AB&T / SOEM

SOEM EtherCAT Master library for STM Nucleo F767ZI

Dependents:   EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB

  • It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .

Warning

/media/uploads/EasyCAT/easycat_lab.jpg

SOEM/ethercatfoe.c@0:543d6784d4cc, 2019-06-11 (annotated)

Committer:
EasyCAT
Date:
Tue Jun 11 10:29:09 2019 +0000
Revision:
0:543d6784d4cc
SOEM EtherCAT Master Library for STM Nucleo F767ZI

Who changed what in which revision?

UserRevisionLine numberNew contents of line
EasyCAT 0:543d6784d4cc 1 /*
EasyCAT 0:543d6784d4cc 2 * Licensed under the GNU General Public License version 2 with exceptions. See
EasyCAT 0:543d6784d4cc 3 * LICENSE file in the project root for full license information
EasyCAT 0:543d6784d4cc 4 */
EasyCAT 0:543d6784d4cc 5
EasyCAT 0:543d6784d4cc 6 /** \file
EasyCAT 0:543d6784d4cc 7 * \brief
EasyCAT 0:543d6784d4cc 8 * File over EtherCAT (FoE) module.
EasyCAT 0:543d6784d4cc 9 *
EasyCAT 0:543d6784d4cc 10 * SDO read / write and SDO service functions
EasyCAT 0:543d6784d4cc 11 */
EasyCAT 0:543d6784d4cc 12
EasyCAT 0:543d6784d4cc 13 #include <stdio.h>
EasyCAT 0:543d6784d4cc 14 #include <string.h>
EasyCAT 0:543d6784d4cc 15 #include "osal.h"
EasyCAT 0:543d6784d4cc 16 #include "oshw.h"
EasyCAT 0:543d6784d4cc 17 #include "ethercattype.h"
EasyCAT 0:543d6784d4cc 18 #include "ethercatbase.h"
EasyCAT 0:543d6784d4cc 19 #include "ethercatmain.h"
EasyCAT 0:543d6784d4cc 20 #include "ethercatfoe.h"
EasyCAT 0:543d6784d4cc 21
EasyCAT 0:543d6784d4cc 22 #define EC_MAXFOEDATA 512
EasyCAT 0:543d6784d4cc 23
EasyCAT 0:543d6784d4cc 24 /** FOE structure.
EasyCAT 0:543d6784d4cc 25 * Used for Read, Write, Data, Ack and Error mailbox packets.
EasyCAT 0:543d6784d4cc 26 */
EasyCAT 0:543d6784d4cc 27 PACKED_BEGIN
EasyCAT 0:543d6784d4cc 28 typedef struct PACKED
EasyCAT 0:543d6784d4cc 29 {
EasyCAT 0:543d6784d4cc 30 ec_mbxheadert MbxHeader;
EasyCAT 0:543d6784d4cc 31 uint8 OpCode;
EasyCAT 0:543d6784d4cc 32 uint8 Reserved;
EasyCAT 0:543d6784d4cc 33 union
EasyCAT 0:543d6784d4cc 34 {
EasyCAT 0:543d6784d4cc 35 uint32 Password;
EasyCAT 0:543d6784d4cc 36 uint32 PacketNumber;
EasyCAT 0:543d6784d4cc 37 uint32 ErrorCode;
EasyCAT 0:543d6784d4cc 38 };
EasyCAT 0:543d6784d4cc 39 union
EasyCAT 0:543d6784d4cc 40 {
EasyCAT 0:543d6784d4cc 41 char FileName[EC_MAXFOEDATA];
EasyCAT 0:543d6784d4cc 42 uint8 Data[EC_MAXFOEDATA];
EasyCAT 0:543d6784d4cc 43 char ErrorText[EC_MAXFOEDATA];
EasyCAT 0:543d6784d4cc 44 };
EasyCAT 0:543d6784d4cc 45 } ec_FOEt;
EasyCAT 0:543d6784d4cc 46 PACKED_END
EasyCAT 0:543d6784d4cc 47
EasyCAT 0:543d6784d4cc 48 /** FoE progress hook.
