| author | Florian Pose <fp@igh-essen.com> |
| Mon, 27 Mar 2006 15:52:08 +0000 | |
| changeset 133 | b36d187ecc0b |
| parent 113 | a3dbd6bc8fce |
| child 134 | aecc8cb72097 |
| permissions | -rw-r--r-- |
| 64 | 1 |
/****************************************************************************** |
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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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/*****************************************************************************/ |
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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[0x0A]; |
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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); // Exp., 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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if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1; |
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rec_size = 6; |
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117 |
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; |
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|
118 |
|
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119 |
if (EC_READ_U16(data ) >> 12 == 0x02 && // SDO request |
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|
120 |
EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
|
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121 |
EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
|
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|
122 |
sdo_index, sdo_subindex, slave->ring_position); |
|
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|
123 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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|
124 |
return -1; |
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|
125 |
} |
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|
126 |
|
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|
127 |
if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response |
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|
128 |
EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response |
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|
129 |
EC_READ_U16(data + 3) != sdo_index || // Index |
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130 |
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
|
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131 |
EC_ERR("Invalid SDO upload response at slave %i!\n",
|
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|
132 |
slave->ring_position); |
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133 |
return -1; |
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|
134 |
} |
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|
135 |
|
|
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|
136 |
*value = EC_READ_U32(data + 6); |
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|
137 |
return 0; |
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|
138 |
} |
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|
139 |
|
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|
140 |
/*****************************************************************************/ |
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|
141 |
|
|
91
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|
142 |
/** |
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|
143 |
Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse). |
|
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|
144 |
|
|
104
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|
145 |
Siehe ecrt_slave_sdo_write() |
|
91
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|
146 |
|
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|
147 |
\return 0 wenn alles ok, < 0 bei Fehler |
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|
148 |
*/ |
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|
149 |
|
|
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|
150 |
int ecrt_master_sdo_write(ec_master_t *master, |
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|
151 |
/**< EtherCAT-Master */ |
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|
152 |
const char *addr, |
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|
153 |
/**< Addresse, siehe ec_master_slave_address() */ |
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|
154 |
uint16_t index, |
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|
155 |
/**< SDO-Index */ |
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|
156 |
uint8_t subindex, |
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|
157 |
/**< SDO-Subindex */ |
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|
158 |
uint32_t value, |
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|
159 |
/**< Neuer Wert */ |
|
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|
160 |
size_t size |
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|
161 |
/**< Größe des Datenfeldes */ |
|
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|
162 |
) |
|
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|
163 |
{
|
|
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|
164 |
ec_slave_t *slave; |
|
98
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|
165 |
if (!(slave = ec_master_slave_address(master, addr))) return -1; |
|
104
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|
166 |
return ecrt_slave_sdo_write(slave, index, subindex, value, size); |
|
80
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CANopen SDO read implementiert.
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|
167 |
} |
|
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CANopen SDO read implementiert.
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diff
changeset
|
168 |
|
|
8cd08d73b560
CANopen SDO read implementiert.
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parents:
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|
169 |
/*****************************************************************************/ |
|
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|
170 |
|
|
91
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|
171 |
/** |
|
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diff
changeset
|
172 |
Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse). |
|
0120d6214948
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parents:
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changeset
|
173 |
|
|
104
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|
174 |
Siehe ecrt_slave_sdo_read() |
|
91
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|
175 |
|
|
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parents:
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changeset
|
176 |
\return 0 wenn alles ok, < 0 bei Fehler |
|
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Code-Dokumentation angepasst.
