etherlabmaster: master/canopen.c@fdc24bf62f80 (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"
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	16
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
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	19	void ec_canopen_abort_msg(uint32_t);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	20	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	21	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	22
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
73 9f4ea66d89a3 Dynamische FMMU-Konfiguration, zwei Kopieroperationen eingespart, Einr?ckungen angepasst. Florian Pose <fp@igh-essen.com> parents: 66 diff changeset	25	/**
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	26	SDO Abort Code Messages
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	27	*/
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	28
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	29	typedef struct
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	30	{
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	31	uint32_t code;
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	32	const char *message;
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	33	}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	34	ec_sdo_abort_message_t;
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	35
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	36	const ec_sdo_abort_message_t sdo_abort_messages[];
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	37
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	38	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	39
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	40	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	41	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	42	\return 0 wenn alles ok, < 0 bei Fehler
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	43	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	44
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	45	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	46	uint16_t sdo_index, /*< SDO-Index /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	47	uint8_t sdo_subindex, /*< SDO-Subindex /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	48	uint8_t target /< Speicher für 4 Bytes /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	49	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	50	{
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	51	size_t rec_size;
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	52	uint8_t *data;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	53
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	54	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	55	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	56	EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	57	\| 0x2 << 5)); // initiate upload request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	58	EC_WRITE_U16(data + 3, sdo_index);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	59	EC_WRITE_U8 (data + 5, sdo_subindex);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	60	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	61	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	62	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	63	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	64
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	65	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	66
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	67	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	68	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	69	EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	70	sdo_index, sdo_subindex, slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	71	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	72	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	73	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	74
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	75	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	76	EC_READ_U8 (data + 2) >> 5 != 0x2 \|\| // Upload response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	77	EC_READ_U16(data + 3) != sdo_index \|\| // Index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	78	EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	79	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	80	slave->ring_position);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	81	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	82	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	83
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	84	memcpy(target, data + 6, 4);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	85	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	86	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	87
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	88	/*****************************************************************************/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	89
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	90	/**
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	91	Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	92	\return 0 wenn alles ok, < 0 bei Fehler
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	93	*/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	94
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	95	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	96	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	97	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	98	const uint8_t sdo_data, /< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	99	size_t size
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	100	)
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	101	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	102	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	103	size_t rec_size;
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	104
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	105	if (size == 0 \|\| size > 4) {
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	106	EC_ERR("Invalid data size!\n");
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	107	return -1;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	108	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	109
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	110	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 0x0A))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	111	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	112	EC_WRITE_U8 (data + 2, (0x1 // size specified
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	113	\| 0x1 << 1 // expedited transfer
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	114	\| (4 - size) << 2 // data set size
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	115	\| 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	116	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	117	EC_WRITE_U8 (data + 5, sdo_subindex);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	118	memcpy(data + 6, sdo_data, size);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	119	if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	120	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	121	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	122	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	123	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	124
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	125	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &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	126
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	127	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	128	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	129	EC_ERR("SDO download of 0x%04X:%X (%i bytes) aborted on!"
