etherlabmaster: master/canopen.c@d2a8adde27c4 (annotated)

64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	1	/******************************************************************************
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	2	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	3	* c a n o p e n . c
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	4	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	5	* CANopen over EtherCAT
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	6	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	7	* $Id$
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	8	*
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	9	*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	10
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	11	#include <linux/delay.h>
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	12	#include <linux/slab.h>
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	13	#include <linux/module.h>
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	14
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	15	#include "../include/EtherCAT_si.h"
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	16	#include "master.h"
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	17
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	18	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	19
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	20	/**
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	21	Schreibt ein CANopen-SDO (service data object).
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	22	*/
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	23
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	24	int EtherCAT_rt_canopen_sdo_write(ec_slave_t slave, /< EtherCAT-Slave /
101 b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	25	uint16_t sdo_index, /*< SDO-Index /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	26	uint8_t sdo_subindex, /*< SDO-Subindex /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	27	uint32_t value, /*< Neuer Wert /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	28	size_t size /*< Größe des Datenfeldes /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	29	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	30	{
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	31	uint8_t data[0xF6];
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	32	ec_command_t command;
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	33	unsigned int i;
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	34	ec_master_t *master;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	35	cycles_t start, end, timeout;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	36
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	37	memset(data, 0x00, 0xF6);
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	38
9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	39	master = slave->master;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	40
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	41	if (size == 0 \|\| size > 4) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	42	EC_ERR("Illegal SDO data size: %i!\n", size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	43	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	44	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	45
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	46	EC_WRITE_U16(data, 0x000A); // Length of the Mailbox service data
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	47	EC_WRITE_U16(data + 2, slave->station_address); // Station address
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	48	EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	49	EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	50	EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	51	EC_WRITE_U8 (data + 8, 0x13 \| ((4 - size) << 2)); // Spec., exp., init.
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	52	EC_WRITE_U16(data + 9, sdo_index);
677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	53	EC_WRITE_U8 (data + 11, sdo_subindex);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	54
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	55	for (i = 0; i < size; i++) {
77 677967864795 EC_READ/WRITE-Makros verwenden Makros aud asm/byteorder.h und werden konsequent verwendet. Florian Pose <fp@igh-essen.com> parents: 73 diff changeset	56	EC_WRITE_U8(data + 12 + i, value & 0xFF);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	57	value >>= 8;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	58	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	59
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	60	ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	61	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	62	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	63	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	64	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	65
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	66	// Read "written bit" of Sync-Manager
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	67	start = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	68	timeout = cpu_khz; // 1ms
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	69
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	70	do
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	71	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	72	ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	73	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	74	EC_ERR("Mailbox checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	75	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	76	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	77	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	78
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	79	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	80
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	81	if (EC_READ_U8(command.data + 5) & 8) break; // Written bit is high
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	82	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	83	while ((end - start) < timeout);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	84
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	85	if ((end - start) >= timeout) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	86	EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	87	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	88	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	89
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	90	ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	91	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	92	EC_ERR("Mailbox receiving failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	93	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	95	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	96
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	97	if (EC_READ_U8 (command.data + 5) != 0x03 \|\| // COE
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	98	EC_READ_U16(command.data + 6) != 0x3000 \|\| // SDO response
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	99	EC_READ_U8 (command.data + 8) >> 5 != 0x03 \|\| // Download response
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	100	EC_READ_U16(command.data + 9) != sdo_index \|\| // Index
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	101	EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	102	{
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	103	EC_ERR("Illegal mailbox response at slave %i!\n",
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	104	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	106	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	107
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	108	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	109	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	110
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	111	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	112
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	113	/**
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	114	Liest ein CANopen-SDO (service data object).
