etherlabmaster: comparison master/canopen.c

equal deleted inserted replaced

-:c21e7c12dd50
+:674071846ee3
 const ec_code_msg_t sdo_abort_messages[];
 /*****************************************************************************/
 /**
-Liest 32 Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave.
+Reads 32 bit of a CANopen SDO in expedited mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint8_t *target /**< Speicher für 4 Bytes */
+uint8_t *target /**< 4-byte memory */
 )
 {
 size_t rec_size;
 uint8_t *data;
 if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
 EC_WRITE_U16(data, 0x2 << 12); // SDO request
 EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
-| 0x2 << 5));  // initiate upload request
+| 0x2 << 5)); // initiate upload request
 EC_WRITE_U16(data + 3, sdo_index);
 EC_WRITE_U8 (data + 5, sdo_subindex);
 if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
 EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
 sdo_index, sdo_subindex, slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 }
 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-EC_READ_U8 (data + 2) >> 5 != 0x2 || // Upload response
+EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
-EC_READ_U16(data + 3) != sdo_index || // Index
+EC_READ_U16(data + 3) != sdo_index || // index
-EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
 EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
 EC_ERR("Invalid SDO upload response at slave %i!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return -1;
 }
 /*****************************************************************************/
 /**
-Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
+Writes a CANopen SDO using expedited mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-const uint8_t *sdo_data, /**< Neuer Wert */
+const uint8_t *sdo_data, /**< new value */
 size_t size
 )
 {
 uint8_t *data;
 size_t rec_size;
 if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
 if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
 EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
 sdo_index, sdo_subindex, size, slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 }
 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
+EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response
-EC_READ_U16(data + 3) != sdo_index || // Index
+EC_READ_U16(data + 3) != sdo_index || // index
-EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
 EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
 sdo_index, sdo_subindex, size);
 EC_ERR("Invalid SDO download response at slave %i!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 }
 /*****************************************************************************/
 /**
-Liest ein CANopen-SDO im "Normal-Modus" aus einem Slave.
+Reads a CANopen SDO in normal mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
-*/
+\todo size
-int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
+*/
-uint16_t sdo_index, /**< SDO-Index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
-uint8_t *target, /**< Speicher für gel. Wert */
+uint16_t sdo_index, /**< SDO index */
-size_t *size /**< Größe des Speichers */
+uint8_t sdo_subindex, /**< SDO subindex */
+uint8_t *target, /**< memory for value */
+size_t *size /**< target memory size */
 )
 {
 uint8_t *data;
 size_t rec_size, data_size;
 uint32_t complete_size;
 EC_WRITE_U8 (data + 5, sdo_subindex);
 if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-EC_READ_U8 (data + 2) >> 5 == 0x4) { // Abort SDO transfer request
+EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
 EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
 sdo_index, sdo_subindex, slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 }
 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
-EC_READ_U8 (data + 2) >> 5 != 0x2 || // Initiate upload response
+EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
-EC_READ_U16(data + 3) != sdo_index || // Index
+EC_READ_U16(data + 3) != sdo_index || // index
-EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
 EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
 EC_ERR("Invalid SDO upload response at slave %i!\n",
 slave->ring_position);
 ec_print_data(data, rec_size);
 return -1;
 }
 /*****************************************************************************/
 /**
-Lädt das gesamte SDO-Dictionary aus einem Slave.
+Fetches the SDO dictionary of a slave.
-\return 0, wenn alles ok, sonst < 0
+\return 0 in case of success, else < 0
 */
-int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
+int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
 {
 uint8_t *data;
 size_t rec_size;
 unsigned int i, sdo_count;
 ec_sdo_t *sdo;
 EC_WRITE_U16(data, 0x8 << 12); // SDO information
 EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
 EC_WRITE_U8 (data + 3, 0x00);
 EC_WRITE_U16(data + 4, 0x0000);
-EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
+EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
 if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
 EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
 return -1;
 }
 do {
 if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
 return -1;
 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // Error response
+(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
 EC_ERR("SDO information error response at slave %i!\n",
 slave->ring_position);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 }
 }
 sdo_count = (rec_size - 8) / 2;
 for (i = 0; i < sdo_count; i++) {
 sdo_index = EC_READ_U16(data + 8 + i * 2);
-if (!sdo_index) continue; // Manchmal ist der Index 0... ???
+if (!sdo_index) continue; // sometimes index is 0... ???
 if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
 EC_ERR("Failed to allocate memory for SDO!\n");
 return -1;
 }
 list_add_tail(&sdo->list, &slave->sdo_dictionary);
 }
 }
 while (EC_READ_U8(data + 2) & 0x80);
-// Alle Beschreibungen laden
+// Fetch all SDO descriptions
 if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
 return 0;
 }
 /*****************************************************************************/
 /**
-Holt die Beschreibungen zu allen bereits bekannten SDOs.
+Fetches the SDO descriptions for the known SDOs.
-\return 0, wenn alles ok, sonst < 0
+\return 0 in case of success, else < 0
 */
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT-Slave */)
+int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