EasyCAT 0:543d6784d4cc 49 *
EasyCAT 0:543d6784d4cc 50 * @param[in] context = context struct
EasyCAT 0:543d6784d4cc 51 * @param[in] hook = Pointer to hook function.
EasyCAT 0:543d6784d4cc 52 * @return 1
EasyCAT 0:543d6784d4cc 53 */
EasyCAT 0:543d6784d4cc 54 int ecx_FOEdefinehook(ecx_contextt *context, void *hook)
EasyCAT 0:543d6784d4cc 55 {
EasyCAT 0:543d6784d4cc 56 context->FOEhook = hook;
EasyCAT 0:543d6784d4cc 57 return 1;
EasyCAT 0:543d6784d4cc 58 }
EasyCAT 0:543d6784d4cc 59
EasyCAT 0:543d6784d4cc 60 /** FoE read, blocking.
EasyCAT 0:543d6784d4cc 61 *
EasyCAT 0:543d6784d4cc 62 * @param[in] context = context struct
EasyCAT 0:543d6784d4cc 63 * @param[in] slave = Slave number.
EasyCAT 0:543d6784d4cc 64 * @param[in] filename = Filename of file to read.
EasyCAT 0:543d6784d4cc 65 * @param[in] password = password.
EasyCAT 0:543d6784d4cc 66 * @param[in,out] psize = Size in bytes of file buffer, returns bytes read from file.
EasyCAT 0:543d6784d4cc 67 * @param[out] p = Pointer to file buffer
EasyCAT 0:543d6784d4cc 68 * @param[in] timeout = Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM
EasyCAT 0:543d6784d4cc 69 * @return Workcounter from last slave response
EasyCAT 0:543d6784d4cc 70 */
EasyCAT 0:543d6784d4cc 71 int ecx_FOEread(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
EasyCAT 0:543d6784d4cc 72 {
EasyCAT 0:543d6784d4cc 73 ec_FOEt *FOEp, *aFOEp;
EasyCAT 0:543d6784d4cc 74 int wkc;
EasyCAT 0:543d6784d4cc 75 int32 dataread = 0;
EasyCAT 0:543d6784d4cc 76 int32 buffersize, packetnumber, prevpacket = 0;
EasyCAT 0:543d6784d4cc 77 uint16 fnsize, maxdata, segmentdata;
EasyCAT 0:543d6784d4cc 78 ec_mbxbuft MbxIn, MbxOut;
EasyCAT 0:543d6784d4cc 79 uint8 cnt;
EasyCAT 0:543d6784d4cc 80 boolean worktodo;
EasyCAT 0:543d6784d4cc 81
EasyCAT 0:543d6784d4cc 82 buffersize = *psize;
EasyCAT 0:543d6784d4cc 83 ec_clearmbx(&MbxIn);
EasyCAT 0:543d6784d4cc 84 /* Empty slave out mailbox if something is in. Timeout set to 0 */
EasyCAT 0:543d6784d4cc 85 wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
EasyCAT 0:543d6784d4cc 86 ec_clearmbx(&MbxOut);
EasyCAT 0:543d6784d4cc 87 aFOEp = (ec_FOEt *)&MbxIn;
EasyCAT 0:543d6784d4cc 88 FOEp = (ec_FOEt *)&MbxOut;
EasyCAT 0:543d6784d4cc 89 fnsize = (uint16)strlen(filename);
EasyCAT 0:543d6784d4cc 90 maxdata = context->slavelist[slave].mbx_l - 12;
EasyCAT 0:543d6784d4cc 91 if (fnsize > maxdata)
EasyCAT 0:543d6784d4cc 92 {
EasyCAT 0:543d6784d4cc 93 fnsize = maxdata;
EasyCAT 0:543d6784d4cc 94 }
EasyCAT 0:543d6784d4cc 95 FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
