmbx (void)
ESCvar.frags = 0;
ESCvar.fragsleft = 0;
ESCvar.txcue = 0;
ESCvar.index = 0;
ESCvar.subindex = 0;
ESCvar.flags = 0;
}
/** Read Receive mailbox and store data in local ESCvar.MBX variable.

28
soes/esc.h
View File

@ -161,17 +161,41 @@
#define MBXERR_INVALIDSIZE 0x0008
#define ABORT_NOTOGGLE 0x05030000
#define ABORT_TRANSFER_TIMEOUT 0x05040000
#define ABORT_UNKNOWN 0x05040001
#define ABORT_INVALID_BLOCK_SIZE 0x05040002
#define ABORT_INVALID_SEQUENCE_NUMBER 0x05040003
#define ABORT_BLOCK_CRC_ERROR 0x05040004
#define ABORT_OUT_OF_MEMORY 0x05040005
#define ABORT_UNSUPPORTED 0x06010000
#define ABORT_WRITEONLY 0x06010001
#define ABORT_READONLY 0x06010002
#define ABORT_SUBINDEX0_NOT_ZERO 0x06010003
#define ABORT_CA_NOT_SUPPORTED 0x06010004
#define ABORT_EXCEEDS_MBOX_SIZE 0x06010005
#define ABORT_SDO_DOWNLOAD_BLOCKED 0x06010006
#define ABORT_NOOBJECT 0x06020000
#define ABORT_MAPPING_OBJECT_ERROR 0x06040041
#define ABORT_MAPPING_LENGTH_ERROR 0x06040042
#define ABORT_GENERAL_PARAMETER_ERROR 0x06040043
#define ABORT_GENERAL_DEVICE_ERROR 0x06040047
#define ABORT_HARDWARE_ERROR 0x06060000
#define ABORT_TYPEMISMATCH 0x06070010
#define ABORT_DATATYPE_TOO_HIGH 0x06070012
#define ABORT_DATATYPE_TOO_LOW 0x06070013
#define ABORT_NOSUBINDEX 0x06090011
#define ABORT_VALUE_EXCEEDED 0x06090030
#define ABORT_VALUE_TOO_HIGH 0x06090031
#define ABORT_VALUE_TOO_LOW 0x06090032
#define ABORT_MODULE_LIST_MISMATCH 0x06090033
#define ABORT_MAX_VAL_LESS_THAN_MIN_VAL 0x06090036
#define ABORT_RESOURCE_NOT_AVAILABLE 0x060A0023
#define ABORT_GENERALERROR 0x08000000
#define ABORT_DATA_STORE_ERROR 0x08000020
#define ABORT_DATA_STORE_LOCAL_ERROR 0x08000021
#define ABORT_NOTINTHISSTATE 0x08000022
#define ABORT_OBJECT_DICTIONARY_ERROR 0x08000023
#define ABORT_NO_DATA_AVAILABLE 0x08000024
#define MBXstate_idle 0x00
#define MBXstate_inclaim 0x01
@ -194,6 +218,8 @@
#define COE_COMMAND_UPLOADSEGREQ 0x60
#define COE_COMMAND_DOWNLOADREQUEST 0x20
#define COE_COMMAND_DOWNLOADRESPONSE 0x60
#define COE_COMMAND_DOWNLOADSEGREQ 0x00
#define COE_COMMAND_DOWNLOADSEGRESP 0x20
#define COE_COMMAND_LASTSEGMENTBIT 0x01
#define COE_SIZE_INDICATOR 0x01
#define COE_EXPEDITED_INDICATOR 0x02
@ -456,6 +482,8 @@ typedef struct
uint16_t entries;
uint16_t frags;
uint16_t fragsleft;
uint16_t index;
uint8_t subindex;
uint16_t flags;
uint8_t toggle;

229
soes/esc_coe.c
View File

@ -296,26 +296,28 @@ void SDO_upload (void)
/* expedited response i.e. length<=4 bytes */
coeres->command = COE_COMMAND_UPLOADRESPONSE +
COE_SIZE_INDICATOR + COE_EXPEDITED_INDICATOR + dss;
if ((objd + nsub)->data == NULL)
/* convert bits to bytes */
size = BITS2BYTES(size);
void *dataptr = ((objd + nsub)->data) ?
