etherlabmaster: master/canopen.c@080b46eb6e2d (annotated)

64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* c a n o p e n . c
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* CANopen over EtherCAT
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Id$
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	10
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <linux/delay.h>
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	12	#include <linux/slab.h>
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	13	#include <linux/module.h>
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	14
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	15	#include "../include/EtherCAT_si.h"
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	#include "master.h"
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	17
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	20	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	21	Schreibt ein CANopen-SDO (service data object).
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	22	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	23
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	24	int EtherCAT_rt_canopen_sdo_write(ec_slave_t slave, /< EtherCAT-Slave /
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	25	uint16_t sdo_index, /*< SDO-Index /
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	26	uint8_t sdo_subindex, /*< SDO-Subindex /
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	27	uint32_t value, /*< Neuer Wert /
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	28	size_t size /*< Größe des Datenfeldes /
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	29	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	{
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	31	unsigned char data[0xF6];
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	32	ec_frame_t frame;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	33	unsigned int tries_left, i;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	34	ec_master_t *master;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	35
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	36	memset(data, 0x00, 0xF6);
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	37
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	38	master = slave->master;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	39
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	40	if (size == 0 \|\| size > 4) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	41	EC_ERR("Illegal SDO data size: %i!\n", size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	42	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	45	EC_WRITE_U16(data, 0x000A); // Length of the Mailbox service data
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	46	EC_WRITE_U16(data + 2, slave->station_address); // Station address
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	47	EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	48	EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	49	EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	50	EC_WRITE_U8 (data + 8, 0x13 \| ((4 - size) << 2)); // Spec., exp., init.
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	51	EC_WRITE_U16(data + 9, sdo_index);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	52	EC_WRITE_U8 (data + 11, sdo_subindex);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	53
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	54	for (i = 0; i < size; i++) {
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	55	EC_WRITE_U8(data + 12 + i, value & 0xFF);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	56	value >>= 8;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	58
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	59	ec_frame_init_npwr(&frame, master, slave->station_address,
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	60	0x1800, 0xF6, data);
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	61
90 044e97bce4bd Rahmen jetzt zustandslos. Florian Pose <fp@igh-essen.com> parents: 89 diff changeset	62	if (unlikely(ec_frame_send_receive(&frame))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	63	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	65	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	66
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	67	// Read "written bit" of Sync-Manager
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	68
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	69	tries_left = 10;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	70	while (tries_left)
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	71	{
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	72	ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	73
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	74	if (unlikely(ec_frame_send_receive(&frame) < 0)) {
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	75	EC_ERR("Mailbox checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	76	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	78	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	79
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	80	if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	81	break;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	82	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	83
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	84	udelay(1000);
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	85	tries_left--;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	86	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	87
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	if (!tries_left) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	89	EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	91	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	92
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	93	ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	94
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	95	if (unlikely(ec_frame_send_receive(&frame) < 0)) {
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	96	EC_ERR("Mailbox receiving failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	97	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	98	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	99	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	100
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	101	if (EC_READ_U8 (frame.data + 5) != 0x03 \|\| // COE
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	102	EC_READ_U16(frame.data + 6) != 0x3000 \|\| // SDO response
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	103	EC_READ_U8 (frame.data + 8) >> 5 != 0x03 \|\| // Download response
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	104	EC_READ_U16(frame.data + 9) != sdo_index \|\| // Index
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	105	EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	{
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	107	EC_ERR("Illegal mailbox response at slave %i!\n",
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	108	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	110	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	111
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	112	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	113	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	114
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	115	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	116
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	117	/**
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	118	Liest ein CANopen-SDO (service data object).