 {
 uint8_t *data;
 size_t rec_size, name_size;
 ec_sdo_t *sdo;
 EC_WRITE_U16(data + 6, sdo->index); // SDO index
 if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
+(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
 EC_ERR("SDO information error response at slave %i while"
 " fetching SDO 0x%04X!\n", slave->ring_position,
 sdo->index);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 if (EC_READ_U8(data + 2) & 0x80) {
 EC_ERR("Fragment follows (not implemented)!\n");
 return -1;
 }
-// Alle Entries (Subindizes) laden
+// Fetch all entries (subindices)
 if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
 return -1;
 }
 return 0;
 }
 /*****************************************************************************/
 /**
-Lädt alle Entries (Subindizes) zu einem SDO.
+Fetches all entries (subindices) to an SDO.
-\return 0, wenn alles ok, sonst < 0
+\return 0 in case of success, else < 0
 */
-int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
 ec_sdo_t *sdo, /**< SDO */
-uint8_t subindices /**< Anzahl Subindizes */
+uint8_t subindices /**< number of subindices */
 )
 {
 uint8_t *data;
 size_t rec_size, data_size;
 uint8_t i;
 EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
 if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
-(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Error response
+(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
 EC_ERR("SDO information error response at slave %i while"
 " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
 sdo->index, i);
 ec_canopen_abort_msg(EC_READ_U32(data + 6));
 return -1;
 }
 if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
-(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // entry descr. response
+(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
 EC_READ_U16(data + 6) != sdo->index || // SDO index
 EC_READ_U8(data + 8) != i) { // SDO subindex
 EC_ERR("Invalid entry description response at slave %i while"
 " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
 sdo->index, i);
 }
 /*****************************************************************************/
 /**
-Gibt eine SDO-Abort-Meldung aus.
+Outputs an SDO abort message.
 */
 void ec_canopen_abort_msg(uint32_t abort_code)
 {
 const ec_code_msg_t *abort_msg;
 {0x08000023, "Object dictionary dynamic generation fails or no object"
 " dictionary is present"},
 {}
 };
-/*****************************************************************************/
+/******************************************************************************
-// Echtzeitschnittstelle
+*  Realtime interface
+*****************************************************************************/
-/*****************************************************************************/
+/**
-/**
+Reads an 8-bit SDO in expedited mode.
-Liest ein 8-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+See ec_slave_sdo_read_exp()
-Siehe ec_slave_sdo_read_exp()
+\return 0 in case of success, else < 0
-\return 0 wenn alles ok, < 0 bei Fehler
+*/
-*/
+int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
-int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */
+uint16_t sdo_index, /**< SDO index */
-uint16_t sdo_index, /**< SDO-Index */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t *target /**< memory for read value */
-uint8_t *target /**< Speicher für gel. Wert */
 )
 {
 uint8_t data[4];
 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
 *target = EC_READ_U8(data);
 }
 /*****************************************************************************/
 /**
-Liest ein 16-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+Reads a 16-bit SDO in expedited mode.
-Siehe ec_slave_sdo_read_exp()
+See ec_slave_sdo_read_exp()
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint16_t *target /**< Speicher für gel. Wert */
+uint16_t *target /**< memory for read value */
 )
 {
 uint8_t data[4];
 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
 *target = EC_READ_U16(data);
 }
 /*****************************************************************************/
 /**
-Liest ein 32-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+Reads a 32-bit SDO in expedited mode.
-Siehe ec_slave_sdo_read_exp()
+See ec_slave_sdo_read_exp()
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint32_t *target /**< Speicher für gel. Wert */
+uint32_t *target /**< memory for read value */
 )
 {
 uint8_t data[4];
 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
 *target = EC_READ_U32(data);
 }
 /*****************************************************************************/
 /**
-Beschreibt ein 8-Bit CANopen-SDO eines Slaves im Expedited-Modus.
+Writes an 8-bit SDO in expedited mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint8_t value /**< Neuer Wert */
+uint8_t value /**< new value */
 )
 {
 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
 }
 /*****************************************************************************/
 /**
-Beschreibt ein 16-Bit CANopen-SDO eines Slaves im Expedited-Modus.
+Writes a 16-bit SDO in expedited mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint16_t value /**< Neuer Wert */
+uint16_t value /**< new value */
 )
 {
 uint8_t data[2];
 EC_WRITE_U16(data, value);
 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
 }
 /*****************************************************************************/
 /**
-Beschreibt ein 32-Bit CANopen-SDO eines Slaves im Expedited-Modus.
+Writes a 32-bit SDO in expedited mode.
-\return 0 wenn alles ok, < 0 bei Fehler
+\return 0 in case of success, else < 0
 */
-int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */
+int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t sdo_index, /**< SDO-Index */
+uint16_t sdo_index, /**< SDO index */
-uint8_t sdo_subindex, /**< SDO-Subindex */
+uint8_t sdo_subindex, /**< SDO subindex */
-uint32_t value /**< Neuer Wert */
+uint32_t value /**< new value */
 )
 {
 uint8_t data[4];
 EC_WRITE_U32(data, value);
 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
 EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
 EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
 EXPORT_SYMBOL(ecrt_slave_sdo_read);
 /*****************************************************************************/
-/* Emacs-Konfiguration
-;;; Local Variables: ***
-;;; c-basic-offset:4 ***
-;;; End: ***
-*/

changeset 195	674071846ee3
parent 175	2e4b18203ade
child 197	b9a6e2c22745
child 1618	5cff10efb927