(objd + nsub)->data : (void *)&((objd + nsub)->value);
abort = ESC_upload_pre_objecthandler (index, subindex,
dataptr, size, (objd + nsub)->flags);
if (abort == 0)
{
/* use constant value */
coeres->size = htoel ((objd + nsub)->value);
}
else
{
/* convert bits to bytes */
size = BITS2BYTES(size);
abort = ESC_upload_pre_objecthandler (index, subindex,
(objd + nsub)->data, size, (objd + nsub)->flags);
if (abort == 0)
if ((objd + nsub)->data == NULL)
{
/* use constant value */
coeres->size = htoel ((objd + nsub)->value);
}
else
{
/* use dynamic data */
copy2mbx ((objd + nsub)->data, &(coeres->size), size);
}
else
{
SDO_abort (index, subindex, abort);
}
}
else
{
SDO_abort (index, subindex, abort);
}
}
else
@ -325,12 +327,12 @@ void SDO_upload (void)
COE_SIZE_INDICATOR;
/* convert bits to bytes */
size = BITS2BYTES(size);
/* set total size in bytes */
ESCvar.frags = size;
coeres->size = htoel (size);
if ((size + COE_HEADERSIZE) > ESC_MBXDSIZE)
{
/* segmented transfer needed */
/* set total size in bytes */
ESCvar.frags = size;
/* limit to mailbox size */
size = ESC_MBXDSIZE - COE_HEADERSIZE;
/* number of bytes done */
@ -346,7 +348,7 @@ void SDO_upload (void)
}
coeres->mbxheader.length = htoes (COE_HEADERSIZE + size);
abort = ESC_upload_pre_objecthandler (index, subindex,
(objd + nsub)->data, size, (objd + nsub)->flags);
(objd + nsub)->data, ESCvar.frags, (objd + nsub)->flags);
if (abort == 0)
{
/* use dynamic data */
@ -434,7 +436,7 @@ static uint32_t complete_access_subindex_loop(const _objd *objd,
(objd->datatype == DTYPE_OCTET_STRING) ||
(objd->datatype == DTYPE_UNICODE_STRING))
{
return ABORT_UNSUPPORTED;
return ABORT_CA_NOT_SUPPORTED;
}
uint32_t size = 0;
@ -604,6 +606,7 @@ static void SDO_upload_complete_access (void)
/* signal segmented transfer */
ESCvar.segmented = MBXSEU;
ESCvar.data = ESCvar.mbxdata;
ESCvar.flags = COMPLETE_ACCESS_FLAG;
}
coeres->mbxheader.length = htoes (COE_HEADERSIZE + size);
@ -629,7 +632,7 @@ static void SDO_upload_complete_access (void)
/** Function for handling the following SDO Upload if previous SDOUpload
* response was flagged it needed to be segmented.
*/
static void SDO_uploadsegment (bool complete_access)
static void SDO_uploadsegment (void)
{
_COEsdo *coesdo, *coeres;
uint8_t MBXout;
@ -643,10 +646,6 @@ static void SDO_uploadsegment (bool complete_access)
size = ESCvar.frags - ESCvar.fragsleft;
uint8_t command = COE_COMMAND_UPLOADSEGMENT +
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
if (complete_access)
{
command |= COE_COMPLETEACCESS;
}
init_coesdo(coeres, COE_SDORESPONSE, command,
coesdo->index, coesdo->subindex);
if ((size + COE_SEGMENTHEADERSIZE) > ESC_MBXDSIZE)
@ -680,15 +679,8 @@ static void SDO_uploadsegment (bool complete_access)
if (ESCvar.segmented == 0)
{
uint16_t flags = ESCvar.flags;
if (complete_access)
{
flags |= COMPLETE_ACCESS_FLAG;
}
abort = ESC_upload_post_objecthandler (etohs (coesdo->index),
coesdo->subindex, flags);
coesdo->subindex, ESCvar.flags);
if (abort != 0)
{
SDO_abort (etohs (coesdo->index), coesdo->subindex, abort);
@ -756,6 +748,21 @@ void SDO_download (void)
);
if (abort == 0)
{
if ((size > 4) &&
(size > (coesdo->mbxheader.length - COE_HEADERSIZE)))
