etherlabmaster: master/canopen.c@e84c21548a8d (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
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	15	#include "master.h"
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	16	#include "mailbox.h"
64 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
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	20	void ec_canopen_abort_msg(uint32_t);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	21	int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	22	int ec_slave_fetch_sdo_entries(ec_slave_t , ec_sdo_t , uint8_t);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	23
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	24	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	25
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	26	const ec_code_msg_t sdo_abort_messages[];
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	27
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	28	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	29
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	30	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	31	Liest 32 Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave.
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	32	\return 0 wenn alles ok, < 0 bei Fehler
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	33	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	34
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	35	int ec_slave_sdo_read_exp(ec_slave_t slave, /< EtherCAT-Slave /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	36	uint16_t sdo_index, /*< SDO-Index /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	37	uint8_t sdo_subindex, /*< SDO-Subindex /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	38	uint8_t target /< Speicher für 4 Bytes /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	39	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	40	{
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	41	size_t rec_size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	42	uint8_t *data;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	43
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	44	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	45
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	46	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	47	EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	48	\| 0x2 << 5)); // initiate upload request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	49	EC_WRITE_U16(data + 3, sdo_index);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	50	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	51
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	52	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	53
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	54	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	55	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	56	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	57	sdo_index, sdo_subindex, slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	58	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	59	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	60	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	61
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	62	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	63	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // Upload response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	64	EC_READ_U16(data + 3) != sdo_index \|\| // Index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	65	EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
159 acb250c92896 Fixed invalid format string. Florian Pose <fp@igh-essen.com> parents: 157 diff changeset	66	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	67	EC_ERR("Invalid SDO upload response at slave %i!\n",
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	68	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	69	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	70	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	71	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	72
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	73	memcpy(target, data + 6, 4);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	74	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	75	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	76
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	77	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	78
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	79	/**
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	80	Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	81	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	82	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	83
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	84	int ec_slave_sdo_write_exp(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	85	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	86	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	87	const uint8_t sdo_data, /< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	88	size_t size
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	89	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	90	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	91	uint8_t *data;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	92	size_t rec_size;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	93
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	94	if (size == 0 \|\| size > 4) {
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	95	EC_ERR("Invalid data size!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	96	return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	97	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	98
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	99	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	100
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	101	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	102	EC_WRITE_U8 (data + 2, (0x1 // size specified
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	103	\| 0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	104	\| (4 - size) << 2 // data set size
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	105	\| 0x1 << 5)); // initiate download request
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	106	EC_WRITE_U16(data + 3, sdo_index);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	107	EC_WRITE_U8 (data + 5, sdo_subindex);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	108	memcpy(data + 6, sdo_data, size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	109	if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	110
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	111	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	112
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	113	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	114	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	115	EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	116	sdo_index, sdo_subindex, size, slave->ring_position);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	117	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	118	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	119	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	120
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	121	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	122	EC_READ_U8 (data + 2) >> 5 != 0x3 \|\| // Download response
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	123	EC_READ_U16(data + 3) != sdo_index \|\| // Index
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	124	EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	125	EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	126	sdo_index, sdo_subindex, size);
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	127	EC_ERR("Invalid SDO download 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	128	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	129	ec_print_data(data, rec_size);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	130	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	131	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	132
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	133	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	134	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	135
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	136	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	137
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	138	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	139	Liest ein CANopen-SDO im "Normal-Modus" aus einem Slave.
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	140	\return 0 wenn alles ok, < 0 bei Fehler
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	141	*/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	142
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	143	int ecrt_slave_sdo_read(ec_slave_t slave, /< EtherCAT-Slave /
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	144	uint16_t sdo_index, /*< SDO-Index /
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	145	uint8_t sdo_subindex, /*< SDO-Subindex /
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	146	uint8_t target, /< Speicher für gel. Wert /
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	147	size_t size /< Größe des Speichers /
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	148	)
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	149	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	150	uint8_t *data;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	151	size_t rec_size, data_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	152	uint32_t complete_size;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	153
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	154	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	155
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	156	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	157	EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	158	EC_WRITE_U16(data + 3, sdo_index);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	159	EC_WRITE_U8 (data + 5, sdo_subindex);
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	160
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	161	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	162
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	163	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	164	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	165	EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	166	sdo_index, sdo_subindex, slave->ring_position);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	167	ec_canopen_abort_msg(EC_READ_U32(data + 6));
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	168	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	169	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	170
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	171	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	172	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // Initiate upload response
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	173	EC_READ_U16(data + 3) != sdo_index \|\| // Index
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	174	EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	175	EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	176	EC_ERR("Invalid SDO upload response at slave %i!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	177	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	178	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	179	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	180	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	181
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	182	if (rec_size < 10) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	183	EC_ERR("Received currupted SDO upload response!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	184	ec_print_data(data, rec_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	185	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	186	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	187
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	188	if ((complete_size = EC_READ_U32(data + 6)) > *size) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	189	EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	190	complete_size, *size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	191	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	192	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	193
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	194	data_size = rec_size - 10;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	195
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	196	if (data_size != complete_size) {
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	197	EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	198	return -1;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	199	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	200
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	201	memcpy(target, data + 10, data_size);
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	202	return 0;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	203	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	204
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	205	/*****************************************************************************/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	206
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	207	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	208	Lädt das gesamte SDO-Dictionary aus einem Slave.
