etherlabmaster: master/canopen.c@0d4119024f55 (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	* $Id$
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	5	* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	6	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	7	* This file is part of the IgH EtherCAT Master.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	8	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	9	* The IgH EtherCAT Master is free software; you can redistribute it
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	10	* and/or modify it under the terms of the GNU General Public License
1619 0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	11	* as published by the Free Software Foundation; either version 2 of the
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	12	* License, or (at your option) any later version.
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	13	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	14	* The IgH EtherCAT Master is distributed in the hope that it will be
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	15	* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	16	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	17	* GNU General Public License for more details.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	18	*
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	19	* You should have received a copy of the GNU General Public License
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	20	* along with the IgH EtherCAT Master; if not, write to the Free Software
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	21	* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	22	*
1619 0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	23	* The right to use EtherCAT Technology is granted and comes free of
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	24	* charge under condition of compatibility of product made by
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	25	* Licensee. People intending to distribute/sell products based on the
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	26	* code, have to sign an agreement to guarantee that products using
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	27	* software based on IgH EtherCAT master stay compatible with the actual
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	28	* EtherCAT specification (which are released themselves as an open
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	29	* standard) as the (only) precondition to have the right to use EtherCAT
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	30	* Technology, IP and trade marks.
0d4119024f55 MERGE -r361:425 trunk -> branches/stable-1.0: EoE, License, State machines. Florian Pose <fp@igh-essen.com> parents: 1618 diff changeset	31	*
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	32	*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	33
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	34	/**
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	35	\file
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	36	Canopen-over-EtherCAT functions.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	37	*/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	38
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	39	/*****************************************************************************/
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	40
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	#include <linux/delay.h>
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	42	#include <linux/slab.h>
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	43	#include <linux/module.h>
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	44
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	45	#include "master.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	46	#include "mailbox.h"
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	47
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	48	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	49
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	50	void ec_canopen_abort_msg(uint32_t);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	51	int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	52	int ec_slave_fetch_sdo_entries(ec_slave_t , ec_sdo_t , uint8_t);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	53
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	54	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	55
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	56	const ec_code_msg_t sdo_abort_messages[];
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	57
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	58	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	59
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	60	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	61	Reads 32 bit of a CANopen SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	62	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	63	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	64
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	65	int ec_slave_sdo_read_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	66	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	67	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	68	uint8_t target /< 4-byte memory /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	69	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	70	{
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	71	size_t rec_size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	72	uint8_t *data;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	73
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	74	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	75
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	76	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	77	EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	78	\| 0x2 << 5)); // initiate upload request
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	79	EC_WRITE_U16(data + 3, sdo_index);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	80	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	81
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	82	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	83
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	84	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	85	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	86	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	87	sdo_index, sdo_subindex, slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	88	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	89	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	90	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	91
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	92	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	93	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	94	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	95	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
159 acb250c92896 Fixed invalid format string. Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	96	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	97	EC_ERR("Invalid SDO upload response at slave %i!\n",
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	98	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	99	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	100	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	101	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	102
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	103	memcpy(target, data + 6, 4);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	104	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	105	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	106
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	107	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	108
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	109	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	110	Writes a CANopen SDO using expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	111	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	112	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	113
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	114	int ec_slave_sdo_write_exp(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	115	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	116	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	117	const uint8_t sdo_data, /< new value /
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	118	size_t size /*< Data size in bytes (1 - 4) /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	119	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	120	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	121	uint8_t *data;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	122	size_t rec_size;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	123
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	124	if (size == 0 \|\| size > 4) {
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	125	EC_ERR("Invalid data size!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	126	return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	127	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	128
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	129	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	130
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	131	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	132	EC_WRITE_U8 (data + 2, (0x1 // size specified
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	133	\| 0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	134	\| (4 - size) << 2 // data set size
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	135	\| 0x1 << 5)); // initiate download request
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	136	EC_WRITE_U16(data + 3, sdo_index);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	137	EC_WRITE_U8 (data + 5, sdo_subindex);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	138	memcpy(data + 6, sdo_data, size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	139	if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	140
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	141	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	142
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	143	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	144	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	145	EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	146	sdo_index, sdo_subindex, size, slave->ring_position);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	147	ec_canopen_abort_msg(EC_READ_U32(data + 6));
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	148	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	149	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	150
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	151	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	152	EC_READ_U8 (data + 2) >> 5 != 0x3 \|\| // download response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	153	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	154	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	155	EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	156	sdo_index, sdo_subindex, size);
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	157	EC_ERR("Invalid SDO download 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	158	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	159	ec_print_data(data, rec_size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	160	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	161	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	162
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	163	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	164	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	165
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	166	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	167
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	168	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	169	Reads a CANopen SDO in normal mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	170	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	171	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	172	\todo Make size non-pointer.
