1

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

     2

 *

     3

 *  c a n o p e n . c

     4

 *

     5

 *  CANopen over EtherCAT

     6

 *

     7

 *  $Id$

     8

 *

     9

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

    10

    11

#include <linux/delay.h>

    12

#include <linux/slab.h>

    13

#include <linux/module.h>

    14

    15

#include "master.h"

    16

    17

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

    18

    19

/**

    20

   SDO Abort Code Messages

    21

*/

    22

    23

typedef struct

    24

{

    25

    uint32_t code;

    26

    const char *message;

    27

}

    28

ec_sdo_abort_message_t;

    29

    30

const ec_sdo_abort_message_t sdo_abort_messages[];

    31

    32

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

    33

    34

/**

    35

   Schreibt ein CANopen-SDO (service data object).

    36

 */

    37

    38

int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */

    39

                         uint16_t sdo_index, /**< SDO-Index */

    40

                         uint8_t sdo_subindex, /**< SDO-Subindex */

    41

                         uint32_t value, /**< Neuer Wert */

    42

                         size_t size /**< Größe des Datenfeldes */

    43

                         )

    44

{

    45

    uint8_t data[0xF6];

    46

    ec_command_t command;

    47

    unsigned int i;

    48

    ec_master_t *master;

    49

    cycles_t start, end, timeout;

    50

    uint32_t abort_code;

    51

    const ec_sdo_abort_message_t *abort_msg;

    52

    53

    memset(data, 0x00, 0xF6);

    54

    55

    master = slave->master;

    56

    57

    if (size == 0 || size > 4) {

    58

        EC_ERR("Invalid SDO data size: %i!\n", size);

    59

        return -1;

    60

    }

    61

    62

    EC_WRITE_U16(data,      0x000A); // Length of the Mailbox service data

    63

    EC_WRITE_U16(data + 2,  slave->station_address); // Station address

    64

    EC_WRITE_U8 (data + 4,  0x00); // Channel & priority

    65

    EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT

    66

    EC_WRITE_U16(data + 6,  0x02 << 12); // Number (0), Service (SDO request)

    67

    EC_WRITE_U8 (data + 8,  0x23 | ((4 - size) << 2)); // Spec., exp., init.

    68

    EC_WRITE_U16(data + 9,  sdo_index);

    69

    EC_WRITE_U8 (data + 11, sdo_subindex);

    70

    71

    for (i = 0; i < size; i++) {

    72

        EC_WRITE_U8(data + 12 + i, value & 0xFF);

    73

        value >>= 8;

    74

    }

    75

    76

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

    77

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

    78

        EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);

    79

        return -1;

    80

    }

    81

    82

    // Read "written bit" of Sync-Manager

    83

    start = get_cycles();

    84

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

    85

    86

    while (1)

    87

    {

    88

        udelay(100);

    89

    90

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

    91

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

    92

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

    93

                   slave->ring_position);

    94

            return -1;

    95

        }

    96

    97

        end = get_cycles();

    98

    99

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

   100

   101

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

   102

            EC_ERR("Mailbox check - Slave %i timed out.\n",

   103

                   slave->ring_position);

   104

            return -1;

   105

        }

   106

    }

   107

   108

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

   109

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

   110

                                             / cpu_khz));

   111

   112

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

   113

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

   114

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

   115

               slave->ring_position);

   116

        return -1;

   117

    }

   118

   119

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

   120

        EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",

   121

               slave->ring_position);

   122

        return -1;

   123

    }

   124

   125

    if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request

   126

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

   127

        EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave"

   128

               " %i.\n", sdo_index, sdo_subindex, value, size,

   129

               slave->ring_position);

   130

        abort_code = EC_READ_U32(command.data + 12);

   131

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

   132

            if (abort_msg->code == abort_code) {

   133

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

   134

                       abort_msg->code, abort_msg->message);

   135

                return -1;

   136

            }

   137

        }

   138

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

   139

        return -1;

   140

    }

   141

   142

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

   143

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

   144

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

   145

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

   146

    {

   147

        EC_ERR("Invalid SDO download response at slave %i!\n",

   148

               slave->ring_position);

   149

        return -1;

   150

    }

   151

   152

    return 0;

   153

}

   154

   155

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

   156

   157

/**

   158

   Liest ein CANopen-SDO (service data object).

   159

 */

   160

   161

int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */

   162

                        uint16_t sdo_index, /**< SDO-Index */

   163

                        uint8_t sdo_subindex, /**< SDO-Subindex */

   164

                        uint32_t *value /**< Speicher für gel. Wert */

   165

                        )

   166

{

   167

    uint8_t data[0xF6];

   168

    ec_command_t command;

   169

    ec_master_t *master;

   170

    cycles_t start, end, timeout;

   171

    uint32_t abort_code;

   172

    const ec_sdo_abort_message_t *abort_msg;

   173

   174

    memset(data, 0x00, 0xF6);

   175

    master = slave->master;