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	130	" slave %i.\n", sdo_index, sdo_subindex, size,
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	131	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	132	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	133	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	134	}
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	135
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	136	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	137	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	138	EC_READ_U16(data + 3) != sdo_index \|\| // 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	139	EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	140	{
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	141	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	142	slave->ring_position);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	143	return -1;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	144	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	145
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	146	return 0;
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	147	}
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	148
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	149	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	150
80 8cd08d73b560 CANopen SDO read implementiert. Florian Pose <fp@igh-essen.com> parents: 77 diff changeset	151	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	152	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	153	\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	154	*/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	155
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	156	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	157	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	158	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	159	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	160	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	161	)
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	162	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	163	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	164	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	165	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	166
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	167	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 6))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	168	EC_WRITE_U16(data, 0x2 << 12); // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	169	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	170	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	171	EC_WRITE_U8 (data + 5, sdo_subindex);
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	172	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	173	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	174	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	175	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	176
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	177	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &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	178
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	179	if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	180	EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
137 3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	181	EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n",
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	182	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	183	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	184	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	185	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	186
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	187	if (EC_READ_U16(data) >> 12 != 0x3 \|\| // SDO response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	188	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	189	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	190	EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	191	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	192	slave->ring_position);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	193	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	194	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	195
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	196	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	197	EC_ERR("Received currupted SDO upload response!\n");
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	198	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	199	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	200
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	201	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	202	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	203	complete_size, *size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	204	return -1;
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	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	208
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	209	if (data_size == complete_size) {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	210	memcpy(target, data + 10, data_size);
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	211	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	212	else {
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	213	EC_ERR("SDO data incomplete.\n");
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	214	return -1;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	215	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	216
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	217	return 0;
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	218	}
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	219
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	220	/*****************************************************************************/
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	221
3fb18812871a SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... Florian Pose <fp@igh-essen.com> parents: 135 diff changeset	222	/**
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	223	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	224	\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	225	*/
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
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	227	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	228	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	229	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	230	size_t rec_size;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	231	unsigned int i, sdo_count;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	232	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	233	uint16_t sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	234
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	235	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	236	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	237	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	238	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	239	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	240	EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	241	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	242	EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	243	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	244	}
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	245
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	246	do {
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	247	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	248	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	249
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	250	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	251	(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	252	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	253	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	254	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	255	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	256	}
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
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	258	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	259	(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	260	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	261	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	262	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	263	}
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	264
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	265	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	266	EC_ERR("Invalid data size!\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	267	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	268	}
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	269
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	270	sdo_count = (rec_size - 8) / 2;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	271	for (i = 0; i < sdo_count; i++) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	272	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	273	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	274
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	275	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	276	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	277	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	278	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	279	sdo->index = sdo_index;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	280	sdo->name = NULL;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	281	list_add_tail(&sdo->list, &slave->sdo_dictionary);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	282	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	283	} while (EC_READ_U8(data + 2) & 0x80);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	284
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	285	// Alle Beschreibungen laden
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	286	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	287
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	288	return 0;
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
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	291	/*****************************************************************************/
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	Holt die Beschreibungen zu allen bereits bekannten SDOs.
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	295	\return 0, wenn alles ok, sonst < 0
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	296	*/
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	297
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	298	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	299	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	300	uint8_t *data;
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	301	size_t rec_size, name_size;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	302	ec_sdo_t *sdo;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	303
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	304	list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	305	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 8))) return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	306	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	307	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	308	EC_WRITE_U8 (data + 3, 0x00);
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	309	EC_WRITE_U16(data + 4, 0x0000);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	310	EC_WRITE_U16(data + 6, sdo->index); // SDO index
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	311	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	312	EC_ERR("Mailbox sending failed on slave %i!\n",
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	313	slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	314	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	315	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	316
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	317	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	318	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	319
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	320	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	321	(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	322	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	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);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	325	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	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
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	329	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	330	(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	331	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	332	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	333	" fetching SDO 0x%04X!\n", slave->ring_position,
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	334	sdo->index);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	335	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	336	}
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	if (rec_size < 12) {
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	339	EC_ERR("Invalid data size!\n");
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	340	return -1;
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	341	}
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	342
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	343	sdo->type = EC_READ_U16(data + 8);
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	344	sdo->features = EC_READ_U8(data + 11);
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	345	INIT_LIST_HEAD(&sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	346
80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	347	name_size = rec_size - 12;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	348	if (name_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	349	if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	350	EC_ERR("Failed to allocate SDO name!\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	memcpy(sdo->name, data + 12, name_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	355	sdo->name[name_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	356	}
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	if (EC_READ_U8(data + 2) & 0x80) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	359	EC_ERR("Fragment follows (not implemented)!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	360	return -1;
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	// Alle Entries (Subindizes) laden
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	364	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	365	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	366	}
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	return 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	369	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	370
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	371	/*****************************************************************************/
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	/**
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	374	Lädt alle Entries (Subindizes) zu einem SDO.
