diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index c238b564056049bb4af022580b0860cea3cfccb5..714f33c5664ac71fa6e841efe289aef813cec0a5 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -45,6 +45,12 @@
/*****************************************************************************/
+/** Maximum time in ms to wait for responses when reading out the dictionary.
+ */
+#define EC_FSM_COE_DICT_TIMEOUT 3000
+
+/*****************************************************************************/
+
void ec_fsm_coe_dict_start(ec_fsm_coe_t *);
void ec_fsm_coe_dict_request(ec_fsm_coe_t *);
void ec_fsm_coe_dict_check(ec_fsm_coe_t *);
@@ -357,7 +363,7 @@ void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= 100) {
+ if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo dictionary on slave %u.\n",
slave->ring_position);
@@ -454,10 +460,14 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
- EC_ERR("Invalid Sdo list response at slave %u!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_coe_error;
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ }
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_dict_check;
return;
}
@@ -597,7 +607,7 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= 100) {
+ if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo description on slave %u.\n",
slave->ring_position);
@@ -697,11 +707,16 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
EC_READ_U16(data + 6) != sdo->index) { // Sdo index
- EC_ERR("Invalid object description response at slave %u while"
- " fetching Sdo 0x%04X!\n", slave->ring_position,
- sdo->index);
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_coe_error;
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid object description response at slave %u while"
+ " fetching Sdo 0x%04X!\n", slave->ring_position,
+ sdo->index);
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_dict_desc_check;
return;
}
@@ -827,7 +842,7 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= 100) {
+ if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
fsm->state = ec_fsm_coe_error;
EC_ERR("Timeout while checking Sdo entry on slave %u.\n",
slave->ring_position);
@@ -929,11 +944,16 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
EC_READ_U16(data + 6) != sdo->index || // Sdo index
EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
- EC_ERR("Invalid entry description response at slave %u while"
- " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
- sdo->index, fsm->subindex);
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_coe_error;
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid entry description response at slave %u while"
+ " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+ sdo->index, fsm->subindex);
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_dict_entry_check;
return;
}
@@ -1101,7 +1121,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
(jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
if (diff_ms < fsm->request->response_timeout) {
if (fsm->slave->master->debug_level) {
- EC_DBG("Slave %u did no respond to Sdo download request. "
+ EC_DBG("Slave %u did not respond to Sdo download request. "
"Retrying after %u ms...\n",
slave->ring_position, (u32) diff_ms);
// no response; send request datagram again
@@ -1156,10 +1176,10 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= 100) {
+ if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking Sdo configuration on slave %u.\n",
- slave->ring_position);
+ EC_ERR("Timeout while waiting for Sdo download response on "
+ "slave %u.\n", slave->ring_position);
return;
}
@@ -1260,12 +1280,15 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
- fsm->state = ec_fsm_coe_error;
- EC_ERR("Sdo download 0x%04X:%02X (%u bytes) failed:\n",
- request->index, request->subindex, request->data_size);
- EC_ERR("Invalid Sdo download response at slave %u!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
+ if (slave->master->debug_level) {
+ EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_down_check;
return;
}
@@ -1518,12 +1541,15 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
- fsm->state = ec_fsm_coe_error;
- EC_ERR("Sdo upload 0x%04X:%02X failed:\n",
- request->index, request->subindex);
- EC_ERR("Invalid Sdo upload expedited response at slave %u!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid Sdo upload expedited response at slave %u!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_up_check;
return;
}
@@ -1559,12 +1585,15 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != request->index || // index
EC_READ_U8 (data + 5) != request->subindex) { // subindex
- fsm->state = ec_fsm_coe_error;
- EC_ERR("Sdo upload 0x%04X:%02X failed:\n",
- request->index, request->subindex);
- EC_ERR("Invalid Sdo normal upload response at slave %u!\n",
- slave->ring_position);
- ec_print_data(data, rec_size);
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid Sdo normal upload response at slave %u!\n",
+ slave->ring_position);
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_up_check;
return;
}
@@ -1694,10 +1723,10 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
if (!ec_slave_mbox_check(datagram)) {
unsigned long diff_ms =
(datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
- if (diff_ms >= 100) {
+ if (diff_ms >= fsm->request->response_timeout) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking Sdo upload segment on slave %u.\n",
- slave->ring_position);
+ EC_ERR("Timeout while waiting for Sdo upload segment response "
+ "on slave %u.\n", slave->ring_position);
return;
}
@@ -1794,11 +1823,15 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
- EC_ERR("Sdo upload 0x%04X:%02X failed:\n", request->index, request->subindex);
- EC_ERR("Invalid Sdo upload segment response at slave %u!\n",
+ if (fsm->slave->master->debug_level) {
+ EC_DBG("Invalid Sdo upload segment response at slave %u!\n",
slave->ring_position);
- ec_print_data(data, rec_size);
- fsm->state = ec_fsm_coe_error;
+ ec_print_data(data, rec_size);
+ }
+ // check for CoE response again
+ ec_slave_mbox_prepare_check(slave, datagram); // can not fail.
