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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 "master.h"

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

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// Prototypen

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

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int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave,

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                                  unsigned int sdo_index,

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                                  unsigned char sdo_subindex,

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                                  unsigned int value, unsigned int size)

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{

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    unsigned char data[0xF6];

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    ec_command_t cmd;

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    unsigned int tries_left, i;

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    for (i = 0; i < 0xF6; i++) data[i] = 0x00;

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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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    data[0] = 0x0A; // Length of the Mailbox service data

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    data[1] = 0x00;

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    data[2] = slave->station_address & 0xFF; // Station address

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    data[3] = (slave->station_address >> 8) & 0xFF;

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    data[4] = 0x00; // Channel & priority

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    data[5] = 0x03; // CANopen over EtherCAT

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    data[6] = 0x00; // Number(7-0)

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    data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02)

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    data[8] = 0x01 // Size specified

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        | (0x1 << 1) // Transfer type = Expedited

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        | ((4 - size) << 2) // Data Set Size

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        | (0x1 << 5); // Command specifier = Initiate download request (0x01)

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    data[9] = sdo_index & 0xFF;

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    data[10] = (sdo_index >> 8) & 0xFF;

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    data[11] = sdo_subindex;

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    for (i = 0; i < size; i++) {

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        data[12 + i] = value & 0xFF;

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        value >>= 8;

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    }

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    ec_command_write(&cmd, slave->station_address, 0x1800, 0xF6, data);

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    if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

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        return -1;

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    if (unlikely(cmd.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 * (-1));

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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_command_read(&cmd, slave->station_address, 0x808, 8);

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        if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

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            return -1;

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        if (unlikely(cmd.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 * (-1));

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            return -1;

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        }

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        if (cmd.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 * (-1));

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        return -1;

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    }

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    ec_command_read(&cmd, slave->station_address, 0x18F6, 0xF6);

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    if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

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        return -1;

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    if (unlikely(cmd.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 * (-1));

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        return -1;

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    }

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    if (cmd.data[5] != 0x03 // COE

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        || (cmd.data[7] >> 4) != 0x03 // SDO response

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        || (cmd.data[8] >> 5) != 0x03 // Initiate download response

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        || (cmd.data[9] != (sdo_index & 0xFF)) // Index

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        || (cmd.data[10] != ((sdo_index >> 8) & 0xFF))

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        || (cmd.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 * (-1));

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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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*/