1 /****************************************************************************** |
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2 * |
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3 * $Id$ |
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4 * |
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5 * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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6 * |
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7 * This file is part of the IgH EtherCAT Master. |
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8 * |
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9 * The IgH EtherCAT Master is free software; you can redistribute it |
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10 * and/or modify it under the terms of the GNU General Public License |
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11 * as published by the Free Software Foundation; either version 2 of the |
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12 * License, or (at your option) any later version. |
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13 * |
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14 * The IgH EtherCAT Master is distributed in the hope that it will be |
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15 * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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16 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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17 * GNU General Public License for more details. |
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18 * |
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19 * You should have received a copy of the GNU General Public License |
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20 * along with the IgH EtherCAT Master; if not, write to the Free Software |
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21 * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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22 * |
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23 * The right to use EtherCAT Technology is granted and comes free of |
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24 * charge under condition of compatibility of product made by |
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25 * Licensee. People intending to distribute/sell products based on the |
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26 * code, have to sign an agreement to guarantee that products using |
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27 * software based on IgH EtherCAT master stay compatible with the actual |
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28 * EtherCAT specification (which are released themselves as an open |
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29 * standard) as the (only) precondition to have the right to use EtherCAT |
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30 * Technology, IP and trade marks. |
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31 * |
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32 *****************************************************************************/ |
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33 |
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34 /** |
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35 \file |
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36 Canopen-over-EtherCAT functions. |
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37 */ |
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38 |
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39 /*****************************************************************************/ |
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40 |
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41 #include <linux/delay.h> |
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42 #include <linux/slab.h> |
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43 #include <linux/module.h> |
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44 |
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45 #include "master.h" |
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46 #include "mailbox.h" |
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47 |
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48 /*****************************************************************************/ |
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49 |
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50 void ec_canopen_abort_msg(uint32_t); |
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51 int ec_slave_fetch_sdo_descriptions(ec_slave_t *, ec_datagram_t *); |
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52 int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_datagram_t *, |
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53 ec_sdo_t *, uint8_t); |
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54 |
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55 /*****************************************************************************/ |
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56 |
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57 /** |
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58 Reads 32 bit of a CANopen SDO in expedited mode. |
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59 \return 0 in case of success, else < 0 |
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60 */ |
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61 |
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62 int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */ |
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63 uint16_t sdo_index, /**< SDO index */ |
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64 uint8_t sdo_subindex, /**< SDO subindex */ |
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65 uint8_t *target /**< 4-byte memory */ |
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66 ) |
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67 { |
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68 ec_datagram_t datagram; |
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69 size_t rec_size; |
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70 uint8_t *data; |
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71 |
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72 ec_datagram_init(&datagram); |
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73 |
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74 if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6))) |
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75 goto err; |
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76 |
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77 EC_WRITE_U16(data, 0x2 << 12); // SDO request |
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78 EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer |
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79 | 0x2 << 5)); // initiate upload request |
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80 EC_WRITE_U16(data + 3, sdo_index); |
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81 EC_WRITE_U8 (data + 5, sdo_subindex); |
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82 |
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83 if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
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84 goto err; |
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85 |
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86 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
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87 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
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88 EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", |
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89 sdo_index, sdo_subindex, slave->ring_position); |
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90 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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91 goto err; |
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92 } |
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93 |
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94 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
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95 EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response |
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96 EC_READ_U16(data + 3) != sdo_index || // index |
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97 EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
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98 EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex); |
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99 EC_ERR("Invalid SDO upload response at slave %i!\n", |
