author | Florian Pose <fp@igh-essen.com> |
Tue, 28 Mar 2006 15:45:19 +0000 | |
changeset 136 | a03a684cac89 |
parent 135 | 80d493917205 |
child 137 | 3fb18812871a |
permissions | -rw-r--r-- |
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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 "master.h" |
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/*****************************************************************************/ |
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/** |
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SDO Abort Code Messages |
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*/ |
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typedef struct |
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{ |
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uint32_t code; |
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const char *message; |
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} |
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ec_sdo_abort_message_t; |
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const ec_sdo_abort_message_t sdo_abort_messages[]; |
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void ec_canopen_abort_msg(uint32_t); |
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int ec_slave_fetch_sdo_descriptions(ec_slave_t *); |
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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 ecrt_slave_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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uint8_t data[0x0A]; |
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unsigned int i; |
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size_t rec_size; |
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if (size == 0 || size > 4) { |
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EC_ERR("Invalid SDO data size: %i!\n", size); |
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return -1; |
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} |
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EC_WRITE_U16(data, 0x02 << 12); // Number (0), Service (SDO request) |
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EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init. |
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EC_WRITE_U16(data + 3, sdo_index); |
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EC_WRITE_U8 (data + 5, sdo_subindex); |
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for (i = 0; i < size; i++) { |
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EC_WRITE_U8(data + 6 + i, value & 0xFF); |
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value >>= 8; |
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} |
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// Mailox senden und empfangen |
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if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1; |
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rec_size = 0x0A; |
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if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; |
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if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request |
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EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req. |
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EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave" |
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" %i.\n", sdo_index, sdo_subindex, value, size, |
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slave->ring_position); |
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ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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return -1; |
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} |
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if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response |
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EC_READ_U8 (data + 2) >> 5 != 0x03 || // Download response |
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EC_READ_U16(data + 3) != sdo_index || // Index |
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EC_READ_U8 (data + 5) != sdo_subindex) // Subindex |
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{ |
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EC_ERR("Invalid SDO download 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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Liest ein CANopen-SDO (service data object). |
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*/ |
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int ecrt_slave_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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uint8_t data[0x20]; |
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size_t rec_size; |
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EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request |
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EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request |
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EC_WRITE_U16(data + 3, sdo_index); |
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EC_WRITE_U8 (data + 5, sdo_subindex); |
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|
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if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1; |
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rec_size = 0x20; |
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if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; |
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if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request |
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121 |
EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request |
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122 |
EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n", |
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123 |
sdo_index, sdo_subindex, slave->ring_position); |
133
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ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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125 |
return -1; |
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126 |
} |
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|
127 |
|
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if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response |
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EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response |
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EC_READ_U16(data + 3) != sdo_index || // Index |
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131 |
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex |
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132 |
EC_ERR("Invalid SDO upload response at slave %i!\n", |
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|
133 |
slave->ring_position); |
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134 |
return -1; |
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|
135 |
} |
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|
136 |
|
133
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137 |
*value = EC_READ_U32(data + 6); |
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|
138 |
return 0; |
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|
139 |
} |
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|
140 |
|
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|
141 |
/*****************************************************************************/ |
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|
142 |
|
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143 |
/** |
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144 |
Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse). |
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|
145 |
|
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146 |
Siehe ecrt_slave_sdo_write() |
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147 |
|
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148 |
\return 0 wenn alles ok, < 0 bei Fehler |
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|
149 |
*/ |
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|
150 |
|
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151 |
int ecrt_master_sdo_write(ec_master_t *master, |
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152 |
/**< EtherCAT-Master */ |
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153 |
const char *addr, |
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154 |
/**< Addresse, siehe ec_master_slave_address() */ |
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155 |
uint16_t index, |
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|
156 |
/**< SDO-Index */ |
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157 |
uint8_t subindex, |
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|
158 |
/**< SDO-Subindex */ |
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159 |
uint32_t value, |
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|
160 |
/**< Neuer Wert */ |
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161 |
size_t size |
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162 |
/**< Größe des Datenfeldes */ |
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|
163 |
) |
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|
164 |
{ |
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|
165 |
ec_slave_t *slave; |
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|
166 |
if (!(slave = ec_master_slave_address(master, addr))) return -1; |
104
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|
167 |
return ecrt_slave_sdo_write(slave, index, subindex, value, size); |
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|
168 |
} |
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|
169 |
|
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|
170 |
/*****************************************************************************/ |
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|
171 |
|
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|
172 |
/** |
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|
173 |
Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse). |
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|
174 |
|
104
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|
175 |
Siehe ecrt_slave_sdo_read() |
91
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|
176 |
|
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|
177 |
\return 0 wenn alles ok, < 0 bei Fehler |
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|
178 |
*/ |
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|
179 |
|
104
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180 |
int ecrt_master_sdo_read(ec_master_t *master, |
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181 |
/**< EtherCAT-Slave */ |
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|
182 |
const char *addr, |
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|
183 |
/**< Addresse, siehe ec_master_slave_address() */ |
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|
184 |
uint16_t index, |
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|
185 |
/**< SDO-Index */ |
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|
186 |
uint8_t subindex, |
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|
187 |
/**< SDO-Subindex */ |
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|
188 |
uint32_t *value |
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|
189 |
/**< Speicher für gel. Wert */ |
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|
190 |
) |
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|
191 |
{ |
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|
192 |
ec_slave_t *slave; |
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|
193 |
if (!(slave = ec_master_slave_address(master, addr))) return -1; |
104
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|
194 |
return ecrt_slave_sdo_read(slave, index, subindex, value); |
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195 |
} |
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|
196 |
|
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|
197 |
/*****************************************************************************/ |
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|
198 |
|
133
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|
199 |
/** |
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|
200 |
Holt das Object-Dictionary aus dem Slave. |
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|
201 |
|
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|
202 |
\return 0, wenn alles ok, sonst < 0 |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
203 |
*/ |
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changeset
|
204 |
|
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|
205 |
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */) |
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206 |
{ |
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|
207 |
uint8_t data[0xF0]; |
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|
208 |
size_t rec_size; |
135
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|
209 |
unsigned int i, sdo_count; |
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|
210 |
ec_sdo_t *sdo; |
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211 |
uint16_t sdo_index; |
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Laden der SDO Dictionaries funktioniert.
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|
212 |
|
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|
213 |
EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO information |
133
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|
214 |
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
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215 |
EC_WRITE_U8 (data + 3, 0x00); // res. |
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216 |
EC_WRITE_U16(data + 4, 0x0000); // fragments left |
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|
217 |
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs! |
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|
218 |
|
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|
219 |
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
220 |
|
135
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|
221 |
do { |
133
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222 |
rec_size = 0xF0; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
223 |
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
224 |
|
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
225 |
if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information |
135
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|
226 |
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response |
133
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|
227 |
EC_ERR("SDO information error response at slave %i!\n", |
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|
228 |
slave->ring_position); |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
229 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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230 |
return -1; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
231 |
} |
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|
232 |
|
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
233 |
if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information |
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|
234 |
(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.