EasyCAT 0:543d6784d4cc 96 FOEp->MbxHeader.address = htoes(0x0000);
EasyCAT 0:543d6784d4cc 97 FOEp->MbxHeader.priority = 0x00;
EasyCAT 0:543d6784d4cc 98 /* get new mailbox count value, used as session handle */
EasyCAT 0:543d6784d4cc 99 cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
EasyCAT 0:543d6784d4cc 100 context->slavelist[slave].mbx_cnt = cnt;
EasyCAT 0:543d6784d4cc 101 FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
EasyCAT 0:543d6784d4cc 102 FOEp->OpCode = ECT_FOE_READ;
EasyCAT 0:543d6784d4cc 103 FOEp->Password = htoel(password);
EasyCAT 0:543d6784d4cc 104 /* copy filename in mailbox */
EasyCAT 0:543d6784d4cc 105 memcpy(&FOEp->FileName[0], filename, fnsize);
EasyCAT 0:543d6784d4cc 106 /* send FoE request to slave */
EasyCAT 0:543d6784d4cc 107 wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
EasyCAT 0:543d6784d4cc 108 if (wkc > 0) /* succeeded to place mailbox in slave ? */
EasyCAT 0:543d6784d4cc 109 {
EasyCAT 0:543d6784d4cc 110 do
EasyCAT 0:543d6784d4cc 111 {
EasyCAT 0:543d6784d4cc 112 worktodo = FALSE;
EasyCAT 0:543d6784d4cc 113 /* clean mailboxbuffer */
EasyCAT 0:543d6784d4cc 114 ec_clearmbx(&MbxIn);
EasyCAT 0:543d6784d4cc 115 /* read slave response */
EasyCAT 0:543d6784d4cc 116 wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
EasyCAT 0:543d6784d4cc 117 if (wkc > 0) /* succeeded to read slave response ? */
EasyCAT 0:543d6784d4cc 118 {
EasyCAT 0:543d6784d4cc 119 /* slave response should be FoE */
EasyCAT 0:543d6784d4cc 120 if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
EasyCAT 0:543d6784d4cc 121 {
EasyCAT 0:543d6784d4cc 122 if(aFOEp->OpCode == ECT_FOE_DATA)
EasyCAT 0:543d6784d4cc 123 {
EasyCAT 0:543d6784d4cc 124 segmentdata = etohs(aFOEp->MbxHeader.length) - 0x0006;
EasyCAT 0:543d6784d4cc 125 packetnumber = etohl(aFOEp->PacketNumber);
EasyCAT 0:543d6784d4cc 126 if ((packetnumber == ++prevpacket) && (dataread + segmentdata <= buffersize))
EasyCAT 0:543d6784d4cc 127 {
EasyCAT 0:543d6784d4cc 128 memcpy(p, &aFOEp->Data[0], segmentdata);
EasyCAT 0:543d6784d4cc 129 dataread += segmentdata;
EasyCAT 0:543d6784d4cc 130 p = (uint8 *)p + segmentdata;
EasyCAT 0:543d6784d4cc 131 if (segmentdata == maxdata)
EasyCAT 0:543d6784d4cc 132 {
EasyCAT 0:543d6784d4cc 133 worktodo = TRUE;
EasyCAT 0:543d6784d4cc 134 }
EasyCAT 0:543d6784d4cc 135 FOEp->MbxHeader.length = htoes(0x0006);
EasyCAT 0:543d6784d4cc 136 FOEp->MbxHeader.address = htoes(0x0000);
EasyCAT 0:543d6784d4cc 137 FOEp->MbxHeader.priority = 0x00;
EasyCAT 0:543d6784d4cc 138 /* get new mailbox count value */
