master/canopen.c
author Florian Pose <fp@igh-essen.com>
Fri, 24 Feb 2006 13:54:27 +0000
changeset 82 30d0708229b9
parent 80 8cd08d73b560
child 84 b4ae98855cea
permissions -rw-r--r--
Buskoppler werden jetzt gesondert behandelt.
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/******************************************************************************
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 *
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 *  c a n o p e n . c
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 *
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 *  CANopen over EtherCAT
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 *
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 *  $Id$
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 *
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 *****************************************************************************/
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#include <linux/delay.h>
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#include <linux/slab.h>
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#include <linux/module.h>
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#include "../include/EtherCAT_si.h"
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#include "master.h"
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/*****************************************************************************/
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/**
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   Schreibt ein CANopen-SDO (service data object).
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 */
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int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
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                                  uint16_t sdo_index, /**< SDO-Index */
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                                  uint8_t sdo_subindex, /**< SDO-Subindex */
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                                  uint32_t value, /**< Neuer Wert */
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                                  size_t size /**< Größe des Datenfeldes */
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                                  )
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{
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    unsigned char data[0xF6];
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    ec_frame_t frame;
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    unsigned int tries_left, i;
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    ec_master_t *master;
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    memset(data, 0x00, 0xF6);
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    master = slave->master;
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    if (size == 0 || size > 4) {
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        printk(KERN_ERR "EtherCAT: Illegal SDO data size: %i!\n", size);
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        return -1;
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    }
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    EC_WRITE_U16(data,      0x000A); // Length of the Mailbox service data
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    EC_WRITE_U16(data + 2,  slave->station_address); // Station address
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    EC_WRITE_U8 (data + 4,  0x00); // Channel & priority
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    EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT
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    EC_WRITE_U16(data + 6,  0x2000); // Number (0), Service (SDO request)
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    EC_WRITE_U8 (data + 8,  0x13 | ((4 - size) << 2)); // Spec., exp., init.
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    EC_WRITE_U16(data + 9,  sdo_index);
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    EC_WRITE_U8 (data + 11, sdo_subindex);
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    for (i = 0; i < size; i++) {
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        EC_WRITE_U8(data + 12 + i, value & 0xFF);
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        value >>= 8;
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    }
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    ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
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                       data);
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    if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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    if (unlikely(frame.working_counter != 1)) {
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        printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
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               slave->ring_position);
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        return -1;
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    }
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    // Read "written bit" of Sync-Manager
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    tries_left = 10;
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    while (tries_left)
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    {
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        ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
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        if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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        if (unlikely(frame.working_counter != 1)) {
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            printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
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                   " respond!\n", slave->ring_position);
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            return -1;
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        }
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        if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
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            break;
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        }
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        udelay(1000);
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        tries_left--;
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    }
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    if (!tries_left) {
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        printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n",
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               slave->ring_position);
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        return -1;
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    }
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    ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
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    if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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    if (unlikely(frame.working_counter != 1)) {
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        printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
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               " respond!\n", slave->ring_position);
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        return -1;
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    }
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    if (EC_READ_U8 (frame.data + 5) != 0x03 || // COE
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        EC_READ_U16(frame.data + 6) != 0x3000 || // SDO response
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        EC_READ_U8 (frame.data + 8) >> 5 != 0x03 || // Download response
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        EC_READ_U16(frame.data + 9) != sdo_index || // Index
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        EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
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    {
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        printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
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               slave->ring_position);
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        return -1;
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    }
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    return 0;
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}
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/*****************************************************************************/
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/**
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   Schreibt ein CANopen-SDO (service data object).
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 */
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int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
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                                 uint16_t sdo_index, /**< SDO-Index */
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                                 uint8_t sdo_subindex, /**< SDO-Subindex */
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                                 uint32_t *value /**< Speicher für gel. Wert */
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                                 )
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{
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    unsigned char data[0xF6];
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    ec_frame_t frame;
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    unsigned int tries_left;
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    ec_master_t *master;
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    memset(data, 0x00, 0xF6);
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    master = slave->master;
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    EC_WRITE_U16(data,      0x0006); // Length of the Mailbox service data
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    EC_WRITE_U16(data + 2,  slave->station_address); // Station address
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    EC_WRITE_U8 (data + 4,  0x00); // Channel & priority
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    EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT
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    EC_WRITE_U16(data + 6,  0x2000); // Number (0), Service (SDO request)
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    EC_WRITE_U8 (data + 8,  0x1 << 1 | 0x2 << 5); // Exp., Upload request
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    EC_WRITE_U16(data + 9,  sdo_index);
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    EC_WRITE_U8 (data + 11, sdo_subindex);
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    ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
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                       data);
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    if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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    if (unlikely(frame.working_counter != 1)) {
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        printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
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               slave->ring_position);
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        return -1;
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    }
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    // Read "written bit" of Sync-Manager
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    tries_left = 10;
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    while (tries_left)
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    {
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        ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
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        if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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        if (unlikely(frame.working_counter != 1)) {
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            printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
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                   " respond!\n", slave->ring_position);
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            return -1;
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        }
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        if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
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            break;
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        }
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        udelay(1000);
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        tries_left--;
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    }
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    if (!tries_left) {
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        printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n",
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               slave->ring_position);
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        return -1;
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    }
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    ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
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    if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
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    if (unlikely(frame.working_counter != 1)) {
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        printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
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               " respond!\n", slave->ring_position);
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        return -1;
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    }
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    if (EC_READ_U8 (frame.data + 5) != 0x03 || // COE
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        EC_READ_U16(frame.data + 6) != 0x3000 || // SDO response
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        EC_READ_U8 (frame.data + 8) >> 5 != 0x02 || // Upload response
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        EC_READ_U16(frame.data + 9) != sdo_index || // Index
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        EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
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    {
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        printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
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               slave->ring_position);
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        return -1;
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    }
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    *value = EC_READ_U32(frame.data + 12);
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    return 0;
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}
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/*****************************************************************************/
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int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
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                                       /**< EtherCAT-Master */
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                                       const char *addr,
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                                       /**< Addresse, siehe ec_address() */
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                                       uint16_t index,
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                                       /**< SDO-Index */
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                                       uint8_t subindex,
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                                       /**< SDO-Subindex */
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                                       uint32_t value,
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                                       /**< Neuer Wert */
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                                       size_t size
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                                       /**< Größe des Datenfeldes */
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                                       )
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{
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    ec_slave_t *slave;
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    if (!(slave = ec_address(master, addr))) return -1;
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    return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
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}
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/*****************************************************************************/
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int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
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                                      /**< EtherCAT-Slave */
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                                      const char *addr,
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                                      /**< Addresse, siehe ec_address() */
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                                      uint16_t index,
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                                      /**< SDO-Index */
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                                      uint8_t subindex,
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                                      /**< SDO-Subindex */
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                                      uint32_t *value
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                                      /**< Speicher für gel. Wert */
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                                      )
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{
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    ec_slave_t *slave;
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    if (!(slave = ec_address(master, addr))) return -1;
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    return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
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}
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/*****************************************************************************/
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64
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EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
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EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
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EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
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EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
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/*****************************************************************************/
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/* Emacs-Konfiguration
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;;; Local Variables: ***
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;;; c-basic-offset:4 ***
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;;; End: ***
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*/