{
size = coesdo->mbxheader.length - COE_HEADERSIZE;
/* signal segmented transfer */
ESCvar.segmented = MBXSED;
ESCvar.data = (objd + nsub)->data + size;
ESCvar.index = index;
ESCvar.subindex = subindex;
ESCvar.flags = (objd + nsub)->flags;
}
else
{
ESCvar.segmented = 0;
}
copy2mbx (mbxdata, (objd + nsub)->data, size);
MBXout = ESC_claimbuffer ();
if (MBXout)
@ -771,11 +778,14 @@ void SDO_download (void)
coeres->size = htoel (0);
MBXcontrol[MBXout].state = MBXstate_outreq;
}
/* external object write handler */
abort = ESC_download_post_objecthandler (index, subindex, (objd + nsub)->flags);
if (abort != 0)
if (ESCvar.segmented == 0)
{
SDO_abort (index, subindex, abort);
/* external object write handler */
abort = ESC_download_post_objecthandler (index, subindex, (objd + nsub)->flags);
if (abort != 0)
{
SDO_abort (index, subindex, abort);
}
}
}
else
@ -906,6 +916,51 @@ static void SDO_download_complete_access (void)
set_state_idle (index, subindex, 0);
}
static void SDO_downloadsegment (void)
{
_COEsdo *coesdo = (_COEsdo *) &MBX[0];
uint8_t MBXout = ESC_claimbuffer ();
if (MBXout)
{
_COEsdo *coeres = (_COEsdo *) &MBX[MBXout * ESC_MBXSIZE];
uint32_t size = coesdo->mbxheader.length - 3;
if (size == 7)
{
size = 7 - ((coesdo->command >> 1) & 7);
}
uint8_t command = COE_COMMAND_DOWNLOADSEGRESP +
(coesdo->command & COE_TOGGLEBIT); /* copy toggle bit */
init_coesdo(coeres, COE_SDORESPONSE, command, 0, 0);
uint32_t *mbxdata = (uint32_t *)&(coesdo->index); /* data pointer */
copy2mbx (mbxdata, (uint8_t *)ESCvar.data, size);
if (coesdo->command & COE_COMMAND_LASTSEGMENTBIT)
{
/* last segment */
ESCvar.segmented = 0;
/* external object write handler */
uint32_t abort = ESC_download_post_objecthandler
(ESCvar.index, ESCvar.subindex, ESCvar.flags);
if (abort != 0)
{
set_state_idle (ESCvar.index, ESCvar.subindex, abort);
return;
}
}
else
{
/* more segmented transfer needed: increase offset */
ESCvar.data += size;
}
MBXcontrol[MBXout].state = MBXstate_outreq;
}
set_state_idle (0, 0, 0);
}
/** Function for sending an SDO Info Error reply.
*
* @param[in] abortcode = = abort code to send in reply
@ -1258,34 +1313,31 @@ void ESC_coeprocess (void)
coesdo = (_COEsdo *) &MBX[0];
coeobjdesc = (_COEobjdesc *) &MBX[0];
service = etohs (coesdo->coeheader.numberservice) >> 12;
/* initiate SDO upload request */
if ((service == COE_SDOREQUEST)
&& (SDO_COMMAND(coesdo->command) == COE_COMMAND_UPLOADREQUEST)
&& (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE))
if (service == COE_SDOREQUEST)
{
if (SDO_COMPLETE_ACCESS(coesdo->command))
if ((SDO_COMMAND(coesdo->command) == COE_COMMAND_UPLOADREQUEST)
&& (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE))
{
SDO_upload_complete_access ();
/* initiate SDO upload request */
if (SDO_COMPLETE_ACCESS(coesdo->command))
{
SDO_upload_complete_access ();
}
else
{
SDO_upload ();
}
}
else
else if (((coesdo->command & 0xef) == COE_COMMAND_UPLOADSEGREQ)
&& (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE)
&& (ESCvar.segmented == MBXSEU))
{
SDO_upload ();
/* SDO upload segment request */
SDO_uploadsegment ();
}
}
/* SDO upload segment request */
if ((service == COE_SDOREQUEST)