EasyCAT 0:543d6784d4cc 139 cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
EasyCAT 0:543d6784d4cc 140 context->slavelist[slave].mbx_cnt = cnt;
EasyCAT 0:543d6784d4cc 141 FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
EasyCAT 0:543d6784d4cc 142 FOEp->OpCode = ECT_FOE_ACK;
EasyCAT 0:543d6784d4cc 143 FOEp->PacketNumber = htoel(packetnumber);
EasyCAT 0:543d6784d4cc 144 /* send FoE ack to slave */
EasyCAT 0:543d6784d4cc 145 wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
EasyCAT 0:543d6784d4cc 146 if (wkc <= 0)
EasyCAT 0:543d6784d4cc 147 {
EasyCAT 0:543d6784d4cc 148 worktodo = FALSE;
EasyCAT 0:543d6784d4cc 149 }
EasyCAT 0:543d6784d4cc 150 if (context->FOEhook)
EasyCAT 0:543d6784d4cc 151 {
EasyCAT 0:543d6784d4cc 152 context->FOEhook(slave, packetnumber, dataread);
EasyCAT 0:543d6784d4cc 153 }
EasyCAT 0:543d6784d4cc 154 }
EasyCAT 0:543d6784d4cc 155 else
EasyCAT 0:543d6784d4cc 156 {
EasyCAT 0:543d6784d4cc 157 /* FoE error */
EasyCAT 0:543d6784d4cc 158 wkc = -EC_ERR_TYPE_FOE_BUF2SMALL;
EasyCAT 0:543d6784d4cc 159 }
EasyCAT 0:543d6784d4cc 160 }
EasyCAT 0:543d6784d4cc 161 else
EasyCAT 0:543d6784d4cc 162 {
EasyCAT 0:543d6784d4cc 163 if(aFOEp->OpCode == ECT_FOE_ERROR)
EasyCAT 0:543d6784d4cc 164 {
EasyCAT 0:543d6784d4cc 165 /* FoE error */
EasyCAT 0:543d6784d4cc 166 wkc = -EC_ERR_TYPE_FOE_ERROR;
EasyCAT 0:543d6784d4cc 167 }
EasyCAT 0:543d6784d4cc 168 else
EasyCAT 0:543d6784d4cc 169 {
EasyCAT 0:543d6784d4cc 170 /* unexpected mailbox received */
EasyCAT 0:543d6784d4cc 171 wkc = -EC_ERR_TYPE_PACKET_ERROR;
EasyCAT 0:543d6784d4cc 172 }
EasyCAT 0:543d6784d4cc 173 }
EasyCAT 0:543d6784d4cc 174 }
EasyCAT 0:543d6784d4cc 175 else
EasyCAT 0:543d6784d4cc 176 {
EasyCAT 0:543d6784d4cc 177 /* unexpected mailbox received */
EasyCAT 0:543d6784d4cc 178 wkc = -EC_ERR_TYPE_PACKET_ERROR;
EasyCAT 0:543d6784d4cc 179 }
EasyCAT 0:543d6784d4cc 180 *psize = dataread;
EasyCAT 0:543d6784d4cc 181 }
EasyCAT 0:543d6784d4cc 182 } while (worktodo);
EasyCAT 0:543d6784d4cc 183 }
EasyCAT 0:543d6784d4cc 184
EasyCAT 0:543d6784d4cc 185 return wkc;
EasyCAT 0:543d6784d4cc 186 }
EasyCAT 0:543d6784d4cc 187
EasyCAT 0:543d6784d4cc 188 /** FoE write, blocking.
EasyCAT 0:543d6784d4cc 189 *
EasyCAT 0:543d6784d4cc 190 * @param[in] context = context struct
EasyCAT 0:543d6784d4cc 191 * @param[in] slave = Slave number.
EasyCAT 0:543d6784d4cc 192 * @param[in] filename = Filename of file to write.
EasyCAT 0:543d6784d4cc 193 * @param[in] password = password.
EasyCAT 0:543d6784d4cc 194 * @param[in] psize = Size in bytes of file buffer.