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|
177 |
*/ |
|
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changeset
|
178 |
|
|
104
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|
179 |
int ecrt_master_sdo_read(ec_master_t *master, |
|
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|
180 |
/**< EtherCAT-Slave */ |
|
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|
181 |
const char *addr, |
|
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|
182 |
/**< Addresse, siehe ec_master_slave_address() */ |
|
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|
183 |
uint16_t index, |
|
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|
184 |
/**< SDO-Index */ |
|
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|
185 |
uint8_t subindex, |
|
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|
186 |
/**< SDO-Subindex */ |
|
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|
187 |
uint32_t *value |
|
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|
188 |
/**< Speicher für gel. Wert */ |
|
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|
189 |
) |
|
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|
190 |
{
|
|
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|
191 |
ec_slave_t *slave; |
|
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|
192 |
if (!(slave = ec_master_slave_address(master, addr))) return -1; |
|
104
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|
193 |
return ecrt_slave_sdo_read(slave, index, subindex, value); |
|
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|
194 |
} |
|
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|
195 |
|
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|
196 |
/*****************************************************************************/ |
|
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|
197 |
|
|
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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|
198 |
/** |
|
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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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|
199 |
Holt das Object-Dictionary aus dem Slave. |
|
b36d187ecc0b
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|
200 |
|
|
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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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|
201 |
\return 0, wenn alles ok, sonst < 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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|
202 |
*/ |
|
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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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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
204 |
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */) |
|
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|
205 |
{
|
|
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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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parents:
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|
206 |
uint8_t data[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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|
207 |
size_t rec_size; |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
208 |
|
|
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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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|
209 |
//EC_DBG("Fetching SDO list for slave %i...\n", slave->ring_position);
|
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
210 |
|
|
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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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|
211 |
EC_WRITE_U16(data, 0x8000); // Number (0), Service (get OD request) |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
212 |
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
|
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:
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changeset
|
213 |
EC_WRITE_U8 (data + 3, 0x00); // res. |
|
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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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214 |
EC_WRITE_U16(data + 4, 0x0000); // fragments left |
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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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|
215 |
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs! |
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|
216 |
|
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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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|
217 |
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1; |
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|
218 |
|
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|
219 |
do |
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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 |
{
|
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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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|
221 |
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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|
222 |
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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|
223 |
|
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|
224 |
if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request |
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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 |
EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
|
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|
226 |
EC_ERR("SDO list download aborted on slave %i.\n",
|
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|
227 |
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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|
228 |
ec_canopen_abort_msg(EC_READ_U32(data + 12)); |
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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 |
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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|
230 |
} |
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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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Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
232 |
if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information |
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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 |
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Get OD List response
|
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|
234 |
EC_ERR("SDO information error response at slave %i!\n",
|
|
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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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|
235 |
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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|
236 |
ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
|
b36d187ecc0b
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 |
} |
|
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
|
239 |
|
|
b36d187ecc0b
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 (EC_READ_U16(data) >> 12 != 0x08 || // SDO information |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
241 |
(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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|
242 |
EC_ERR("Invalid SDO list response at slave %i!\n",
|
|
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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
|
243 |
slave->ring_position); |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
244 |
return -1; |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
245 |
} |
|
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
|
246 |
|
|
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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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|
247 |
if (rec_size < 8) {
|
|
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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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|
248 |
EC_ERR("Invalid data size!\n");
|
|
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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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|
249 |
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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changeset
|
250 |
} |
|
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
|
251 |
|
|
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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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|
252 |
#if 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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|
253 |
for (i = 0; i < (rec_size - 8) / 2; i++) |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
254 |
EC_INFO("Object 0x%04X\n", EC_READ_U16(data + 8 + i * 2));
|
|
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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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|
255 |
#endif |
|
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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
|
256 |
} |
|
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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|
257 |
while (EC_READ_U8(data + 2) & 0x80); |
|
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
|
258 |
|
|
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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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|
259 |
return 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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changeset
|
260 |
} |
|
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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changeset
|
261 |
|
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
262 |
/*****************************************************************************/ |
|
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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changeset
|
263 |
|
|
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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changeset
|
264 |
/** |
|
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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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parents:
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changeset
|
265 |
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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parents:
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|
266 |
*/ |
|
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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changeset
|
267 |
|
|
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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changeset
|
268 |
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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parents:
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changeset
|
269 |
{
|
|
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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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parents:
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|
270 |
const ec_sdo_abort_message_t *abort_msg; |
|
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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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parents:
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changeset
|
271 |
|
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
272 |
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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|
273 |
if (abort_msg->code == abort_code) {
|
|
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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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|
274 |
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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|
275 |
abort_msg->code, abort_msg->message); |
|
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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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|
276 |
return; |
|
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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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|
277 |
} |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
278 |
} |
|
b36d187ecc0b
Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage.