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100 slave->ring_position); |
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101 ec_print_data(data, rec_size); |
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102 goto err; |
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103 } |
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104 |
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105 memcpy(target, data + 6, 4); |
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106 |
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107 ec_datagram_clear(&datagram); |
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108 return 0; |
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109 err: |
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110 ec_datagram_clear(&datagram); |
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111 return -1; |
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112 } |
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113 |
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114 /*****************************************************************************/ |
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115 |
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116 /** |
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117 Writes a CANopen SDO using expedited mode. |
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118 \return 0 in case of success, else < 0 |
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119 */ |
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120 |
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121 int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */ |
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122 uint16_t sdo_index, /**< SDO index */ |
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123 uint8_t sdo_subindex, /**< SDO subindex */ |
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124 const uint8_t *sdo_data, /**< new value */ |
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125 size_t size /**< Data size in bytes (1 - 4) */ |
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126 ) |
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127 { |
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128 uint8_t *data; |
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129 size_t rec_size; |
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130 ec_datagram_t datagram; |
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131 |
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132 ec_datagram_init(&datagram); |
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133 |
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134 if (size == 0 || size > 4) { |
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135 EC_ERR("Invalid data size!\n"); |
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136 goto err; |
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137 } |
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138 |
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139 if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 0x0A))) |
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140 goto err; |
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141 |
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142 EC_WRITE_U16(data, 0x2 << 12); // SDO request |
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143 EC_WRITE_U8 (data + 2, (0x1 // size specified |
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144 | 0x1 << 1 // expedited transfer |
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145 | (4 - size) << 2 // data set size |
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146 | 0x1 << 5)); // initiate download request |
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147 EC_WRITE_U16(data + 3, sdo_index); |
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148 EC_WRITE_U8 (data + 5, sdo_subindex); |
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149 memcpy(data + 6, sdo_data, size); |
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150 if (size < 4) memset(data + 6 + size, 0x00, 4 - size); |
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151 |
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152 if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
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153 goto err; |
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154 |
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155 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
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156 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
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157 EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n", |
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158 sdo_index, sdo_subindex, size, slave->ring_position); |
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159 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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160 return -1; |
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161 } |
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162 |
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163 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
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164 EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response |
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165 EC_READ_U16(data + 3) != sdo_index || // index |
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166 EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
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167 EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n", |
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168 sdo_index, sdo_subindex, size); |
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169 EC_ERR("Invalid SDO download response at slave %i!\n", |
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170 slave->ring_position); |
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171 ec_print_data(data, rec_size); |
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172 return -1; |
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173 } |
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174 |
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175 ec_datagram_clear(&datagram); |
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176 return 0; |
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177 err: |
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178 ec_datagram_clear(&datagram); |
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179 return -1; |
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180 } |
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181 |
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182 /*****************************************************************************/ |
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183 |
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184 /** |
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185 Reads a CANopen SDO in normal mode. |
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186 \return 0 in case of success, else < 0 |
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187 \ingroup RealtimeInterface |
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188 \todo Make size non-pointer. |
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189 */ |
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190 |
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191 int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */ |
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192 uint16_t sdo_index, /**< SDO index */ |
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193 uint8_t sdo_subindex, /**< SDO subindex */ |
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194 uint8_t *target, /**< memory for value */ |
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195 size_t *size /**< target memory size */ |
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196 ) |
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197 { |
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198 uint8_t *data; |
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199 size_t rec_size, data_size; |
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200 uint32_t complete_size; |
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201 ec_datagram_t datagram; |
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202 |
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203 ec_datagram_init(&datagram); |
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204 |
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205 if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6))) |
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206 goto err; |
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207 |
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208 EC_WRITE_U16(data, 0x2 << 12); // SDO request |
