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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 "../include/EtherCAT_si.h"

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#include "master.h"

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/*****************************************************************************/

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// Prototypen

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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 & Service

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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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EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);

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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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*/