support larger mailbox sizes for FoE

CMakeLists.txt

@@ -105,9 +105,10 @@ install(FILES
   ${OSHW_HEADERS}
   DESTINATION ${SOEM_INCLUDE_INSTALL_DIR})
 
-if(BUILD_TESTS) 
+if(BUILD_TESTS)
   add_subdirectory(test/simple_ng)
   add_subdirectory(test/linux/slaveinfo)
   add_subdirectory(test/linux/eepromtool)
   add_subdirectory(test/linux/simple_test)
+  add_subdirectory(test/linux/firm_update)
 endif()

soem/ethercatbase.c

@@ -325,7 +325,14 @@ int ecx_FPRD(ecx_portt *port, uint16 ADP, uint16 ADO, uint16 length, void *data,
    wkc = ecx_srconfirm(port, idx, timeout);
    if (wkc > 0)
    {
-      memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
+      if (length <= EC_MAXMBX)
+      {
+         memcpy(data, &(port->rxbuf[idx][EC_HEADERSIZE]), length);
+      }
+      else
+      {
+         wkc = EC_ERROR;
+      }
    }
    ecx_setbufstat(port, idx, EC_BUF_EMPTY);
 

soem/ethercatfoe.c

@@ -19,7 +19,7 @@
 #include "ethercatmain.h"
 #include "ethercatfoe.h"
 
-#define EC_MAXFOEDATA 512
+#define EC_MAXFOEDATA EC_MAXMBX
 
 /** FOE structure.
  * Used for Read, Write, Data, Ack and Error mailbox packets.
@@ -309,13 +309,45 @@ int ecx_FOEwrite(ecx_contextt *context, uint16 slave, char *filename, uint32 pas
                      /* otherwise ignore */
                      if (sendpacket)
                      {
-                        if (!psize)
-                        {
-                           dofinalzero = TRUE;
-                        }
                         psize += segmentdata;
                         p = (uint8 *)p - segmentdata;
                         --sendpacket;
+                        tsize = psize;
+                        if (tsize > maxdata)
+                        {
+                           tsize = maxdata;
+                        }
+                        if(tsize || dofinalzero)
+                        {
+                           worktodo = TRUE;
+                           dofinalzero = FALSE;
+                           segmentdata = tsize;
+                           psize -= segmentdata;
+                           /* if last packet was full size, add a zero size packet as final */
+                           /* EOF is defined as packetsize < full packetsize */
+                           if (!psize && (segmentdata == maxdata))
+                           {
+                             dofinalzero = TRUE;
+                           }
+                           FOEp->MbxHeader.length = htoes(0x0006 + segmentdata);
+                           FOEp->MbxHeader.address = htoes(0x0000);
+                           FOEp->MbxHeader.priority = 0x00;
+                           /* get new mailbox count value */
+                           cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
+                           context->slavelist[slave].mbx_cnt = cnt;
+                           FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
+                           FOEp->OpCode = ECT_FOE_DATA;
+                           sendpacket++;
+                           FOEp->PacketNumber = htoel(sendpacket);
+                           memcpy(&FOEp->Data[0], p, segmentdata);
+                           p = (uint8 *)p + segmentdata;
+                           /* send FoE data to slave */
+                           wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
+                           if (wkc <= 0)
+                           {
+                              worktodo = FALSE;
+                           }
+                        }
                      }
                      break;
                   }

test/linux/firm_update/CMakeLists.txt

@@ -0,0 +1,5 @@
+
+set(SOURCES firm_update.c)
+add_executable(firm_update ${SOURCES})
+target_link_libraries(firm_update soem)
+install(TARGETS firm_update DESTINATION bin)

test/linux/firm_update/firm_update.c

@@ -20,26 +20,26 @@
 
 #include "ethercat.h"
 
-#define FWBUFSIZE (8 * 1024 * 1024)
+#define FWBUFSIZE (20 * 1024 * 1024)
 
 uint8 ob;
 uint16 ow;
 uint32 data;
 char filename[256];
-char filebuffer[FWBUFSIZE]; // 8MB buffer
+char filebuffer[FWBUFSIZE]; // 20MB buffer
 int filesize;
 int j;
 uint16 argslave;
 
 int input_bin(char *fname, int *length)
 {
-    FILE *fp;
+	FILE *fp;
 
 	int cc = 0, c;
 