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|
235 |
EC_ERR("Invalid SDO list response at slave %i!\n", |
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|
236 |
slave->ring_position); |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
237 |
return -1; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
238 |
} |
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|
239 |
|
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
240 |
if (rec_size < 8) { |
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|
241 |
EC_ERR("Invalid data size!\n"); |
b36d187ecc0b
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|
242 |
return -1; |
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
243 |
} |
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|
244 |
|
135
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245 |
sdo_count = (rec_size - 8) / 2; |
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246 |
for (i = 0; i < sdo_count; i++) { |
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247 |
sdo_index = EC_READ_U16(data + 8 + i * 2); |
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248 |
if (!sdo_index) continue; // Manchmal ist der Index 0... ??? |
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|
249 |
|
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250 |
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) { |
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251 |
EC_ERR("Failed to allocate memory for SDO!\n"); |
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252 |
return -1; |
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|
253 |
} |
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254 |
sdo->index = sdo_index; |
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255 |
sdo->name = NULL; |
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256 |
list_add_tail(&sdo->list, &slave->sdo_dictionary); |
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|
257 |
} |
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258 |
} while (EC_READ_U8(data + 2) & 0x80); |
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|
259 |
|
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260 |
// Jetzt alle Beschreibungen holen |
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|
261 |
if (ec_slave_fetch_sdo_descriptions(slave)) return -1; |
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|
262 |
|
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|
263 |
return 0; |
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|
264 |
} |
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|
265 |
|
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|
266 |
/*****************************************************************************/ |
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|
267 |
|
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|
268 |
/** |
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|
269 |
Holt die Beschreibungen zu allen bereits bekannten SDOs. |
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|
270 |
|
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271 |
\return 0, wenn alles ok, sonst < 0 |
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|
272 |
*/ |
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|
273 |
|
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|
274 |
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */) |
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275 |
{ |
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|
276 |
uint8_t data[0xF0]; |
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|
277 |
size_t rec_size, name_size; |
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278 |
ec_sdo_t *sdo; |
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|
279 |
|
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|
280 |
list_for_each_entry(sdo, &slave->sdo_dictionary, list) { |
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|
281 |
EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO inform. |
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|
282 |
EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
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|
283 |
EC_WRITE_U8 (data + 3, 0x00); // res. |
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|
284 |
EC_WRITE_U16(data + 4, 0x0000); // fragments left |
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|
285 |
EC_WRITE_U16(data + 6, sdo->index); // SDO index |
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|
286 |
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1; |
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|
287 |
|
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|
288 |
rec_size = 0xF0; |
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|
289 |
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) |
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|
290 |
return -1; |
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parents:
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diff
changeset
|
291 |
|
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|
292 |
if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information |
80d493917205
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|
293 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response |
80d493917205
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|
294 |
EC_ERR("SDO information error response at slave %i while" |
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|
295 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
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|
296 |
sdo->index); |
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|
297 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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|
298 |
return -1; |
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|
299 |
} |
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|
300 |
|
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|
301 |
if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information |
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|
302 |
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Obj. desc. resp. |
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|
303 |
EC_READ_U16(data + 6) != sdo->index) { // SDO index |
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|
304 |
EC_ERR("Invalid object description response at slave %i while" |
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|
305 |
" fetching SDO 0x%04X!\n", slave->ring_position, |
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|
306 |
sdo->index); |
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|
307 |
return -1; |
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diff
changeset
|
308 |
} |
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changeset
|
309 |
|
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changeset
|
310 |
if (rec_size < 12) { |
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|
311 |
EC_ERR("Invalid data size!\n"); |
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|
312 |
return -1; |
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diff
changeset
|
313 |
} |
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|
314 |
|
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|
315 |
sdo->type = EC_READ_U16(data + 8); |
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|
316 |
sdo->max_subindex = EC_READ_U8(data + 10); |
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|
317 |
sdo->features = EC_READ_U8(data + 11); |
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|
318 |
|
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|
319 |
name_size = rec_size - 12; |
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|
320 |
if (!name_size) { |
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|
321 |
EC_WARN("Object 0x%04X name size is 0...", sdo->index); |
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|
322 |
continue; |
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parents:
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diff
changeset
|
323 |
} |
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parents:
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diff
changeset
|
324 |
|
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parents:
134
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changeset
|
325 |
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) { |
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134
diff
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|
326 |
EC_ERR("Failed to allocate SDO name!\n"); |
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Laden der SDO Dictionaries funktioniert.
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|
327 |
return -1; |
80d493917205
Laden der SDO Dictionaries funktioniert.