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	209	\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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	210	*/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	211
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	212	int ec_slave_fetch_sdo_list(ec_slave_t slave /< EtherCAT-Slave /)
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	213	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	214	uint8_t *data;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	215	size_t rec_size;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	216	unsigned int i, sdo_count;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	217	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	218	uint16_t sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	219
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	220	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	221
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	222	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	223	EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	224	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	225	EC_WRITE_U16(data + 4, 0x0000);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	226	EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	227
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	228	if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	229	EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	230	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	231	}
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	232
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	233	do {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	234	if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	235	return -1;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	236
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	237	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	238	(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	239	EC_ERR("SDO information error response at slave %i!\n",
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	240	slave->ring_position);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	241	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	242	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	243	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	244
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	245	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	246	(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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	247	EC_ERR("Invalid SDO list response at slave %i!\n",
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	248	slave->ring_position);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	249	ec_print_data(data, rec_size);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	250	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	251	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	252
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	253	if (rec_size < 8) {
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	254	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	255	ec_print_data(data, rec_size);
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	256	return -1;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	257	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	258
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	259	sdo_count = (rec_size - 8) / 2;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	260	for (i = 0; i < sdo_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	261	sdo_index = EC_READ_U16(data + 8 + i * 2);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	262	if (!sdo_index) continue; // Manchmal ist der Index 0... ???
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	263
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	264	if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	265	EC_ERR("Failed to allocate memory for SDO!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	266	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	267	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	268
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	269	// Initialize SDO object
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	270	sdo->index = sdo_index;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	271	sdo->type = 0x0000;
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	272	sdo->features = 0x00;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	273	sdo->name = NULL;
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	274	INIT_LIST_HEAD(&sdo->entries);
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	275
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	276	list_add_tail(&sdo->list, &slave->sdo_dictionary);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	277	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	278	}
37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	279	while (EC_READ_U8(data + 2) & 0x80);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	280
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	281	// Alle Beschreibungen laden
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	282	if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	283
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	284	return 0;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	285	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	286
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	287	/*****************************************************************************/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	288
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	289	/**
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	290	Holt die Beschreibungen zu allen bereits bekannten SDOs.
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	291	\return 0, wenn alles ok, sonst < 0
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	292	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	293
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	294	int ec_slave_fetch_sdo_descriptions(ec_slave_t slave /< EtherCAT-Slave /)
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	295	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	296	uint8_t *data;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	297	size_t rec_size, name_size;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	298	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	299
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	300	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	301	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	302	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	303	EC_WRITE_U8 (data + 2, 0x03); // Get object description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	304	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	305	EC_WRITE_U16(data + 4, 0x0000);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	306	EC_WRITE_U16(data + 6, sdo->index); // SDO index
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	307
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	308	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	309
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	310	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	311	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	312	EC_ERR("SDO information error response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	313	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	314	sdo->index);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	315	ec_canopen_abort_msg(EC_READ_U32(data + 6));
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	316	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	317	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	318
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	319	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	320	(EC_READ_U8 (data + 2) & 0x7F) != 0x04 \|\| // Object desc. response
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	321	EC_READ_U16(data + 6) != sdo->index) { // SDO index
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	322	EC_ERR("Invalid object description response at slave %i while"
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	323	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	324	sdo->index);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	325	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	326	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	327	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	328
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	329	if (rec_size < 12) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	330	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	331	ec_print_data(data, rec_size);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	332	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	333	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	334
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	335	sdo->type = EC_READ_U16(data + 8);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	336	sdo->features = EC_READ_U8(data + 11);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	337
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	338	name_size = rec_size - 12;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	339	if (name_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	340	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	341	EC_ERR("Failed to allocate SDO name!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	342	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	343	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	344
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	345	memcpy(sdo->name, data + 12, name_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	346	sdo->name[name_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	347	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	348
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	349	if (EC_READ_U8(data + 2) & 0x80) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	350	EC_ERR("Fragment follows (not implemented)!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	351	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	352	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	353
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	354	// Alle Entries (Subindizes) laden
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	355	if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	356	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	357	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	358
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	359	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	360	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	361
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	362	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	363
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	364	/**
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	365	Lädt alle Entries (Subindizes) zu einem SDO.