   176

   177

    EC_WRITE_U16(data,      0x0006); // Length of the Mailbox service data

   178

    EC_WRITE_U16(data + 2,  slave->station_address); // Station address

   179

    EC_WRITE_U8 (data + 4,  0x00); // Channel & priority

   180

    EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT

   181

    EC_WRITE_U16(data + 6,  0x2000); // Number (0), Service (SDO request)

   182

    EC_WRITE_U8 (data + 8,  0x1 << 1 | 0x2 << 5); // Exp., Upload request

   183

    EC_WRITE_U16(data + 9,  sdo_index);

   184

    EC_WRITE_U8 (data + 11, sdo_subindex);

   185

   186

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

   187

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

   188

        EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);

   189

        return -1;

   190

    }

   191

   192

    // Read "written bit" of Sync-Manager

   193

   194

    start = get_cycles();

   195

    timeout = cpu_khz; // 1ms

   196

   197

    do

   198

    {

   199

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

   200

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

   201

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

   202

                   slave->ring_position);

   203

            return -1;

   204

        }

   205

   206

        end = get_cycles();

   207

   208

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

   209

            break;

   210

        }

   211

    }

   212

    while (likely((end - start) < timeout));

   213

   214

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

   215

        EC_ERR("Mailbox check on slave %i timed out.\n", slave->ring_position);

   216

        return -1;

   217

    }

   218

   219

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

   220

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

   221

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

   222

               slave->ring_position);

   223

        return -1;

   224

    }

   225

   226

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

   227

        EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",

   228

               slave->ring_position);

   229

        return -1;

   230

    }

   231

   232

    if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request

   233

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

   234

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

   235

               sdo_index, sdo_subindex, slave->ring_position);

   236

        abort_code = EC_READ_U32(command.data + 12);

   237

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

   238

            if (abort_msg->code == abort_code) {

   239

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

   240

                       abort_msg->code, abort_msg->message);

   241

                return -1;

   242

            }

   243

        }

   244

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

   245

        return -1;

   246

    }

   247

   248

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

   249

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

   250

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

   251

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

   252

    {

   253

        EC_ERR("Invalid SDO upload response at slave %i!\n",

   254

               slave->ring_position);

   255

        return -1;

   256

    }

   257

   258

    *value = EC_READ_U32(command.data + 12);

   259

   260

    return 0;

   261

}

   262

   263

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

   264

   265

/**

   266

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

   267

   268

   Siehe ecrt_slave_sdo_write()

   269

   270

   \return 0 wenn alles ok, < 0 bei Fehler

   271

 */

   272

   273

int ecrt_master_sdo_write(ec_master_t *master,

   274

                          /**< EtherCAT-Master */

   275

                          const char *addr,

   276

                          /**< Addresse, siehe ec_master_slave_address() */

   277

                          uint16_t index,

   278

                          /**< SDO-Index */

   279

                          uint8_t subindex,

   280

                          /**< SDO-Subindex */

   281

                          uint32_t value,

   282

                          /**< Neuer Wert */

   283

                          size_t size

   284

                          /**< Größe des Datenfeldes */

   285

                          )

   286

{

   287

    ec_slave_t *slave;

   288

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

   289

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

   290

}

   291

   292

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

   293

   294

/**

   295

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

   296

   297

   Siehe ecrt_slave_sdo_read()

   298

   299

   \return 0 wenn alles ok, < 0 bei Fehler

   300

 */

   301

   302

int ecrt_master_sdo_read(ec_master_t *master,

   303

                         /**< EtherCAT-Slave */

   304

                         const char *addr,

   305

                         /**< Addresse, siehe ec_master_slave_address() */

   306

                         uint16_t index,

   307

                         /**< SDO-Index */

   308

                         uint8_t subindex,

   309

                         /**< SDO-Subindex */

   310

                         uint32_t *value

   311

                         /**< Speicher für gel. Wert */

   312

                         )

   313

{

   314

    ec_slave_t *slave;

   315

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

   316

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

   317

}

   318

   319

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

   320

   321

const ec_sdo_abort_message_t sdo_abort_messages[] = {

   322

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

   323

    {0x05040000, "SDO protocol timeout"},

   324

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

   325

    {0x05040005, "Out of memory"},

   326

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

   327

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

   328

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

   329

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

   330

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

   331

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

   332

     " exceed the PDO length"},

   333

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

   334

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

   335

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

   336

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

   337

     " not match"},

   338

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

   339

     " high"},

   340

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

   341

     " low"},

   342

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

   343

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

   344

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

   345

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

   346

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

   347

    {0x08000000, "General error"},

   348

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

   349

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

   350

     " because of local control"},

   351

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

   352

     " because of the present device state"},

   353

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

   354

     " dictionary is present"},

   355

    {}

   356

};

   357

   358

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

   359

   360

EXPORT_SYMBOL(ecrt_slave_sdo_write);

   361

EXPORT_SYMBOL(ecrt_slave_sdo_read);

   362

EXPORT_SYMBOL(ecrt_master_sdo_write);

   363

EXPORT_SYMBOL(ecrt_master_sdo_read);

   364

   365

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

   366

   367

/* Emacs-Konfiguration

   368

;;; Local Variables: ***

   369

;;; c-basic-offset:4 ***

   370

;;; End: ***

   371

*/