-    fp = fopen(fname, "rb");
-    if(fp == NULL)
-        return 0;
+	fp = fopen(fname, "rb");
+	if(fp == NULL)
+		return 0;
 	while (((c = fgetc(fp)) != EOF) && (cc < FWBUFSIZE))
 		filebuffer[cc++] = (uint8)c;
 	*length = cc;
@@ -48,8 +48,9 @@ int input_bin(char *fname, int *length)
 }
 
 
-void boottest(char *ifname, uint16 slave, char *filename)
+int boottest(char *ifname, uint16 slave, char *filename)
 {
+	int retval = 0;
 	printf("Starting firmware update example\n");
 
 	/* initialise SOEM, bind socket to ifname */
@@ -61,18 +62,48 @@ void boottest(char *ifname, uint16 slave, char *filename)
 
 	    if ( ec_config_init(FALSE) > 0 )
 		{
+			int counter = 3;
+			char sm_zero[sizeof(ec_smt)*2];
+			char fmmu_zero[sizeof(ec_fmmut)];
+			unsigned char rd_stat = 0xff;
+
+			memset(sm_zero, 0, sizeof(sm_zero));
+			memset(fmmu_zero, 0, sizeof(fmmu_zero));
+
 			printf("%d slaves found and configured.\n",ec_slavecount);
 
-			/* wait for all slaves to reach PRE_OP state */
-			ec_statecheck(0, EC_STATE_PRE_OP,  EC_TIMEOUTSTATE * 4);
+			counter = 3;
+			do {
+				/* wait for slave to reach PREOP state */
+				if (ec_statecheck(slave, EC_STATE_PRE_OP,  EC_TIMEOUTSTATE * 4) == EC_STATE_PRE_OP) {
+					printf("Slave is in PREOP state\n");
+					counter = 0;
+				}
+			}
+			while (counter-- > 0);
 
-			printf("Request init state for slave %d\n", slave);
-			ec_slave[slave].state = EC_STATE_INIT;
-			ec_writestate(slave);
+			counter = 3;
+			do {
+				printf("Request init state for slave %d\n", slave);
+				ec_slave[slave].state = EC_STATE_INIT;
+				ec_writestate(slave);
+
+				/* wait for slave to reach INIT state */
+				if (ec_statecheck(slave, EC_STATE_INIT,  EC_TIMEOUTSTATE * 4) == EC_STATE_INIT) {
+					counter = 0;
+				}
+			}
+			while (counter-- > 0);
+			printf("Slave %d state to INIT. counter: %d\n", slave, counter);
 
-			/* wait for slave to reach INIT state */
-			ec_statecheck(slave, EC_STATE_INIT,  EC_TIMEOUTSTATE * 4);
-			printf("Slave %d state to INIT.\n", slave);
+			/* clean FMMUs */
+			ec_FPWR(ec_slave[slave].configadr, ECT_REG_FMMU0, sizeof(fmmu_zero), fmmu_zero, EC_TIMEOUTRET3);
+			ec_FPWR(ec_slave[slave].configadr, ECT_REG_FMMU1, sizeof(fmmu_zero), fmmu_zero, EC_TIMEOUTRET3);
+
+			/* clean all SM0 / SM1 to set new bootstrap values later */
+			ec_FPWR(ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt) * 2, sm_zero, EC_TIMEOUTRET3);
+			ec_FPRD(ec_slave[slave].configadr, ECT_REG_SM1STAT, 1, &rd_stat, EC_TIMEOUTRET3);
+			printf("Read back Status of SM1: %02x\n", rd_stat);
 
 			/* read BOOT mailbox data, master -> slave */
 			data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP);
@@ -101,9 +132,23 @@ void boottest(char *ifname, uint16 slave, char *filename)
 			/* program SM1 mailbox out for slave */
 			ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET);
 