+ fsm->retries = EC_FSM_RETRIES;
+ fsm->state = ec_fsm_coe_up_seg_check;
return;
}
diff --git a/master/fsm_coe_map.c b/master/fsm_coe_map.c
index 8262ac8e52871a76e062ea445a3a441a5fcba010..0e7dc3e093afd47b2d6970288ef2b0f996fa6306 100644
--- a/master/fsm_coe_map.c
+++ b/master/fsm_coe_map.c
@@ -61,12 +61,6 @@ void ec_fsm_coe_map_action_next_pdo_entry(ec_fsm_coe_map_t *);
/*****************************************************************************/
-/** Sdo upload timeout in ms for reading Pdo assigment/mapping.
- */
-#define EC_FSM_COE_MAP_UPLOAD_TIMEOUT 3000
-
-/*****************************************************************************/
-
/**
Constructor.
*/
@@ -79,7 +73,6 @@ void ec_fsm_coe_map_init(
fsm->fsm_coe = fsm_coe;
fsm->state = NULL;
ec_sdo_request_init(&fsm->request);
- fsm->request.response_timeout = EC_FSM_COE_MAP_UPLOAD_TIMEOUT;
ec_pdo_list_init(&fsm->pdos);
}
diff --git a/master/fsm_slave_config.c b/master/fsm_slave_config.c
index e1a0babc00302dbfc122a927ee5a818d6cd696f5..3c30fe866a1a9540832cbbc083a6a5e2cc84ad02 100644
--- a/master/fsm_slave_config.c
+++ b/master/fsm_slave_config.c
@@ -44,10 +44,6 @@
#include "slave_config.h"
#include "fsm_slave_config.h"
-/** Time in ms to wait for a response when downloading Sdo configurations.
- */
-#define EC_FSM_SLAVE_CONF_SDO_CONF_TIMEOUT 3000
-
/*****************************************************************************/
void ec_fsm_slave_config_state_start(ec_fsm_slave_config_t *);
@@ -452,7 +448,6 @@ void ec_fsm_slave_config_enter_sdo_conf(ec_fsm_slave_config_t *fsm /**< slave st
fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
ec_sdo_request_t, list);
ecrt_sdo_request_write(fsm->request);
- fsm->request->response_timeout = EC_FSM_SLAVE_CONF_SDO_CONF_TIMEOUT;
ec_fsm_coe_transfer(&fsm->fsm_coe, fsm->slave, fsm->request);
ec_fsm_coe_exec(&fsm->fsm_coe); // execute immediately
}
diff --git a/master/sdo_request.c b/master/sdo_request.c
index 715178a63c468565c84bffc896f8fe94ac84d432..1706375a27ec0840a0e1a5771e5411782295540a 100644
--- a/master/sdo_request.c
+++ b/master/sdo_request.c
@@ -44,6 +44,12 @@
/*****************************************************************************/
+/** Default timeout in ms to wait for Sdo transfer responses.
+ */
+#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
+
+/*****************************************************************************/
+
void ec_sdo_request_clear_data(ec_sdo_request_t *);
/*****************************************************************************/
@@ -71,7 +77,7 @@ void ec_sdo_request_init(
req->data_size = 0;
req->dir = EC_DIR_OUTPUT;
req->issue_timeout = 0; // no timeout
- req->response_timeout = 0; // immediate response required
+ req->response_timeout = EC_SDO_REQUEST_RESPONSE_TIMEOUT;
req->state = EC_REQUEST_INIT;
req->abort_code = 0x00000000;
}