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209 EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request |
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210 EC_WRITE_U16(data + 3, sdo_index); |
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211 EC_WRITE_U8 (data + 5, sdo_subindex); |
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212 |
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213 if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size))) |
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214 goto err; |
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215 |
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216 if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request |
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217 EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request |
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218 EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n", |
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219 sdo_index, sdo_subindex, slave->ring_position); |
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220 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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221 goto err; |
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222 } |
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223 |
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224 if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response |
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225 EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response |
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226 EC_READ_U16(data + 3) != sdo_index || // index |
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227 EC_READ_U8 (data + 5) != sdo_subindex) { // subindex |
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228 EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex); |
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229 EC_ERR("Invalid SDO upload response at slave %i!\n", |
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230 slave->ring_position); |
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231 ec_print_data(data, rec_size); |
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232 goto err; |
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233 } |
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234 |
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235 if (rec_size < 10) { |
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236 EC_ERR("Received currupted SDO upload response!\n"); |
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237 ec_print_data(data, rec_size); |
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238 goto err; |
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239 } |
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240 |
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241 if ((complete_size = EC_READ_U32(data + 6)) > *size) { |
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242 EC_ERR("SDO data does not fit into buffer (%i / %i)!\n", |
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243 complete_size, *size); |
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244 goto err; |
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245 } |
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246 |
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247 data_size = rec_size - 10; |
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248 |
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249 if (data_size != complete_size) { |
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250 EC_ERR("SDO data incomplete - Fragmenting not implemented.\n"); |
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251 goto err; |
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252 } |
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253 |
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254 memcpy(target, data + 10, data_size); |
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255 |
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256 ec_datagram_clear(&datagram); |
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257 return 0; |
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258 err: |
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259 ec_datagram_clear(&datagram); |
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260 return -1; |
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261 } |
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262 |
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263 /*****************************************************************************/ |
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264 |
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265 /** |
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266 Fetches the SDO dictionary of a slave. |
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267 \return 0 in case of success, else < 0 |
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268 */ |
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269 |
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270 int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */) |
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271 { |
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272 uint8_t *data; |
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273 size_t rec_size; |
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274 unsigned int i, sdo_count; |
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275 ec_sdo_t *sdo; |
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276 uint16_t sdo_index; |
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277 ec_datagram_t datagram; |
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278 |
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279 ec_datagram_init(&datagram); |
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280 |
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281 if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 8))) |
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282 goto err; |
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283 |
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284 EC_WRITE_U16(data, 0x8 << 12); // SDO information |
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285 EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request |
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286 EC_WRITE_U8 (data + 3, 0x00); |
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287 EC_WRITE_U16(data + 4, 0x0000); |
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288 EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs! |
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289 |
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290 if (unlikely(ec_master_simple_io(slave->master, &datagram))) { |
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291 EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position); |
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292 goto err; |
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293 } |
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294 |
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295 do { |
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296 if (!(data = ec_slave_mbox_simple_receive(slave, &datagram, |
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297 0x03, &rec_size))) |
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298 goto err; |
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299 |
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300 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
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301 (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response |
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302 EC_ERR("SDO information error response at slave %i!\n", |
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303 slave->ring_position); |
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304 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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305 goto err; |
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306 } |
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307 |
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308 if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
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309 (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response |
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310 EC_ERR("Invalid SDO list response at slave %i!\n", |
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311 slave->ring_position); |
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312 ec_print_data(data, rec_size); |
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313 goto err; |
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314 } |
