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

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 *

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 *  c a n o p e n . c

     4

 *

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 *  CANopen over EtherCAT

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 *

     7

 *  $Id$

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 *

     9

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

    10

    11

#include <linux/delay.h>

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#include <linux/slab.h>

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#include <linux/module.h>

    14

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#include "master.h"

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    17

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

    18

    19

/**

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   SDO Abort Code Messages

    21

*/

    22

    23

typedef struct

    24

{

    25

    uint32_t code;

    26

    const char *message;

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}

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ec_sdo_abort_message_t;

    29

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const ec_sdo_abort_message_t sdo_abort_messages[];

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    32

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

    33

    34

/**

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   Schreibt ein CANopen-SDO (service data object).

    36

 */

    37

    38

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[0xF6];

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    ec_command_t command;

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    unsigned int i;

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    ec_master_t *master;

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    cycles_t start, end, timeout;

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    uint32_t abort_code;

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    const ec_sdo_abort_message_t *abort_msg;

    52

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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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        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,      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,  0x02 << 12); // Number (0), Service (SDO request)

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    EC_WRITE_U8 (data + 8,  0x23 | ((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_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);

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    if (unlikely(ec_master_simple_io(master, &command))) {

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        EC_ERR("Mailbox sending failed on slave %i!\n", 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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    start = get_cycles();

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    timeout = (cycles_t) 10 * cpu_khz; // 10ms

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    while (1)

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    {

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        udelay(100);

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        ec_command_init_nprd(&command, slave->station_address, 0x808, 8);

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        if (unlikely(ec_master_simple_io(master, &command))) {

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            EC_ERR("Mailbox checking failed on slave %i!\n",

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                   slave->ring_position);

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            return -1;

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        }

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        end = get_cycles();

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        if (EC_READ_U8(command.data + 5) & 8) break; // Written bit is high

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        if ((end - start) >= timeout) {

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            EC_ERR("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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    }

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    if (unlikely(slave->master->debug_level) > 1)

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        EC_DBG("SDO download took %ius.\n", ((u32) (end - start) * 1000

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                                             / cpu_khz));

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    ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);

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    if (unlikely(ec_master_simple_io(master, &command))) {

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        EC_ERR("Mailbox receiving failed on slave %i!\n",

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               slave->ring_position);

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        return -1;

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    }

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    if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE

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        EC_ERR("Invalid mailbox response (non-CoE) 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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    if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request

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        EC_READ_U8 (command.data + 8) >> 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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        abort_code = EC_READ_U32(command.data + 12);

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        for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {

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            if (abort_msg->code == abort_code) {

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                EC_ERR("SDO abort message 0x%08X: \"%s\".\n",

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                       abort_msg->code, abort_msg->message);

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                return -1;

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            }

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        }

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        EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);

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        return -1;

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    }

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    if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response

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        EC_READ_U8 (command.data + 8) >> 5 != 0x03 || // Download response

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        EC_READ_U16(command.data + 9) != sdo_index || // Index

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        EC_READ_U8 (command.data + 11) != 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[0xF6];

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    ec_command_t command;

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    ec_master_t *master;

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    cycles_t start, end, timeout;

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    uint32_t abort_code;

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    const ec_sdo_abort_message_t *abort_msg;

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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_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);

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    if (unlikely(ec_master_simple_io(master, &command))) {

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        EC_ERR("Mailbox sending failed on slave %i!\n", 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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    start = get_cycles();

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    timeout = cpu_khz; // 1ms

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    while (1)

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    {

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        udelay(10);

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        ec_command_init_nprd(&command, slave->station_address, 0x808, 8);

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        if (unlikely(ec_master_simple_io(master, &command))) {

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            EC_ERR("Mailbox checking failed on slave %i!\n",

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                   slave->ring_position);

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            return -1;

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        }

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        end = get_cycles();

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        if (EC_READ_U8(command.data + 5) & 8) { // Written bit is high

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            break;

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        }

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        if (unlikely((end - start) >= timeout)) {

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            EC_ERR("Mailbox check on 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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    }

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    ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);

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    if (unlikely(ec_master_simple_io(master, &command))) {

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        EC_ERR("Mailbox receiving failed on slave %i!\n",

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               slave->ring_position);

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        return -1;

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    }

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    if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE

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        EC_ERR("Invalid mailbox response (non-CoE) 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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    if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request

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        EC_READ_U8 (command.data + 8) >> 5 == 0x04) { // Abort SDO transf. req.