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	115	*/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	116
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	117	int EtherCAT_rt_canopen_sdo_read(ec_slave_t slave, /< EtherCAT-Slave /
101 b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	118	uint16_t sdo_index, /*< SDO-Index /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	119	uint8_t sdo_subindex, /*< SDO-Subindex /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	120	uint32_t value /< Speicher für gel. Wert /
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	121	)
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	122	{
b0c19892145a MERGE branches/async -r243:244 -> trunk (intypes). Florian Pose <fp@igh-essen.com> parents: 98 diff changeset	123	uint8_t data[0xF6];
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	124	ec_command_t command;
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	125	ec_master_t *master;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	126	cycles_t start, end, timeout;
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	127
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	128	memset(data, 0x00, 0xF6);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	129	master = slave->master;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	130
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	131	EC_WRITE_U16(data, 0x0006); // Length of the Mailbox service data
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	132	EC_WRITE_U16(data + 2, slave->station_address); // Station address
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	133	EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	134	EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	135	EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	136	EC_WRITE_U8 (data + 8, 0x1 << 1 \| 0x2 << 5); // Exp., Upload request
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	137	EC_WRITE_U16(data + 9, sdo_index);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	138	EC_WRITE_U8 (data + 11, sdo_subindex);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	139
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	140	ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	141	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	142	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	143	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	144	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	145
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	146	// Read "written bit" of Sync-Manager
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	147
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	148	start = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	149	timeout = cpu_khz; // 1ms
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	150
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	151	do
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	152	{
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	153	ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	154	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	155	EC_ERR("Mailbox checking failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	156	slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	157	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	158	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	159
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	160	end = get_cycles();
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	161
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	162	if (EC_READ_U8(command.data + 5) & 8) { // Written bit is high
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	163	break;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	164	}
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	165	}
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	166	while (likely((end - start) < timeout));
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	167
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	168	if (unlikely((end - start) >= timeout)) {
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	169	EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	170	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	171	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	172
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	173	ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	174	if (unlikely(ec_master_simple_io(master, &command))) {
89 e91ef35c36db Wiederholtes Senden, wenn keine Antwort. Florian Pose <fp@igh-essen.com> parents: 84 diff changeset	175	EC_ERR("Mailbox receiving failed on slave %i!\n",
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	176	slave->ring_position);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	177	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	178	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	179
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	180	if (EC_READ_U8 (command.data + 5) != 0x03 \|\| // COE
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	181	EC_READ_U16(command.data + 6) != 0x3000 \|\| // SDO response
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	182	EC_READ_U8 (command.data + 8) >> 5 != 0x02 \|\| // Upload response
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	183	EC_READ_U16(command.data + 9) != sdo_index \|\| // Index
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	184	EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	185	{
84 b4ae98855cea printk durch Makros ersetzt. Florian Pose <fp@igh-essen.com> parents: 80 diff changeset	186	EC_ERR("Illegal mailbox response at slave %i!\n",
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	187	slave->ring_position);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	188	return -1;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	189	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	190
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	191	*value = EC_READ_U32(command.data + 12);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	192
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	193	return 0;
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	194	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	195
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	196	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	197
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	198	/**
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	199	Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	200
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	201	Siehe EtherCAT_rt_canopen_sdo_write()
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	202
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	203	\return 0 wenn alles ok, < 0 bei Fehler
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	204	*/
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	205
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	206	int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	207	/*< EtherCAT-Master /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	208	const char *addr,
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	209	/**< Addresse, siehe
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	210	ec_master_slave_address() */
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	211	uint16_t index,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	212	/*< SDO-Index /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	213	uint8_t subindex,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	214	/*< SDO-Subindex /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	215	uint32_t value,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	216	/*< Neuer Wert /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	217	size_t size
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	218	/*< Größe des Datenfeldes /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	219	)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	220	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	221	ec_slave_t *slave;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	222	if (!(slave = ec_master_slave_address(master, addr))) return -1;
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	223	return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	224	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	225
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	226	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	227
91 0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	228	/**
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	229	Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	230
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	231	Siehe EtherCAT_rt_canopen_sdo_read()
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	232
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	233	\return 0 wenn alles ok, < 0 bei Fehler
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	234	*/
0120d6214948 Code-Dokumentation angepasst. Florian Pose <fp@igh-essen.com> parents: 90 diff changeset	235
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	236	int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	237	/*< EtherCAT-Slave /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	238	const char *addr,
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	239	/**< Addresse, siehe
f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	240	ec_master_slave_address() */
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	241	uint16_t index,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	242	/*< SDO-Index /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	243	uint8_t subindex,
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	244	/*< SDO-Subindex /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	245	uint32_t *value
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	246	/*< Speicher für gel. Wert /
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	247	)
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	248	{
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	249	ec_slave_t *slave;
98 f564d0929292 MERGE branches/async 222:233 -> trunk (Kommando-Warteschlangen). Florian Pose <fp@igh-essen.com> parents: 91 diff changeset	250	if (!(slave = ec_master_slave_address(master, addr))) return -1;
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	251	return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	252	}
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	253
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	254	/*****************************************************************************/
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	255
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	256	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	257	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	258	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	259	EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	260
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	261	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	262
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	263	/* Emacs-Konfiguration
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	264	;;; Local Variables: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	265	;;; c-basic-offset:4 ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	266	;;; End: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	267	*/

author	Florian Pose <fp@igh-essen.com>
	Wed, 15 Mar 2006 20:19:05 +0000
changeset 103	d2a8adde27c4
parent 101	b0c19892145a
child 104	052bc82d5442
permissions	-rw-r--r--