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	375	\return 0, wenn alles ok, sonst < 0
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	376	*/
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	377
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	378	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	379	ec_sdo_t sdo, /< SDO /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	380	uint8_t subindices /*< Anzahl Subindizes /
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	381	)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	382	{
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	383	uint8_t *data;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	384	size_t rec_size, data_size;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	385	uint8_t i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	386	ec_sdo_entry_t *entry;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	387
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	388	for (i = 1; i <= subindices; i++) {
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	389	if (!(data = ec_slave_prepare_mailbox_send(slave, 0x03, 10)))
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	390	return -1;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	391	EC_WRITE_U16(data, 0x8 << 12); // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	392	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	393	EC_WRITE_U8 (data + 3, 0x00);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	394	EC_WRITE_U16(data + 4, 0x0000);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	395	EC_WRITE_U16(data + 6, sdo->index); // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	396	EC_WRITE_U8 (data + 8, i); // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	397	EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
144 fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	398	if (unlikely(ec_master_simple_io(slave->master))) {
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	399	EC_ERR("Mailbox sending failed on slave %i!\n",
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	400	slave->ring_position);
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	401	return -1;
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	402	}
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	403
fdc24bf62f80 Dynamischer Kommandospeicher, Domain-Kommandos als Liste. Florian Pose <fp@igh-essen.com> parents: 139 diff changeset	404	if (!(data = ec_slave_mailbox_receive(slave, 0x03, &rec_size)))
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	405	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	406
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	407	if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	408	(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	409	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	410	" 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	411	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	412	ec_canopen_abort_msg(EC_READ_U32(data + 6));
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	413	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	414	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	415
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	416	if (EC_READ_U16(data) >> 12 != 0x8 \|\| // SDO information
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	417	(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	418	EC_READ_U16(data + 6) != sdo->index \|\| // SDO index
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	419	EC_READ_U8(data + 8) != i) { // SDO subindex
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	420	EC_ERR("Invalid entry description response at slave %i while"
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	421	" fetching SDO 0x%04X:%i!\n", slave->ring_position,
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	422	sdo->index, i);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	423	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	424	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	425
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	426	if (rec_size < 16) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	427	EC_ERR("Invalid data size!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	428	return -1;
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
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	431	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	432	continue;
139 998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	433
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	434	data_size = rec_size - 16;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	435
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	436	if (!(entry = (ec_sdo_entry_t *)
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	437	kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	438	EC_ERR("Failed to allocate entry memory!\n");
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	439	return -1;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	440	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	441
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	442	entry->subindex = i;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	443	entry->data_type = EC_READ_U16(data + 10);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	444	entry->bit_length = EC_READ_U16(data + 12);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	445	if (!data_size) {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	446	entry->name = NULL;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	447	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	448	else {
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	449	entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	450	memcpy(entry->name, data + 16, data_size);
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	451	entry->name[data_size] = 0;
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	452	}
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	453
998215ab9b92 Laden der SDO-Subindizes. Florian Pose <fp@igh-essen.com> parents: 138 diff changeset	454	list_add_tail(&entry->list, &sdo->entries);
135 80d493917205 Laden der SDO Dictionaries funktioniert. Florian Pose <fp@igh-essen.com> parents: 134 diff changeset	455	}
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	456
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	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	458	}
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
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	/*****************************************************************************/
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	/**
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	463	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	464	*/
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	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	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	const ec_sdo_abort_message_t *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	469
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	470	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	471	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	472	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	473	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	474	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	475	}
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	476	}
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	477	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	478	}
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	479
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	480	/*****************************************************************************/
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	481
111 9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	482	const ec_sdo_abort_message_t sdo_abort_messages[] = {