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315 |
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316 if (rec_size < 8) { |
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317 EC_ERR("Invalid data size!\n"); |
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318 ec_print_data(data, rec_size); |
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319 goto err; |
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320 } |
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321 |
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322 sdo_count = (rec_size - 8) / 2; |
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323 for (i = 0; i < sdo_count; i++) { |
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324 sdo_index = EC_READ_U16(data + 8 + i * 2); |
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325 if (!sdo_index) continue; // sometimes index is 0... ??? |
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326 |
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327 if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) { |
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328 EC_ERR("Failed to allocate memory for SDO!\n"); |
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329 goto err; |
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330 } |
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331 |
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332 // Initialize SDO object |
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333 sdo->index = sdo_index; |
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334 //sdo->unkown = 0x0000; |
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335 sdo->object_code = 0x00; |
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336 sdo->name = NULL; |
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337 INIT_LIST_HEAD(&sdo->entries); |
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338 |
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339 list_add_tail(&sdo->list, &slave->sdo_dictionary); |
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340 } |
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341 } |
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342 while (EC_READ_U8(data + 2) & 0x80); |
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343 |
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344 // Fetch all SDO descriptions |
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345 if (ec_slave_fetch_sdo_descriptions(slave, &datagram)) goto err; |
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346 |
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347 ec_datagram_clear(&datagram); |
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348 return 0; |
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349 err: |
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350 ec_datagram_clear(&datagram); |
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351 return -1; |
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352 } |
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353 |
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354 /*****************************************************************************/ |
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355 |
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356 /** |
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357 Fetches the SDO descriptions for the known SDOs. |
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358 \return 0 in case of success, else < 0 |
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359 */ |
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360 |
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361 int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave, /**< EtherCAT slave */ |
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362 ec_datagram_t *datagram /**< datagram */ |
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363 ) |
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364 { |
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365 uint8_t *data; |
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366 size_t rec_size, name_size; |
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367 ec_sdo_t *sdo; |
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368 |
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369 list_for_each_entry(sdo, &slave->sdo_dictionary, list) { |
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370 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) |
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371 return -1; |
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372 EC_WRITE_U16(data, 0x8 << 12); // SDO information |
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373 EC_WRITE_U8 (data + 2, 0x03); // Get object description request |
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374 EC_WRITE_U8 (data + 3, 0x00); |
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375 EC_WRITE_U16(data + 4, 0x0000); |
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376 EC_WRITE_U16(data + 6, sdo->index); // SDO index |
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377 |
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378 if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size))) |
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379 return -1; |
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380 |
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381 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
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382 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
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383 EC_ERR("SDO information error response at slave %i while" |
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384 " fetching SDO 0x%04X!\n", slave->ring_position, |
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385 sdo->index); |
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386 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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387 return -1; |
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388 } |
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389 |
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390 if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
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391 (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response |
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392 EC_READ_U16(data + 6) != sdo->index) { // SDO index |
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393 EC_ERR("Invalid object description response at slave %i while" |
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394 " fetching SDO 0x%04X!\n", slave->ring_position, |
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395 sdo->index); |
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396 ec_print_data(data, rec_size); |
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397 return -1; |
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398 } |
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399 |
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400 if (rec_size < 12) { |
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401 EC_ERR("Invalid data size!\n"); |
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402 ec_print_data(data, rec_size); |
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403 return -1; |
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404 } |
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405 |
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406 #if 0 |
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407 EC_DBG("object desc response:\n"); |
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408 ec_print_data(data, rec_size); |
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409 #endif |
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410 |
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411 //sdo->unknown = EC_READ_U16(data + 8); |
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412 sdo->object_code = EC_READ_U8(data + 11); |
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413 |
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414 name_size = rec_size - 12; |
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415 if (name_size) { |
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416 if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) { |
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417 EC_ERR("Failed to allocate SDO name!\n"); |
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418 return -1; |
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419 } |
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420 |
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421 memcpy(sdo->name, data + 12, name_size); |
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422 sdo->name[name_size] = 0; |