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	366	\return 0, wenn alles ok, sonst < 0
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	367	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	368
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	369	int ec_slave_fetch_sdo_entries(ec_slave_t slave, /< EtherCAT-Slave /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	370	ec_sdo_t sdo, /< SDO /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	371	uint8_t subindices /*< Anzahl Subindizes /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	372	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	373	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	374	uint8_t *data;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	375	size_t rec_size, data_size;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	376	uint8_t i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	377	ec_sdo_entry_t *entry;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	378
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	379	for (i = 1; i <= subindices; i++) {
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	380	if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	381	return -1;
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	382
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	383	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	384	EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	385	EC_WRITE_U8 (data + 3, 0x00);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	386	EC_WRITE_U16(data + 4, 0x0000);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	387	EC_WRITE_U16(data + 6, sdo->index); // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	388	EC_WRITE_U8 (data + 8, i); // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	389	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
145 11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	390
11a82e4fd31b Mailbox-Interface ausgelagert, erster EOE-Ansatz. Florian Pose <fp@igh-essen.com> parents: 144 diff changeset	391	if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	392
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	393	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	394	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	395	EC_ERR("SDO information error response at slave %i while"
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	396	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	397	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	398	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	399	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	400	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	401
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	402	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	403	(EC_READ_U8(data + 2) & 0x7F) != 0x06 \|\| // entry descr. response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	404	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	405	EC_READ_U8(data + 8) != i) { // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	406	EC_ERR("Invalid entry description response at slave %i while"
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	407	" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	408	sdo->index, i);
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	409	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	410	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	411	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	412
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	413	if (rec_size < 16) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	414	EC_ERR("Invalid data size!\n");
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	415	ec_print_data(data, rec_size);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	416	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	417	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	418
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	419	if (!EC_READ_U16(data + 12)) // bit length = 0
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	420	continue;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	421
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	422	data_size = rec_size - 16;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	423
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	424	if (!(entry = (ec_sdo_entry_t *)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	425	kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	426	EC_ERR("Failed to allocate entry!\n");
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	427	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	428	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	429
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	430	entry->subindex = i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	431	entry->data_type = EC_READ_U16(data + 10);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	432	entry->bit_length = EC_READ_U16(data + 12);
161 ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	433
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	434	// memory for name string appended to entry
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	435	entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	436
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	437	memcpy(entry->name, data + 16, data_size);
ddb7266d1c56 Bugfix: Discovered memory leak. Florian Pose <fp@igh-essen.com> parents: 159 diff changeset	438	entry->name[data_size] = 0;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	439
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	440	list_add_tail(&entry->list, &sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	441	}
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	442
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	443	return 0;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	444	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	445
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	446	/*****************************************************************************/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	447
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	448	/**
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	449	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	450	*/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	451
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	452	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	453	{
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	454	const ec_code_msg_t *abort_msg;
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	455
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	456	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	457	if (abort_msg->code == abort_code) {
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	458	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. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	459	abort_msg->code, abort_msg->message);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	460	return;
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	461	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	462	}
157 37c6dd0ff0b1 Bugfix: Crash after failing to fetch SDO dictionary. Florian Pose <fp@igh-essen.com> parents: 145 diff changeset	463
133 b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	464	EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	465	}
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	466
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	467	/*****************************************************************************/
b36d187ecc0b Unterst?tzte Prot. auslesen, Mailbox in Slave ausgelagert, Bugfix in Anzeige des Watch-Frames und erste SDO-List-Abfrage. Florian Pose <fp@igh-essen.com> parents: 113 diff changeset	468
164 ed85368b2b2e AL status code reading after failed state transition. Florian Pose <fp@igh-essen.com> parents: 161 diff changeset	469	const ec_code_msg_t sdo_abort_messages[] = {
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	470	{0x05030000, "Toggle bit not changed"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	471	{0x05040000, "SDO protocol timeout"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	472	{0x05040001, "Client/Server command specifier not valid or unknown"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	473	{0x05040005, "Out of memory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	474	{0x06010000, "Unsupported access to an object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	475	{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	476	{0x06010002, "Attempt to write a read-only object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	477	{0x06020000, "This object does not exist in the object directory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	478	{0x06040041, "The object cannot be mapped into the PDO"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	479	{0x06040042, "The number and length of the objects to be mapped would"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	480	" exceed the PDO length"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	481	{0x06040043, "General parameter incompatibility reason"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	482	{0x06040047, "Gerneral internal incompatibility in device"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	483	{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	484	{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	485	" not match"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	486	{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	487	" high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	488	{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	489	" low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	490	{0x06090011, "Subindex does not exist"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	491	{0x06090030, "Value range of parameter exceeded"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	492	{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	493	{0x06090032, "Value of parameter written too low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	494	{0x06090036, "Maximum value is less than minimum value"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	495	{0x08000000, "General error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	496	{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	497	{0x08000021, "Data cannot be transferred or stored to the application"