EasyCAT 0:543d6784d4cc 195 * @param[out] p = Pointer to file buffer
EasyCAT 0:543d6784d4cc 196 * @param[in] timeout = Timeout per mailbox cycle in us, standard is EC_TIMEOUTRXM
EasyCAT 0:543d6784d4cc 197 * @return Workcounter from last slave response
EasyCAT 0:543d6784d4cc 198 */
EasyCAT 0:543d6784d4cc 199 int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)
EasyCAT 0:543d6784d4cc 200 {
EasyCAT 0:543d6784d4cc 201 ec_FOEt *FOEp, *aFOEp;
EasyCAT 0:543d6784d4cc 202 int wkc;
EasyCAT 0:543d6784d4cc 203 int32 packetnumber, sendpacket = 0;
EasyCAT 0:543d6784d4cc 204 uint16 fnsize, maxdata;
EasyCAT 0:543d6784d4cc 205 int segmentdata;
EasyCAT 0:543d6784d4cc 206 ec_mbxbuft MbxIn, MbxOut;
EasyCAT 0:543d6784d4cc 207 uint8 cnt;
EasyCAT 0:543d6784d4cc 208 boolean worktodo, dofinalzero;
EasyCAT 0:543d6784d4cc 209 int tsize;
EasyCAT 0:543d6784d4cc 210
EasyCAT 0:543d6784d4cc 211 ec_clearmbx(&MbxIn);
EasyCAT 0:543d6784d4cc 212 /* Empty slave out mailbox if something is in. Timeout set to 0 */
EasyCAT 0:543d6784d4cc 213 wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
EasyCAT 0:543d6784d4cc 214 ec_clearmbx(&MbxOut);
EasyCAT 0:543d6784d4cc 215 aFOEp = (ec_FOEt *)&MbxIn;
EasyCAT 0:543d6784d4cc 216 FOEp = (ec_FOEt *)&MbxOut;
EasyCAT 0:543d6784d4cc 217 dofinalzero = FALSE;
EasyCAT 0:543d6784d4cc 218 fnsize = (uint16)strlen(filename);
EasyCAT 0:543d6784d4cc 219 maxdata = context->slavelist[slave].mbx_l - 12;
EasyCAT 0:543d6784d4cc 220 if (fnsize > maxdata)
EasyCAT 0:543d6784d4cc 221 {
EasyCAT 0:543d6784d4cc 222 fnsize = maxdata;
EasyCAT 0:543d6784d4cc 223 }
EasyCAT 0:543d6784d4cc 224 FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
EasyCAT 0:543d6784d4cc 225 FOEp->MbxHeader.address = htoes(0x0000);
EasyCAT 0:543d6784d4cc 226 FOEp->MbxHeader.priority = 0x00;
EasyCAT 0:543d6784d4cc 227 /* get new mailbox count value, used as session handle */
EasyCAT 0:543d6784d4cc 228 cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
EasyCAT 0:543d6784d4cc 229 context->slavelist[slave].mbx_cnt = cnt;
EasyCAT 0:543d6784d4cc 230 FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
EasyCAT 0:543d6784d4cc 231 FOEp->OpCode = ECT_FOE_WRITE;
EasyCAT 0:543d6784d4cc 232 FOEp->Password = htoel(password);
EasyCAT 0:543d6784d4cc 233 /* copy filename in mailbox */
EasyCAT 0:543d6784d4cc 234 memcpy(&FOEp->FileName[0], filename, fnsize);
EasyCAT 0:543d6784d4cc 235 /* send FoE request to slave */
EasyCAT 0:543d6784d4cc 236 wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
EasyCAT 0:543d6784d4cc 237 if (wkc > 0) /* succeeded to place mailbox in slave ? */
EasyCAT 0:543d6784d4cc 238 {
EasyCAT 0:543d6784d4cc 239 do
EasyCAT 0:543d6784d4cc 240 {
EasyCAT 0:543d6784d4cc 241 worktodo = FALSE;
EasyCAT 0:543d6784d4cc 242 /* clean mailboxbuffer */
EasyCAT 0:543d6784d4cc 243 ec_clearmbx(&MbxIn);
EasyCAT 0:543d6784d4cc 244 /* read slave response */