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423 } |
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424 |
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425 if (EC_READ_U8(data + 2) & 0x80) { |
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426 EC_ERR("Fragment follows (not implemented)!\n"); |
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427 return -1; |
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428 } |
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429 |
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430 // Fetch all entries (subindices) |
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431 if (ec_slave_fetch_sdo_entries(slave, datagram, sdo, |
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432 EC_READ_U8(data + 10))) |
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433 return -1; |
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434 } |
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435 |
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436 return 0; |
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437 } |
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438 |
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439 /*****************************************************************************/ |
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440 |
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441 /** |
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442 Fetches all entries (subindices) to an SDO. |
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443 \return 0 in case of success, else < 0 |
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444 */ |
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445 |
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446 int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */ |
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447 ec_datagram_t *datagram, /**< datagram */ |
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448 ec_sdo_t *sdo, /**< SDO */ |
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449 uint8_t subindices /**< number of subindices */ |
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450 ) |
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451 { |
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452 uint8_t *data; |
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453 size_t rec_size, data_size; |
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454 uint8_t i; |
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455 ec_sdo_entry_t *entry; |
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456 |
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457 for (i = 1; i <= subindices; i++) { |
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458 if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) |
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459 return -1; |
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460 |
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461 EC_WRITE_U16(data, 0x8 << 12); // SDO information |
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462 EC_WRITE_U8 (data + 2, 0x05); // Get entry description request |
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463 EC_WRITE_U8 (data + 3, 0x00); |
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464 EC_WRITE_U16(data + 4, 0x0000); |
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465 EC_WRITE_U16(data + 6, sdo->index); // SDO index |
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466 EC_WRITE_U8 (data + 8, i); // SDO subindex |
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467 EC_WRITE_U8 (data + 9, 0x00); // value info (no values) |
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468 |
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469 if (!(data = ec_slave_mbox_simple_io(slave, datagram, &rec_size))) |
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470 return -1; |
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471 |
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472 if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information |
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473 (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response |
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474 EC_ERR("SDO information error response at slave %i while" |
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475 " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, |
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476 sdo->index, i); |
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477 ec_canopen_abort_msg(EC_READ_U32(data + 6)); |
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478 return -1; |
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479 } |
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480 |
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481 if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information |
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482 (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response |
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483 EC_READ_U16(data + 6) != sdo->index || // SDO index |
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484 EC_READ_U8(data + 8) != i) { // SDO subindex |
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485 EC_ERR("Invalid entry description response at slave %i while" |
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486 " fetching SDO entry 0x%04X:%i!\n", slave->ring_position, |
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487 sdo->index, i); |
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488 ec_print_data(data, rec_size); |
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489 return -1; |
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490 } |
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491 |
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492 if (rec_size < 16) { |
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493 EC_ERR("Invalid data size!\n"); |
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494 ec_print_data(data, rec_size); |
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495 return -1; |
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496 } |
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497 |
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498 if (!EC_READ_U16(data + 12)) // bit length = 0 |
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499 continue; |
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500 |
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501 data_size = rec_size - 16; |
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502 |
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503 if (!(entry = (ec_sdo_entry_t *) |
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504 kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) { |
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505 EC_ERR("Failed to allocate entry!\n"); |
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506 return -1; |
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507 } |
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508 |
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509 entry->subindex = i; |
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510 entry->data_type = EC_READ_U16(data + 10); |
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511 entry->bit_length = EC_READ_U16(data + 12); |
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512 |
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513 // memory for name string appended to entry |
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514 entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t); |
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515 |
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516 memcpy(entry->name, data + 16, data_size); |
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517 entry->name[data_size] = 0; |
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518 |
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519 list_add_tail(&entry->list, &sdo->entries); |
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520 } |
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521 |
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522 return 0; |
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523 } |
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524 |
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525 /*****************************************************************************/ |
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526 |
|
527 /** |
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528 SDO abort messages. |
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529 The "abort SDO transfer request" supplies an abort code, |
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530 which can be translated to clear text. This table does |