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	173	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	174
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	175	int ecrt_slave_sdo_read(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	176	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	177	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	178	uint8_t target, /< memory for value /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	179	size_t size /< target memory size /
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	180	)
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	181	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	182	uint8_t *data;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	183	size_t rec_size, data_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	184	uint32_t complete_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	185
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	186	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	187
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	188	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	189	EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	190	EC_WRITE_U16(data + 3, sdo_index);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	191	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	192
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	193	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	194
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	195	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	196	EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	197	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	198	sdo_index, sdo_subindex, slave->ring_position);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	199	ec_canopen_abort_msg(EC_READ_U32(data + 6));
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	200	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	201	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	202
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	203	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	204	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // initiate upload response
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	205	EC_READ_U16(data + 3) != sdo_index \|\| // index
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	206	EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	207	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	208	EC_ERR("Invalid SDO upload response at slave %i!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	209	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	210	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	211	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	212	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	213
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	214	if (rec_size < 10) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	215	EC_ERR("Received currupted SDO upload response!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	216	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	217	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	218	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	219
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	220	if ((complete_size = EC_READ_U32(data + 6)) > *size) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	221	EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	222	complete_size, *size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	223	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	224	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	225
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	226	data_size = rec_size - 10;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	227
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	228	if (data_size != complete_size) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	229	EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	230	return -1;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	231	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	232
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	233	memcpy(target, data + 10, data_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	234	return 0;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	235	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	236
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	237	/*****************************************************************************/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	238
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	239	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	240	Fetches the SDO dictionary of a slave.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	241	\return 0 in case of success, else < 0
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	242	*/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	243
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	244	int ec_slave_fetch_sdo_list(ec_slave_t slave /< EtherCAT slave /)
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	245	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	246	uint8_t *data;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	247	size_t rec_size;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	248	unsigned int i, sdo_count;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	249	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	250	uint16_t sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	251
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	252	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	253
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	254	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	255	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	256	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	257	EC_WRITE_U16(data + 4, 0x0000);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	258	EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	259
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	260	if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	261	EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	262	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	263	}
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	264
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	265	do {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	266	if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	267	return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	268
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	269	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	270	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	271	EC_ERR("SDO information error response at slave %i!\n",
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	272	slave->ring_position);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	273	ec_canopen_abort_msg(EC_READ_U32(data + 6));
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	274	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	275	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	276
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	277	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	278	(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	279	EC_ERR("Invalid SDO list response at slave %i!\n",
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	280	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	281	ec_print_data(data, rec_size);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	282	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	283	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	284
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	285	if (rec_size < 8) {
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	286	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	287	ec_print_data(data, rec_size);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	288	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	289	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	290
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	291	sdo_count = (rec_size - 8) / 2;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	292	for (i = 0; i < sdo_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	293	sdo_index = EC_READ_U16(data + 8 + i * 2);
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	294	if (!sdo_index) continue; // sometimes index is 0... ???