EasyCAT 0:543d6784d4cc 245 wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
EasyCAT 0:543d6784d4cc 246 if (wkc > 0) /* succeeded to read slave response ? */
EasyCAT 0:543d6784d4cc 247 {
EasyCAT 0:543d6784d4cc 248 /* slave response should be FoE */
EasyCAT 0:543d6784d4cc 249 if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
EasyCAT 0:543d6784d4cc 250 {
EasyCAT 0:543d6784d4cc 251 switch (aFOEp->OpCode)
EasyCAT 0:543d6784d4cc 252 {
EasyCAT 0:543d6784d4cc 253 case ECT_FOE_ACK:
EasyCAT 0:543d6784d4cc 254 {
EasyCAT 0:543d6784d4cc 255 packetnumber = etohl(aFOEp->PacketNumber);
EasyCAT 0:543d6784d4cc 256 if (packetnumber == sendpacket)
EasyCAT 0:543d6784d4cc 257 {
EasyCAT 0:543d6784d4cc 258 if (context->FOEhook)
EasyCAT 0:543d6784d4cc 259 {
EasyCAT 0:543d6784d4cc 260 context->FOEhook(slave, packetnumber, psize);
EasyCAT 0:543d6784d4cc 261 }
EasyCAT 0:543d6784d4cc 262 tsize = psize;
EasyCAT 0:543d6784d4cc 263 if (tsize > maxdata)
EasyCAT 0:543d6784d4cc 264 {
EasyCAT 0:543d6784d4cc 265 tsize = maxdata;
EasyCAT 0:543d6784d4cc 266 }
EasyCAT 0:543d6784d4cc 267 if(tsize || dofinalzero)
EasyCAT 0:543d6784d4cc 268 {
EasyCAT 0:543d6784d4cc 269 worktodo = TRUE;
EasyCAT 0:543d6784d4cc 270 dofinalzero = FALSE;
EasyCAT 0:543d6784d4cc 271 segmentdata = tsize;
EasyCAT 0:543d6784d4cc 272 psize -= segmentdata;
EasyCAT 0:543d6784d4cc 273 /* if last packet was full size, add a zero size packet as final */
EasyCAT 0:543d6784d4cc 274 /* EOF is defined as packetsize < full packetsize */
EasyCAT 0:543d6784d4cc 275 if (!psize && (segmentdata == maxdata))
EasyCAT 0:543d6784d4cc 276 {
EasyCAT 0:543d6784d4cc 277 dofinalzero = TRUE;
EasyCAT 0:543d6784d4cc 278 }
EasyCAT 0:543d6784d4cc 279 FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
EasyCAT 0:543d6784d4cc 280 FOEp->MbxHeader.address = htoes(0x0000);
EasyCAT 0:543d6784d4cc 281 FOEp->MbxHeader.priority = 0x00;
EasyCAT 0:543d6784d4cc 282 /* get new mailbox count value */
EasyCAT 0:543d6784d4cc 283 cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
EasyCAT 0:543d6784d4cc 284 context->slavelist[slave].mbx_cnt = cnt;
EasyCAT 0:543d6784d4cc 285 FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
EasyCAT 0:543d6784d4cc 286 FOEp->OpCode = ECT_FOE_DATA;
EasyCAT 0:543d6784d4cc 287 sendpacket++;
EasyCAT 0:543d6784d4cc 288 FOEp->PacketNumber = htoel(sendpacket);
EasyCAT 0:543d6784d4cc 289 memcpy(&FOEp->Data[0], p, segmentdata);
EasyCAT 0:543d6784d4cc 290 p = (uint8 *)p + segmentdata;
EasyCAT 0:543d6784d4cc 291 /* send FoE data to slave */
EasyCAT 0:543d6784d4cc 292 wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
EasyCAT 0:543d6784d4cc 293 if (wkc <= 0)
EasyCAT 0:543d6784d4cc 294 {
EasyCAT 0:543d6784d4cc 295 worktodo = FALSE;
EasyCAT 0:543d6784d4cc 296 }
EasyCAT 0:543d6784d4cc 297 }
EasyCAT 0:543d6784d4cc 298 }
EasyCAT 0:543d6784d4cc 299 else
EasyCAT 0:543d6784d4cc 300 {
EasyCAT 0:543d6784d4cc 301 /* FoE error */