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|
279 |
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.
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|
280 |
} |
|
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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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parents:
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changeset
|
281 |
|
|
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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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|
282 |
/*****************************************************************************/ |
|
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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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parents:
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changeset
|
283 |
|
|
111
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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diff
changeset
|
284 |
const ec_sdo_abort_message_t sdo_abort_messages[] = {
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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changeset
|
285 |
{0x05030000, "Toggle bit not changed"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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changeset
|
286 |
{0x05040000, "SDO protocol timeout"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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changeset
|
287 |
{0x05040001, "Client/Server command specifier not valid or unknown"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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changeset
|
288 |
{0x05040005, "Out of memory"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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changeset
|
289 |
{0x06010000, "Unsupported access to an object"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
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changeset
|
290 |
{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
|
291 |
{0x06010002, "Attempt to write a read-only object"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
diff
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|
292 |
{0x06020000, "This object does not exist in the object directory"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
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|
293 |
{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
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|
294 |
{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
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|
295 |
" exceed the PDO length"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
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diff
changeset
|
296 |
{0x06040043, "General parameter incompatibility reason"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
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changeset
|
297 |
{0x06040047, "Gerneral internal incompatibility in device"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
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changeset
|
298 |
{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
|
299 |
{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
|
300 |
" not match"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
301 |
{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
|
302 |
" high"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
303 |
{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
|
304 |
" low"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
305 |
{0x06090011, "Subindex does not exist"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
306 |
{0x06090030, "Value range of parameter exceeded"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
307 |
{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
|
308 |
{0x06090032, "Value of parameter written too low"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
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changeset
|
309 |
{0x06090036, "Maximum value is less than minimum value"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
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changeset
|
310 |
{0x08000000, "General error"},
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
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changeset
|
311 |
{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
|
312 |
{0x08000021, "Data cannot be transferred or stored to the application"
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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parents:
104
diff
changeset
|
313 |
" because of local control"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
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changeset
|
314 |
{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
|
315 |
" because of the present device state"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
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changeset
|
316 |
{0x08000023, "Object dictionary dynamic generation fails or no object"
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
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changeset
|
317 |
" dictionary is present"}, |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
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|
318 |
{}
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
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|
319 |
}; |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
320 |
|
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
321 |
/*****************************************************************************/ |
|
9963537ec776
Bugfix: SDO download. SDO abort codes ausgeben.
Florian Pose <fp@igh-essen.com>
parents:
104
diff
changeset
|
322 |
|
|
104
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
323 |
EXPORT_SYMBOL(ecrt_slave_sdo_write); |
|
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
324 |
EXPORT_SYMBOL(ecrt_slave_sdo_read); |
|
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
325 |
EXPORT_SYMBOL(ecrt_master_sdo_write); |
|
052bc82d5442
MERGE branches/async -> trunk (alle Unterschiede ?bernommen)
Florian Pose <fp@igh-essen.com>
parents:
101
diff
changeset
|
326 |
EXPORT_SYMBOL(ecrt_master_sdo_read); |
| 64 | 327 |
|
328 |
/*****************************************************************************/ |
|
329 |
||
330 |
/* Emacs-Konfiguration |
|
331 |
;;; Local Variables: *** |
|
332 |
;;; c-basic-offset:4 *** |
|
333 |
;;; End: *** |
|
334 |
*/ |