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	295
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	296	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	297	EC_ERR("Failed to allocate memory for SDO!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	298	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	299	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	300
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	301	// Initialize SDO object
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	302	sdo->index = sdo_index;
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	303	//sdo->unkown = 0x0000;
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	304	sdo->object_code = 0x00;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	305	sdo->name = NULL;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	306	INIT_LIST_HEAD(&sdo->entries);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	307
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	308	list_add_tail(&sdo->list, &slave->sdo_dictionary);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	309	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	310	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	311	while (EC_READ_U8(data + 2) & 0x80);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	312
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	313	// Fetch all SDO descriptions
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	314	if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	315
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	316	return 0;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	317	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	318
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	319	/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	320
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	321	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	322	Fetches the SDO descriptions for the known SDOs.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	323	\return 0 in case of success, else < 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	324	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	325
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	326	int ec_slave_fetch_sdo_descriptions(ec_slave_t slave /< EtherCAT slave /)
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	327	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	328	uint8_t *data;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	329	size_t rec_size, name_size;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	330	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	331
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	332	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	333	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	334	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	335	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	336	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	337	EC_WRITE_U16(data + 4, 0x0000);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	338	EC_WRITE_U16(data + 6, sdo->index); // SDO index
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	339
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	340	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	341
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	342	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	343	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	344	EC_ERR("SDO information error response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	345	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	346	sdo->index);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	347	ec_canopen_abort_msg(EC_READ_U32(data + 6));
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	348	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	349	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	350
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	351	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	352	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	353	EC_READ_U16(data + 6) != sdo->index) { // SDO index
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	354	EC_ERR("Invalid object description response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	355	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	356	sdo->index);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	357	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	358	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	359	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	360
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	361	if (rec_size < 12) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	362	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	363	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	364	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	365	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	366
175 2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	367	EC_DBG("object desc response:\n");
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	368	ec_print_data(data, rec_size);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	369
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	370	//sdo->unknown = EC_READ_U16(data + 8);
2e4b18203ade Altered CoE "Get object description response" fields Florian Pose <fp@igh-essen.com> parents: 164 diff changeset	371	sdo->object_code = EC_READ_U8(data + 11);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	372
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	373	name_size = rec_size - 12;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	374	if (name_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	375	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	376	EC_ERR("Failed to allocate SDO name!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	377	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	378	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	379
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	380	memcpy(sdo->name, data + 12, name_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	381	sdo->name[name_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	382	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	383
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	384	if (EC_READ_U8(data + 2) & 0x80) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	385	EC_ERR("Fragment follows (not implemented)!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	386	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	387	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	388
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	389	// Fetch all entries (subindices)
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	390	if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	391	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	392	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	393
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	394	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	395	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	396
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	397	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	398
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	399	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	400	Fetches all entries (subindices) to an SDO.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	401	\return 0 in case of success, else < 0
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	402	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	403
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	404	int ec_slave_fetch_sdo_entries(ec_slave_t slave, /< EtherCAT slave /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	405	ec_sdo_t sdo, /< SDO /
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	406	uint8_t subindices /*< number of subindices /
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	407	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	408	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	409	uint8_t *data;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	410	size_t rec_size, data_size;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	411	uint8_t i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	412	ec_sdo_entry_t *entry;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	413
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	414	for (i = 1; i <= subindices; i++) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	415	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	416	return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	417
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	418	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	419	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	420	EC_WRITE_U8 (data + 3, 0x00);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	421	EC_WRITE_U16(data + 4, 0x0000);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	422	EC_WRITE_U16(data + 6, sdo->index); // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	423	EC_WRITE_U8 (data + 8, i); // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	424	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	425
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	426	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	427
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	428	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	429	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	430	EC_ERR("SDO information error response at slave %i while"
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	431	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	432	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	433	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	434	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	435	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	436
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	437	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	438	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // Entry desc. response
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	439	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	440	EC_READ_U8(data + 8) != i) { // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	441	EC_ERR("Invalid entry description response at slave %i while"
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	442	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	443	sdo->index, i);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	444	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	445	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	446	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	447
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	448	if (rec_size < 16) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	449	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	450	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	451	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	452	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	453
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	454	if (!EC_READ_U16(data + 12)) // bit length = 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	455	continue;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	456
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	457	data_size = rec_size - 16;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	458
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	459	if (!(entry = (ec_sdo_entry_t *)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	460	kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	461	EC_ERR("Failed to allocate entry!\n");
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	462	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	463	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	464
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	465	entry->subindex = i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	466	entry->data_type = EC_READ_U16(data + 10);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	467	entry->bit_length = EC_READ_U16(data + 12);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	468
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	469	// memory for name string appended to entry
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	470	entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	471
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	472	memcpy(entry->name, data + 16, data_size);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	473	entry->name[data_size] = 0;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	474
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	475	list_add_tail(&entry->list, &sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	476	}
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	477
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	478	return 0;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	479	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	480
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	481	/*****************************************************************************/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	482
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	483	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	484	Outputs an SDO abort message.