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	498	" because of local control"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	499	{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	500	" because of the present device state"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	501	{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 diff changeset	502	" dictionary is present"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	503	{}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	504	};
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	505
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	506	/*****************************************************************************/
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	507	// Echtzeitschnittstelle
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	508
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	509	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	510
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	511	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	512	Liest ein 8-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	513	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	514	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	515	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	516
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	517	int ecrt_slave_sdo_read_exp8(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	518	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	519	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	520	uint8_t target /< Speicher für gel. Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	521	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	522	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	523	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	524	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	525	*target = EC_READ_U8(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	526	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	527	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	528
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	529	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	530
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	531	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	532	Liest ein 16-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	533	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	534	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	535	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	536
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	537	int ecrt_slave_sdo_read_exp16(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	538	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	539	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	540	uint16_t target /< Speicher für gel. Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	541	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	542	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	543	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	544	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	545	*target = EC_READ_U16(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	546	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	547	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	548
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	549	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	550
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	551	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	552	Liest ein 32-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	553	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	554	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	555	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	556
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	557	int ecrt_slave_sdo_read_exp32(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	558	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	559	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	560	uint32_t target /< Speicher für gel. Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	561	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	562	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	563	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	564	if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	565	*target = EC_READ_U32(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	566	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	567	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	568
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	569	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	570
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	571	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	572	Beschreibt ein 8-Bit CANopen-SDO eines Slaves im Expedited-Modus.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	573	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	574	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	575
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	576	int ecrt_slave_sdo_write_exp8(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	577	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	578	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	579	uint8_t value /*< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	580	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	581	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	582	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	583	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	584
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	585	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	586
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	587	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	588	Beschreibt ein 16-Bit CANopen-SDO eines Slaves im Expedited-Modus.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	589	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	590	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	591
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	592	int ecrt_slave_sdo_write_exp16(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	593	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	594	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	595	uint16_t value /*< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	596	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	597	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	598	uint8_t data[2];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	599	EC_WRITE_U16(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	600	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	601	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	602
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	603	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	604
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	605	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	606	Beschreibt ein 32-Bit CANopen-SDO eines Slaves im Expedited-Modus.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	607	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	608	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	609
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	610	int ecrt_slave_sdo_write_exp32(ec_slave_t slave, /< EtherCAT-Slave /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	611	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	612	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	613	uint32_t value /*< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	614	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	615	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	616	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	617	EC_WRITE_U32(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	618	return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	619	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	620
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	621	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	622
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	623	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	624	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	625	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	626	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	627	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	628	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
104 052bc82d5442 MERGE branches/async -> trunk (alle Unterschiede ?bernommen) Florian Pose <fp@igh-essen.com> parents: 101 diff changeset	629	EXPORT_SYMBOL(ecrt_slave_sdo_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	630
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	631	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	632
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	633	/* Emacs-Konfiguration
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	634	;;; Local Variables: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	635	;;; c-basic-offset:4 ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	636	;;; End: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	637	*/

author	Florian Pose <fp@igh-essen.com>
	Fri, 07 Apr 2006 14:23:49 +0000
changeset 172	e84c21548a8d
parent 164	ed85368b2b2e
child 175	2e4b18203ade
permissions	-rw-r--r--