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531 the mapping of the codes and messages. |
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532 */ |
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533 |
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534 const ec_code_msg_t sdo_abort_messages[] = { |
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535 {0x05030000, "Toggle bit not changed"}, |
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536 {0x05040000, "SDO protocol timeout"}, |
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537 {0x05040001, "Client/Server command specifier not valid or unknown"}, |
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538 {0x05040005, "Out of memory"}, |
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539 {0x06010000, "Unsupported access to an object"}, |
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540 {0x06010001, "Attempt to read a write-only object"}, |
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541 {0x06010002, "Attempt to write a read-only object"}, |
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542 {0x06020000, "This object does not exist in the object directory"}, |
|
543 {0x06040041, "The object cannot be mapped into the PDO"}, |
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544 {0x06040042, "The number and length of the objects to be mapped would" |
|
545 " exceed the PDO length"}, |
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546 {0x06040043, "General parameter incompatibility reason"}, |
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547 {0x06040047, "Gerneral internal incompatibility in device"}, |
|
548 {0x06060000, "Access failure due to a hardware error"}, |
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549 {0x06070010, "Data type does not match, length of service parameter does" |
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550 " not match"}, |
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551 {0x06070012, "Data type does not match, length of service parameter too" |
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552 " high"}, |
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553 {0x06070013, "Data type does not match, length of service parameter too" |
|
554 " low"}, |
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555 {0x06090011, "Subindex does not exist"}, |
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556 {0x06090030, "Value range of parameter exceeded"}, |
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557 {0x06090031, "Value of parameter written too high"}, |
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558 {0x06090032, "Value of parameter written too low"}, |
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559 {0x06090036, "Maximum value is less than minimum value"}, |
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560 {0x08000000, "General error"}, |
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561 {0x08000020, "Data cannot be transferred or stored to the application"}, |
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562 {0x08000021, "Data cannot be transferred or stored to the application" |
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563 " because of local control"}, |
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564 {0x08000022, "Data cannot be transferred or stored to the application" |
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565 " because of the present device state"}, |
|
566 {0x08000023, "Object dictionary dynamic generation fails or no object" |
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567 " dictionary is present"}, |
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568 {} |
|
569 }; |
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570 |
|
571 /*****************************************************************************/ |
|
572 |
|
573 /** |
|
574 Outputs an SDO abort message. |
|
575 */ |
|
576 |
|
577 void ec_canopen_abort_msg(uint32_t abort_code) |
|
578 { |
|
579 const ec_code_msg_t *abort_msg; |
|
580 |
|
581 for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) { |
|
582 if (abort_msg->code == abort_code) { |
|
583 EC_ERR("SDO abort message 0x%08X: \"%s\".\n", |
|
584 abort_msg->code, abort_msg->message); |
|
585 return; |
|
586 } |
|
587 } |
|
588 |
|
589 EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code); |
|
590 } |
|
591 |
|
592 /****************************************************************************** |
|
593 * Realtime interface |
|
594 *****************************************************************************/ |
|
595 |
|
596 /** |
|
597 Reads an 8-bit SDO in expedited mode. |
|
598 See ec_slave_sdo_read_exp() |
|
599 \return 0 in case of success, else < 0 |
|
600 \ingroup RealtimeInterface |
|
601 */ |
|
602 |
|
603 int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */ |
|
604 uint16_t sdo_index, /**< SDO index */ |
|
605 uint8_t sdo_subindex, /**< SDO subindex */ |
|
606 uint8_t *target /**< memory for read value */ |
|
607 ) |
|
608 { |
|
609 uint8_t data[4]; |
|
610 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
|
611 *target = EC_READ_U8(data); |
|
612 return 0; |
|
613 } |
|
614 |
|
615 /*****************************************************************************/ |
|
616 |
|
617 /** |
|
618 Reads a 16-bit SDO in expedited mode. |
|
619 See ec_slave_sdo_read_exp() |
|
620 \return 0 in case of success, else < 0 |
|
621 \ingroup RealtimeInterface |
|
622 */ |
|
623 |
|
624 int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */ |
|
625 uint16_t sdo_index, /**< SDO index */ |
|
626 uint8_t sdo_subindex, /**< SDO subindex */ |
|
627 uint16_t *target /**< memory for read value */ |
|
628 ) |
|
629 { |
|
630 uint8_t data[4]; |
|
631 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
|
632 *target = EC_READ_U16(data); |
|
633 return 0; |
|
634 } |
|
635 |
|
636 /*****************************************************************************/ |
|
637 |
|
638 /** |
|
639 Reads a 32-bit SDO in expedited mode. |
|
640 See ec_slave_sdo_read_exp() |
|
641 \return 0 in case of success, else < 0 |
|
642 \ingroup RealtimeInterface |
|
643 */ |
|
644 |
|
645 int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */ |
|
646 uint16_t sdo_index, /**< SDO index */ |
|
647 uint8_t sdo_subindex, /**< SDO subindex */ |
|
648 uint32_t *target /**< memory for read value */ |
|
649 ) |
|
650 { |
|
651 uint8_t data[4]; |
|
652 if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1; |
|
653 *target = EC_READ_U32(data); |
|
654 return 0; |
|
655 } |
|
656 |
|
657 /*****************************************************************************/ |
|
658 |
|
659 /** |
|
660 Writes an 8-bit SDO in expedited mode. |
|
661 \return 0 in case of success, else < 0 |
|
662 \ingroup RealtimeInterface |
|
663 */ |
|
664 |
|
665 int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */ |
|
666 uint16_t sdo_index, /**< SDO index */ |
|
667 uint8_t sdo_subindex, /**< SDO subindex */ |
|
668 uint8_t value /**< new value */ |
|
669 ) |
|
670 { |
|
671 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1); |
|
672 } |
|
673 |
|
674 /*****************************************************************************/ |
|
675 |
|
676 /** |
|
677 Writes a 16-bit SDO in expedited mode. |
|
678 \return 0 in case of success, else < 0 |
|
679 \ingroup RealtimeInterface |
|
680 */ |
|
681 |
|
682 int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */ |
|
683 uint16_t sdo_index, /**< SDO index */ |
|
684 uint8_t sdo_subindex, /**< SDO subindex */ |
|
685 uint16_t value /**< new value */ |
|
686 ) |
|
687 { |
|
688 uint8_t data[2]; |
|
689 EC_WRITE_U16(data, value); |
|
690 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2); |
|
691 } |
|
692 |
|
693 /*****************************************************************************/ |
|
694 |
|
695 /** |
|
696 Writes a 32-bit SDO in expedited mode. |
|
697 \return 0 in case of success, else < 0 |
|
698 \ingroup RealtimeInterface |
|
699 */ |
|
700 |
|
701 int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */ |
|
702 uint16_t sdo_index, /**< SDO index */ |
|
703 uint8_t sdo_subindex, /**< SDO subindex */ |
|
704 uint32_t value /**< new value */ |
|
705 ) |
|
706 { |
|
707 uint8_t data[4]; |
|
708 EC_WRITE_U32(data, value); |
|
709 return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4); |
|
710 } |
|
711 |
|
712 /*****************************************************************************/ |
|
713 |
|
714 /** \cond */ |
|
715 |
|
716 EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8); |
|
717 EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16); |
|
718 EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32); |
|
719 EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8); |
|
720 EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16); |
|
721 EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32); |
|
722 EXPORT_SYMBOL(ecrt_slave_sdo_read); |
|
723 |
|
724 /** \endcond */ |
|
725 |
|
726 /*****************************************************************************/ |
|