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	119	*/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	120
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	121	int EtherCAT_rt_canopen_sdo_read(ec_slave_t slave, /< EtherCAT-Slave /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	122	uint16_t sdo_index, /*< SDO-Index /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	123	uint8_t sdo_subindex, /*< SDO-Subindex /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	124	uint32_t value /< Speicher für gel. Wert /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	125	)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	126	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	127	unsigned char data[0xF6];
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	128	ec_frame_t frame;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	129	unsigned int tries_left;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	130	ec_master_t *master;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	131
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	132	memset(data, 0x00, 0xF6);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	133
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	134	master = slave->master;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	135
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	136	EC_WRITE_U16(data, 0x0006); // Length of the Mailbox service data
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	137	EC_WRITE_U16(data + 2, slave->station_address); // Station address
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	138	EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	139	EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	140	EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	141	EC_WRITE_U8 (data + 8, 0x1 << 1 \| 0x2 << 5); // Exp., Upload request
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	142	EC_WRITE_U16(data + 9, sdo_index);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	143	EC_WRITE_U8 (data + 11, sdo_subindex);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	144
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	145	ec_frame_init_npwr(&frame, master, slave->station_address,
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	146	0x1800, 0xF6, data);
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	147
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	148	if (unlikely(ec_frame_send_receive(&frame) < 0)) {
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	149	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	150	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	151	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	152
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	153	// Read "written bit" of Sync-Manager
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	154
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	155	tries_left = 10;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	156	while (tries_left)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	157	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	158	ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	159
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	160	if (unlikely(ec_frame_send_receive(&frame) < 0)) {
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	161	EC_ERR("Mailbox checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	162	slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	163	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	164	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	165
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	166	if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	167	break;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	168	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	169
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	170	udelay(1000);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	171	tries_left--;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	172	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	173
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	174	if (!tries_left) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	175	EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	176	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	177	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	178
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	179	ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	180
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	181	if (unlikely(ec_frame_send_receive(&frame) < 0)) {
e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	182	EC_ERR("Mailbox receiving failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	183	slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	184	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	185	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	186
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	187	if (EC_READ_U8 (frame.data + 5) != 0x03 \|\| // COE
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	188	EC_READ_U16(frame.data + 6) != 0x3000 \|\| // SDO response
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	189	EC_READ_U8 (frame.data + 8) >> 5 != 0x02 \|\| // Upload response
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	190	EC_READ_U16(frame.data + 9) != sdo_index \|\| // Index
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	191	EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	192	{
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	193	EC_ERR("Illegal mailbox response at slave %i!\n",
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	194	slave->ring_position);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	195	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	196	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	197
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	198	*value = EC_READ_U32(frame.data + 12);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	199
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	200	return 0;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	201	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	202
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	203	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	204
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	205	/**
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	206	Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	207
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	208	Siehe EtherCAT_rt_canopen_sdo_write()
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	209
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	210	\return 0 wenn alles ok, < 0 bei Fehler
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	211	*/
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	212
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	213	int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	214	/*< EtherCAT-Master /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	215	const char *addr,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	216	/*< Addresse, siehe ec_address() /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	217	uint16_t index,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	218	/*< SDO-Index /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	219	uint8_t subindex,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	220	/*< SDO-Subindex /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	221	uint32_t value,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	222	/*< Neuer Wert /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	223	size_t size
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	224	/*< Größe des Datenfeldes /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	225	)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	226	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	227	ec_slave_t *slave;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	228	if (!(slave = ec_address(master, addr))) return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	229	return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	230	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	231
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	232	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	233
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	234	/**
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	235	Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	236
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	237	Siehe EtherCAT_rt_canopen_sdo_read()
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	238
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	239	\return 0 wenn alles ok, < 0 bei Fehler
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	240	*/
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	241
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	242	int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	243	/*< EtherCAT-Slave /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	244	const char *addr,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	245	/*< Addresse, siehe ec_address() /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	246	uint16_t index,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	247	/*< SDO-Index /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	248	uint8_t subindex,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	249	/*< SDO-Subindex /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	250	uint32_t *value
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	251	/*< Speicher für gel. Wert /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	252	)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	253	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	254	ec_slave_t *slave;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	255	if (!(slave = ec_address(master, addr))) return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	256	return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	257	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	258
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	259	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	260
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	262	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	263	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	264	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	265
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	267
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	268	/* Emacs-Konfiguration
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	269	;;; Local Variables: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	270	;;; c-basic-offset:4 ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	271	;;; End: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	272	*/

author	Florian Pose <fp@igh-essen.com>
	Thu, 02 Mar 2006 11:19:27 +0000
changeset 96	080b46eb6e2d
parent 91	0120d6214948
child 98	f564d0929292
permissions	-rw-r--r--