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        EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",

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               sdo_index, sdo_subindex, slave->ring_position);

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        abort_code = EC_READ_U32(command.data + 12);

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        for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {

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            if (abort_msg->code == abort_code) {

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                EC_ERR("SDO abort message 0x%08X: \"%s\".\n",

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                       abort_msg->code, abort_msg->message);

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                return -1;

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            }

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        }

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        EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);

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        return -1;

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    }

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    if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response

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        EC_READ_U8 (command.data + 8) >> 5 != 0x02 || // Upload response

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        EC_READ_U16(command.data + 9) != sdo_index || // Index

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        EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex

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    {

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        EC_ERR("Invalid SDO upload 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(command.data + 12);

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    return 0;

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}

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

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/**

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   Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).

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   Siehe ecrt_slave_sdo_write()

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   \return 0 wenn alles ok, < 0 bei Fehler

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 */

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int ecrt_master_sdo_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_master_slave_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_master_slave_address(master, addr))) return -1;

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    return ecrt_slave_sdo_write(slave, index, subindex, value, size);

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}

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

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/**

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   Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).

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   299

   Siehe ecrt_slave_sdo_read()

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   \return 0 wenn alles ok, < 0 bei Fehler

   302

 */

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int ecrt_master_sdo_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_master_slave_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 */

   314

                         )

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{

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    ec_slave_t *slave;

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    if (!(slave = ec_master_slave_address(master, addr))) return -1;

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    return ecrt_slave_sdo_read(slave, index, subindex, value);

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}

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

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const ec_sdo_abort_message_t sdo_abort_messages[] = {

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    {0x05030000, "Toggle bit not changed"},

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    {0x05040000, "SDO protocol timeout"},

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    {0x05040001, "Client/Server command specifier not valid or unknown"},

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    {0x05040005, "Out of memory"},

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    {0x06010000, "Unsupported access to an object"},

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    {0x06010001, "Attempt to read a write-only object"},

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    {0x06010002, "Attempt to write a read-only object"},

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    {0x06020000, "This object does not exist in the object directory"},

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    {0x06040041, "The object cannot be mapped into the PDO"},

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    {0x06040042, "The number and length of the objects to be mapped would"

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     " exceed the PDO length"},

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    {0x06040043, "General parameter incompatibility reason"},

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    {0x06040047, "Gerneral internal incompatibility in device"},

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    {0x06060000, "Access failure due to a hardware error"},

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    {0x06070010, "Data type does not match, length of service parameter does"

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     " not match"},

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    {0x06070012, "Data type does not match, length of service parameter too"

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     " high"},

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    {0x06070013, "Data type does not match, length of service parameter too"

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     " low"},

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    {0x06090011, "Subindex does not exist"},

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    {0x06090030, "Value range of parameter exceeded"},

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    {0x06090031, "Value of parameter written too high"},

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    {0x06090032, "Value of parameter written too low"},

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    {0x06090036, "Maximum value is less than minimum value"},

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    {0x08000000, "General error"},

   350

    {0x08000020, "Data cannot be transferred or stored to the application"},

   351

    {0x08000021, "Data cannot be transferred or stored to the application"

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     " because of local control"},

   353

    {0x08000022, "Data cannot be transferred or stored to the application"

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     " because of the present device state"},

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    {0x08000023, "Object dictionary dynamic generation fails or no object"

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     " dictionary is present"},

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    {}

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};

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

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EXPORT_SYMBOL(ecrt_slave_sdo_write);

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EXPORT_SYMBOL(ecrt_slave_sdo_read);

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EXPORT_SYMBOL(ecrt_master_sdo_write);

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EXPORT_SYMBOL(ecrt_master_sdo_read);

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   367

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

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   369

/* 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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*/