EasyCAT 0:543d6784d4cc 302 wkc = -EC_ERR_TYPE_FOE_PACKETNUMBER;
EasyCAT 0:543d6784d4cc 303 }
EasyCAT 0:543d6784d4cc 304 break;
EasyCAT 0:543d6784d4cc 305 }
EasyCAT 0:543d6784d4cc 306 case ECT_FOE_BUSY:
EasyCAT 0:543d6784d4cc 307 {
EasyCAT 0:543d6784d4cc 308 /* resend if data has been send before */
EasyCAT 0:543d6784d4cc 309 /* otherwise ignore */
EasyCAT 0:543d6784d4cc 310 if (sendpacket)
EasyCAT 0:543d6784d4cc 311 {
EasyCAT 0:543d6784d4cc 312 if (!psize)
EasyCAT 0:543d6784d4cc 313 {
EasyCAT 0:543d6784d4cc 314 dofinalzero = TRUE;
EasyCAT 0:543d6784d4cc 315 }
EasyCAT 0:543d6784d4cc 316 psize += segmentdata;
EasyCAT 0:543d6784d4cc 317 p = (uint8 *)p - segmentdata;
EasyCAT 0:543d6784d4cc 318 --sendpacket;
EasyCAT 0:543d6784d4cc 319 }
EasyCAT 0:543d6784d4cc 320 break;
EasyCAT 0:543d6784d4cc 321 }
EasyCAT 0:543d6784d4cc 322 case ECT_FOE_ERROR:
EasyCAT 0:543d6784d4cc 323 {
EasyCAT 0:543d6784d4cc 324 /* FoE error */
EasyCAT 0:543d6784d4cc 325 if (aFOEp->ErrorCode == 0x8001)
EasyCAT 0:543d6784d4cc 326 {
EasyCAT 0:543d6784d4cc 327 wkc = -EC_ERR_TYPE_FOE_FILE_NOTFOUND;
EasyCAT 0:543d6784d4cc 328 }
EasyCAT 0:543d6784d4cc 329 else
EasyCAT 0:543d6784d4cc 330 {
EasyCAT 0:543d6784d4cc 331 wkc = -EC_ERR_TYPE_FOE_ERROR;
EasyCAT 0:543d6784d4cc 332 }
EasyCAT 0:543d6784d4cc 333 break;
EasyCAT 0:543d6784d4cc 334 }
EasyCAT 0:543d6784d4cc 335 default:
EasyCAT 0:543d6784d4cc 336 {
EasyCAT 0:543d6784d4cc 337 /* unexpected mailbox received */
EasyCAT 0:543d6784d4cc 338 wkc = -EC_ERR_TYPE_PACKET_ERROR;
EasyCAT 0:543d6784d4cc 339 break;
EasyCAT 0:543d6784d4cc 340 }
EasyCAT 0:543d6784d4cc 341 }
EasyCAT 0:543d6784d4cc 342 }
EasyCAT 0:543d6784d4cc 343 else
EasyCAT 0:543d6784d4cc 344 {
EasyCAT 0:543d6784d4cc 345 /* unexpected mailbox received */
EasyCAT 0:543d6784d4cc 346 wkc = -EC_ERR_TYPE_PACKET_ERROR;
EasyCAT 0:543d6784d4cc 347 }
EasyCAT 0:543d6784d4cc 348 }
EasyCAT 0:543d6784d4cc 349 } while (worktodo);
EasyCAT 0:543d6784d4cc 350 }
EasyCAT 0:543d6784d4cc 351
EasyCAT 0:543d6784d4cc 352 return wkc;
EasyCAT 0:543d6784d4cc 353 }
EasyCAT 0:543d6784d4cc 354
EasyCAT 0:543d6784d4cc 355 #ifdef EC_VER1
EasyCAT 0:543d6784d4cc 356 int ec_FOEdefinehook(void *hook)
EasyCAT 0:543d6784d4cc 357 {
EasyCAT 0:543d6784d4cc 358 return ecx_FOEdefinehook(&ecx_context, hook);
EasyCAT 0:543d6784d4cc 359 }
EasyCAT 0:543d6784d4cc 360
EasyCAT 0:543d6784d4cc 361 int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
EasyCAT 0:543d6784d4cc 362 {
EasyCAT 0:543d6784d4cc 363 return ecx_FOEread(&ecx_context, slave, filename, password, psize, p, timeout);
EasyCAT 0:543d6784d4cc 364 }
EasyCAT 0:543d6784d4cc 365
EasyCAT 0:543d6784d4cc 366 int ec_FOEwrite(uint16 slave, char *filename, uint32 password, int psize, void *p, int timeout)
EasyCAT 0:543d6784d4cc 367 {
EasyCAT 0:543d6784d4cc 368 return ecx_FOEwrite(&ecx_context, slave, filename, password, psize, p, timeout);
EasyCAT 0:543d6784d4cc 369 }
EasyCAT 0:543d6784d4cc 370 #endif