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	485	*/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	486
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	487	void ec_canopen_abort_msg(uint32_t abort_code)
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	488	{
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	489	const ec_code_msg_t *abort_msg;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	490
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	491	for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	492	if (abort_msg->code == abort_code) {
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	493	EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	494	abort_msg->code, abort_msg->message);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	495	return;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	496	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	497	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	498
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	499	EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	500	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	501
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	502	/*****************************************************************************/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	503
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	504	const ec_code_msg_t sdo_abort_messages[] = {
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	505	{0x05030000, "Toggle bit not changed"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	506	{0x05040000, "SDO protocol timeout"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	507	{0x05040001, "Client/Server command specifier not valid or unknown"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	508	{0x05040005, "Out of memory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	509	{0x06010000, "Unsupported access to an object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	510	{0x06010001, "Attempt to read a write-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	511	{0x06010002, "Attempt to write a read-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	512	{0x06020000, "This object does not exist in the object directory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	513	{0x06040041, "The object cannot be mapped into the PDO"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	514	{0x06040042, "The number and length of the objects to be mapped would"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	515	" exceed the PDO length"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	516	{0x06040043, "General parameter incompatibility reason"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	517	{0x06040047, "Gerneral internal incompatibility in device"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	518	{0x06060000, "Access failure due to a hardware error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	519	{0x06070010, "Data type does not match, length of service parameter does"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	520	" not match"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	521	{0x06070012, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	522	" high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	523	{0x06070013, "Data type does not match, length of service parameter too"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	524	" low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	525	{0x06090011, "Subindex does not exist"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	526	{0x06090030, "Value range of parameter exceeded"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	527	{0x06090031, "Value of parameter written too high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	528	{0x06090032, "Value of parameter written too low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	529	{0x06090036, "Maximum value is less than minimum value"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	530	{0x08000000, "General error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	531	{0x08000020, "Data cannot be transferred or stored to the application"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	532	{0x08000021, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	533	" because of local control"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	534	{0x08000022, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	535	" because of the present device state"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	536	{0x08000023, "Object dictionary dynamic generation fails or no object"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	537	" dictionary is present"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	538	{}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	539	};
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	540
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	541	/******************************************************************************
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	542	* Realtime interface
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	543	*****************************************************************************/
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	544
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	545	/**
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	546	Reads an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	547	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	548	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	549	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	550	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	551
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	552	int ecrt_slave_sdo_read_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	553	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	554	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	555	uint8_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	556	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	557	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	558	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	559	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	560	*target = EC_READ_U8(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	561	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	562	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	563
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	564	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	565
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	566	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	567	Reads a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	568	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	569	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	570	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	571	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	572
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	573	int ecrt_slave_sdo_read_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	574	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	575	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	576	uint16_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	577	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	578	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	579	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	580	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	581	*target = EC_READ_U16(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	582	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	583	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	584
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	585	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	586
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	587	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	588	Reads a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	589	See ec_slave_sdo_read_exp()
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	590	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	591	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	592	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	593
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	594	int ecrt_slave_sdo_read_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	595	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	596	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	597	uint32_t target /< memory for read value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	598	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	599	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	600	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	601	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	602	*target = EC_READ_U32(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	603	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	604	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	605
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	606	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	607
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	608	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	609	Writes an 8-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	610	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	611	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	612	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	613
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	614	int ecrt_slave_sdo_write_exp8(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	615	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	616	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	617	uint8_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	618	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	619	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	620	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	621	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	622
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	623	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	624
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	625	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	626	Writes a 16-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	627	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	628	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	629	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	630
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	631	int ecrt_slave_sdo_write_exp16(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	632	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	633	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	634	uint16_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	635	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	636	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	637	uint8_t data[2];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	638	EC_WRITE_U16(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	639	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	640	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	641
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	642	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	643
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	644	/**
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	645	Writes a 32-bit SDO in expedited mode.
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	646	\return 0 in case of success, else < 0
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	647	\ingroup RealtimeInterface
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	648	*/
195 674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	649
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	650	int ecrt_slave_sdo_write_exp32(ec_slave_t slave, /< EtherCAT slave /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	651	uint16_t sdo_index, /*< SDO index /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	652	uint8_t sdo_subindex, /*< SDO subindex /
674071846ee3 Translated all comments and documentation to english language. Florian Pose <fp@igh-essen.com> parents: 175 diff changeset	653	uint32_t value /*< new value /
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	654	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	655	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	656	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	657	EC_WRITE_U32(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	658	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	659	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	660
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	661	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	662
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	663	/** \cond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	664
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	665	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	666	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	667	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	668	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	669	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	670	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	671	EXPORT_SYMBOL(ecrt_slave_sdo_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	672
1618 5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	673	/** \endcond */
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	674
5cff10efb927 MERGE trunk -r355:360 -> branches/stable-1.0 (Doxygen, INSTALL, and GPLv2) Florian Pose <fp@igh-essen.com> parents: 195 diff changeset	675	/*****************************************************************************/

author	Florian Pose <fp@igh-essen.com>
	Mon, 29 May 2006 09:08:56 +0000
branch	stable-1.0
changeset 1619	0d4119024f55
parent 1618	5cff10efb927
child 1621	4bbe090553f7
permissions	-rw-r--r--