-			printf("Request BOOT state for slave %d\n", slave);
-			ec_slave[slave].state = EC_STATE_BOOT;
-			ec_writestate(slave);
+			/* give EEPROM control to PDI */
+			rd_stat = 1;
+			ec_FPWR (ec_slave[slave].configadr, ECT_REG_EEPCFG, 1, &rd_stat, EC_TIMEOUTRET);
+
+			counter = 3;
+			do {
+				uint16 ret;
+				printf("Request BOOT state for slave %d\n", slave);
+				ec_slave[slave].state = EC_STATE_BOOT;
+				printf("ec_writestate returned: %d\n", ec_writestate(slave));
+				ret = ec_statecheck(slave, EC_STATE_BOOT,  EC_TIMEOUTSTATE );
+				printf("ec_statecheck returned: %d\n", ret);
+				if (ret	== EC_STATE_BOOT)
+					counter = 0;
+			} while(counter-- > 0);
+
+			printf("check BOOT state again\n");
 
 			/* wait for slave to reach BOOT state */
 			if (ec_statecheck(slave, EC_STATE_BOOT,  EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT)
@@ -112,22 +157,67 @@ void boottest(char *ifname, uint16 slave, char *filename)
 
 				if (input_bin(filename, &filesize))
 				{
+					char *short_filename = strrchr(filename, '/'); /* search for last / */
+					if (short_filename)
+						short_filename++; /* jump over the \ */
+					else
+						short_filename = filename; /* no \ found -> must be a short filename */
 					printf("File read OK, %d bytes.\n",filesize);
-					printf("FoE write....");
-					j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
+					printf("FoE write %s....\n", short_filename);
+					j = ec_FOEwrite(slave, short_filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE);
 					printf("result %d.\n",j);
-					printf("Request init state for slave %d\n", slave);
-					ec_slave[slave].state = EC_STATE_INIT;
-					ec_writestate(slave);
+					if (j == 0) retval = 5;
+					else if (j != 1) retval = j;
+
+					if (retval == 0) {
+						/* wait max 600s => 10 minutes for firmware update to complete */
+						counter = 60;
+						retval = 6; /* only success switch to init state afterwards completes firmware update */
+						do {
+							uint16 ret;
+							printf("Request init state for slave %d (counter: %d)\n", slave, counter);
+							ec_slave[slave].state = EC_STATE_INIT;
+							ec_writestate(slave);
+							ret = ec_statecheck(slave, EC_STATE_INIT, 10000000);
+							if (ret == 0) {
+								int count;
+								if ((count = ec_config_init(FALSE)) >= slave) {
+									ec_slave[slave].state = EC_STATE_INIT;
+									ec_writestate(slave);
+									ret = ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 10);
+								}
+								else {
+									printf("Slaves found: %d Needed: %d .. will try it again\n", count, slave);
+#ifndef WIN32
+									sleep(10);
+#endif
+									ret = 25555;
+								}
+							}
+							if (ret == EC_STATE_INIT) {
+								counter = 0;
+								printf("State change to init success\n");
+								retval = 0;
+							}
+						} while (counter-- > 0);
+					}
 				}
 				else
-				    printf("File not read OK.\n");
+				{
+					printf("File not read OK.\n");
+					retval = 4;
+				}
+			}
+			else {
+				printf("Failed to enter boot mode\n");
+				retval = 3;
 			}
 
 		}
 		else
 		{
 			printf("No slaves found!\n");
+			retval = 2;
 		}
 		printf("End firmware update example, close socket\n");
 		/* stop SOEM, close socket */
@@ -136,17 +226,20 @@ void boottest(char *ifname, uint16 slave, char *filename)
 	else
 	{
 		printf("No socket connection on %s\nExcecute as root\n",ifname);
+		retval = 1;
 	}
+	return retval;
 }
 
 int main(int argc, char *argv[])
 {
+	int ret = 0;
 	printf("SOEM (Simple Open EtherCAT Master)\nFirmware update example\n");
 
 	if (argc > 3)
 	{
 		argslave = atoi(argv[2]);
-		boottest(argv[1], argslave, argv[3]);
+		ret = boottest(argv[1], argslave, argv[3]);
 	}
 	else
 	{
@@ -158,5 +251,5 @@ int main(int argc, char *argv[])
 	}
 
 	printf("End program\n");
-	return (0);
+	return ret;
 }