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	483	{0x05030000, "Toggle bit not changed"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	484	{0x05040000, "SDO protocol timeout"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	485	{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	486	{0x05040005, "Out of memory"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	487	{0x06010000, "Unsupported access to an object"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	488	{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	489	{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	490	{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	491	{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	492	{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	493	" exceed the PDO length"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	494	{0x06040043, "General parameter incompatibility reason"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	495	{0x06040047, "Gerneral internal incompatibility in device"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	496	{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	497	{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	498	" not match"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	499	{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	500	" high"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	501	{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	502	" low"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	503	{0x06090011, "Subindex does not exist"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	504	{0x06090030, "Value range of parameter exceeded"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	505	{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	506	{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	507	{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	508	{0x08000000, "General error"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	509	{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	510	{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	511	" because of local control"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	512	{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	513	" because of the present device state"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	514	{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	515	" dictionary is present"},
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	516	{}
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	517	};
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	518
9963537ec776 Bugfix: SDO download. SDO abort codes ausgeben. Florian Pose <fp@igh-essen.com> parents: 104 diff changeset	519	/*****************************************************************************/
138 7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	520	// Echtzeitschnittstelle
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
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	524	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	525	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	526	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	527	\return 0 wenn alles ok, < 0 bei Fehler
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	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	531	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	532	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	533	uint8_t target /< Speicher für gel. Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	534	)
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	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	537	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	538	*target = EC_READ_U8(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	539	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	540	}
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
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	544	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	545	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	546	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	547	\return 0 wenn alles ok, < 0 bei Fehler
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	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	551	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	552	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	553	uint16_t target /< Speicher für gel. Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	554	)
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	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	557	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	558	*target = EC_READ_U16(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	559	return 0;
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	560	}
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
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	564	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	565	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	566	Siehe ec_slave_sdo_read_exp()
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	567	\return 0 wenn alles ok, < 0 bei Fehler
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	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	571	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	572	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	573	uint32_t target /< Speicher für gel. Wert /
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	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	577	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	578	*target = EC_READ_U32(data);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	579	return 0;
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	/*****************************************************************************/
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	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	586	\return 0 wenn alles ok, < 0 bei Fehler
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
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	589	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	590	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	591	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	592	uint8_t value /*< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	593	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	594	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	595	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	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	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	599
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	600	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	601	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	602	\return 0 wenn alles ok, < 0 bei Fehler
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	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	606	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	607	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	608	uint16_t value /*< Neuer Wert /
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	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	611	uint8_t data[2];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	612	EC_WRITE_U16(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	613	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	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	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	617
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	618	/**
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	619	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	620	\return 0 wenn alles ok, < 0 bei Fehler
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	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	624	uint16_t sdo_index, /*< SDO-Index /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	625	uint8_t sdo_subindex, /*< SDO-Subindex /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	626	uint32_t value /*< Neuer Wert /
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	627	)
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	628	{
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	629	uint8_t data[4];
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	630	EC_WRITE_U32(data, value);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	631	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	632	}
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	633
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	634	/*****************************************************************************/
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	635
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	636	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	637	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	638	EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	639	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	640	EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
7e743a61a991 SDO-Schnittstelle verbessert. Florian Pose <fp@igh-essen.com> parents: 137 diff changeset	641	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	642	EXPORT_SYMBOL(ecrt_slave_sdo_read);
64 ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	643
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	644	/*****************************************************************************/
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	645
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	646	/* Emacs-Konfiguration
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	647	;;; Local Variables: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	648	;;; c-basic-offset:4 ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	649	;;; End: ***
ea6ccf12c612 CANopen over EtherCAT. Florian Pose <fp@igh-essen.com> parents: diff changeset	650	*/

author	Florian Pose <fp@igh-essen.com>
	Mon, 03 Apr 2006 10:03:34 +0000
changeset 144	fdc24bf62f80
parent 139	998215ab9b92
child 145	11a82e4fd31b
permissions	-rw-r--r--