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diff
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|
328 |
} |
80d493917205
Laden der SDO Dictionaries funktioniert.
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diff
changeset
|
329 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
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|
330 |
memcpy(sdo->name, data + 12, name_size); |
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Laden der SDO Dictionaries funktioniert.
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|
331 |
sdo->name[name_size] = 0; |
80d493917205
Laden der SDO Dictionaries funktioniert.
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|
332 |
|
80d493917205
Laden der SDO Dictionaries funktioniert.
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|
333 |
if (EC_READ_U8(data + 2) & 0x80) |
80d493917205
Laden der SDO Dictionaries funktioniert.
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|
334 |
EC_WARN("Fragment follows in object description!\n"); |
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|
335 |
} |
133
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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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changeset
|
336 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
337 |
return 0; |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
338 |
} |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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diff
changeset
|
339 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
340 |
/*****************************************************************************/ |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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113
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changeset
|
341 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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113
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|
342 |
/** |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
343 |
Gibt eine SDO-Abort-Meldung aus. |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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changeset
|
344 |
*/ |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
113
diff
changeset
|
345 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
346 |
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.
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|
347 |
{ |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
348 |
const ec_sdo_abort_message_t *abort_msg; |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
113
diff
changeset
|
349 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
350 |
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.
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|
351 |
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.
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|
352 |
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.
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|
353 |
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.
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parents:
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|
354 |
return; |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
113
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changeset
|
355 |
} |
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
|
356 |
} |
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
113
diff
changeset
|
357 |
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
|
358 |
} |
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
|
359 |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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parents:
113
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changeset
|
360 |
/*****************************************************************************/ |
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
|
361 |
|
111
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
362 |
const ec_sdo_abort_message_t sdo_abort_messages[] = { |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
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104
diff
changeset
|
363 |
{0x05030000, "Toggle bit not changed"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
364 |
{0x05040000, "SDO protocol timeout"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
365 |
{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
|
366 |
{0x05040005, "Out of memory"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
367 |
{0x06010000, "Unsupported access to an object"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
368 |
{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
|
369 |
{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
|
370 |
{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
|
371 |
{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
|
372 |
{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
|
373 |
" exceed the PDO length"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
374 |
{0x06040043, "General parameter incompatibility reason"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
375 |
{0x06040047, "Gerneral internal incompatibility in device"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
376 |
{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
|
377 |
{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
|
378 |
" not match"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
379 |
{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
|
380 |
" high"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
381 |
{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
|
382 |
" low"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
383 |
{0x06090011, "Subindex does not exist"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
384 |
{0x06090030, "Value range of parameter exceeded"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
385 |
{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
|
386 |
{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
|
387 |
{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
|
388 |
{0x08000000, "General error"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
389 |
{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
|
390 |
{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
|
391 |
" because of local control"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
392 |
{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
|
393 |
" because of the present device state"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
394 |
{0x08000023, "Object dictionary dynamic generation fails or no object" |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
diff
changeset
|
395 |
" dictionary is present"}, |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
diff
changeset
|
396 |
{} |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
397 |
}; |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
398 |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
399 |
/*****************************************************************************/ |
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
400 |
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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parents:
101
diff
changeset
|
401 |
EXPORT_SYMBOL(ecrt_slave_sdo_write); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
402 |
EXPORT_SYMBOL(ecrt_slave_sdo_read); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
changeset
|
403 |
EXPORT_SYMBOL(ecrt_master_sdo_write); |
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
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diff
changeset
|
404 |
EXPORT_SYMBOL(ecrt_master_sdo_read); |
64 | 405 |
|
406 |
/*****************************************************************************/ |
|
407 |
||
408 |
/* Emacs-Konfiguration |
|
409 |
;;; Local Variables: *** |
|
410 |
;;; c-basic-offset:4 *** |
|
411 |
;;; End: *** |
|
412 |
*/ |