&& ((coesdo->command & 0xef) == COE_COMMAND_UPLOADSEGREQ)
&& (etohs (coesdo->mbxheader.length) == COE_HEADERSIZE)
&& (ESCvar.segmented == MBXSEU))
{
SDO_uploadsegment (SDO_COMPLETE_ACCESS(coesdo->command));
}
/* initiate SDO download request */
else
{
if ((service == COE_SDOREQUEST)
&& (SDO_COMMAND(coesdo->command) == COE_COMMAND_DOWNLOADREQUEST))
else if (SDO_COMMAND(coesdo->command) == COE_COMMAND_DOWNLOADREQUEST)
{
/* initiate SDO download request */
if (SDO_COMPLETE_ACCESS(coesdo->command))
{
SDO_download_complete_access ();
@ -1295,46 +1347,51 @@ void ESC_coeprocess (void)
SDO_download ();
}
}
/* initiate SDO get OD list */
else if (SDO_COMMAND(coesdo->command) == COE_COMMAND_DOWNLOADSEGREQ)
{
/* SDO download segment request */
SDO_downloadsegment ();
}
}
/* initiate SDO get OD list */
else
{
if ((service == COE_SDOINFORMATION)
&& (coeobjdesc->infoheader.opcode == 0x01))
{
SDO_getodlist ();
}
/* initiate SDO get OD */
else
{
if ((service == COE_SDOINFORMATION)
&& (coeobjdesc->infoheader.opcode == 0x01))
&& (coeobjdesc->infoheader.opcode == 0x03))
{
SDO_getodlist ();
SDO_getod ();
}
/* initiate SDO get OD */
/* initiate SDO get ED */
else
{
if ((service == COE_SDOINFORMATION)
&& (coeobjdesc->infoheader.opcode == 0x03))
&& (coeobjdesc->infoheader.opcode == 0x05))
{
SDO_getod ();
SDO_geted ();
}
/* initiate SDO get ED */
else
{
if ((service == COE_SDOINFORMATION)
&& (coeobjdesc->infoheader.opcode == 0x05))
/* COE not recognised above */
if (ESCvar.xoe == MBXCOE)
{
SDO_geted ();
}
else
{
/* COE not recognised above */
if (ESCvar.xoe == MBXCOE)
if (service == 0)
{
if (service == 0)
{
MBX_error (MBXERR_INVALIDHEADER);
}
else
{
SDO_abort (etohs (coesdo->index), coesdo->subindex, ABORT_UNSUPPORTED);
}
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
MBX_error (MBXERR_INVALIDHEADER);
}
else
{
SDO_abort (etohs (coesdo->index), coesdo->subindex, ABORT_UNSUPPORTED);
}
MBXcontrol[0].state = MBXstate_idle;
ESCvar.xoe = 0;
}
}
}
@ -1439,17 +1496,20 @@ static uint64_t COE_getValue (const _objd * obj)
case DTYPE_BOOLEAN:
case DTYPE_UNSIGNED8:
case DTYPE_INTEGER8:
case DTYPE_BITARR8:
value = *(uint8_t *)obj->data;
break;
case DTYPE_UNSIGNED16:
case DTYPE_INTEGER16:
case DTYPE_BITARR16:
value = *(uint16_t *)obj->data;
break;
case DTYPE_REAL32:
case DTYPE_UNSIGNED32:
case DTYPE_INTEGER32:
case DTYPE_BITARR32:
value = *(uint32_t *)obj->data;
break;
@ -1490,17 +1550,20 @@ static void COE_setValue (const _objd * obj, uint64_t value)
case DTYPE_BOOLEAN:
case DTYPE_UNSIGNED8:
case DTYPE_INTEGER8:
case DTYPE_BITARR8:
*(uint8_t *)obj->data = value & UINT8_MAX;
break;
case DTYPE_UNSIGNED16:
case DTYPE_INTEGER16:
case DTYPE_BITARR16:
*(uint16_t *)obj->data = value & UINT16_MAX;
break;
case DTYPE_REAL32:
case DTYPE_UNSIGNED32:
case DTYPE_INTEGER32:
case DTYPE_BITARR32:
*(uint32_t *)obj->data = value & UINT32_MAX;
break;

3
soes/esc_coe.h
View File

@ -72,6 +72,9 @@ typedef struct
#define DTYPE_REAL64 0x0011
#define DTYPE_PDO_MAPPING 0x0021
#define DTYPE_IDENTITY 0x0023
#define DTYPE_BITARR8 0x002D
#define DTYPE_BITARR16 0x002E
#define DTYPE_BITARR32 0x002F
#define DTYPE_BIT1 0x0030
#define DTYPE_BIT2 0x0031
#define DTYPE_BIT3 0x0032