1 /******************************************************************************

     2  *

     3  *  c a n o p e n . c

     4  *

     5  *  CANopen over EtherCAT

     6  *

     7  *  $Id$

     8  *

     9  *****************************************************************************/

    10 

    11 #include <linux/delay.h>

    12 

    13 #include "master.h"

    14 

    15 /*****************************************************************************/

    16 

    17 // Prototypen

    18 

    19 /*****************************************************************************/

    20 

    21 int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave,

    22                                         unsigned int sdo_index,

    23                                         unsigned char sdo_subindex,

    24                                         unsigned int value, unsigned int size)

    25 {

    26     unsigned char data[0xF6];

    27     ec_command_t cmd;

    28     unsigned int tries_left, i;

    29 

    30     for (i = 0; i < 0xF6; i++) data[i] = 0x00;

    31 

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

    33         printk(KERN_ERR "EtherCAT: Illegal SDO data size: %i!\n", size);

    34         return -1;

    35     }

    36 

    37     data[0] = 0x0A; // Length of the Mailbox service data

    38     data[1] = 0x00;

    39     data[2] = slave->station_address & 0xFF; // Station address

    40     data[3] = (slave->station_address >> 8) & 0xFF;

    41     data[4] = 0x00; // Channel & priority

    42     data[5] = 0x03; // CANopen over EtherCAT

    43     data[6] = 0x00; // Number(7-0)

    44     data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02)

    45     data[8] = 0x01 // Size specified

    46         | (0x1 << 1) // Transfer type = Expedited

    47         | ((4 - size) << 2) // Data Set Size

    48         | (0x1 << 5); // Command specifier = Initiate download request (0x01)

    49     data[9] = sdo_index & 0xFF;

    50     data[10] = (sdo_index >> 8) & 0xFF;

    51     data[11] = sdo_subindex;

    52 

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

    54         data[12 + i] = value & 0xFF;

    55         value >>= 8;

    56     }

    57 

    58     ec_command_write(&cmd, slave->station_address, 0x1800, 0xF6, data);

    59 

    60     if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

    61         return -1;

    62 

    63     if (unlikely(cmd.working_counter != 1)) {

    64         printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",

    65                slave->ring_position * (-1));

    66         return -1;

    67     }

    68 

    69     // Read "written bit" of Sync-Manager

    70 

    71     tries_left = 10;

    72     while (tries_left)

    73     {

    74         ec_command_read(&cmd, slave->station_address, 0x808, 8);

    75 

    76         if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

    77             return -1;

    78 

    79         if (unlikely(cmd.working_counter != 1)) {

    80             printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"

    81                    " respond!\n", slave->ring_position * (-1));

    82             return -1;

    83         }

    84 

    85         if (cmd.data[5] & 8) { // Written bit is high

    86             break;

    87         }

    88 

    89         udelay(1000);

    90         tries_left--;

    91     }

    92 

    93     if (!tries_left) {

    94         printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n",

    95                slave->ring_position * (-1));

    96         return -1;

    97     }

    98 

    99     ec_command_read(&cmd, slave->station_address, 0x18F6, 0xF6);

   100 

   101     if (unlikely(ec_simple_send_receive(master, &cmd) < 0))

   102         return -1;

   103 

   104     if (unlikely(cmd.working_counter != 1)) {

   105         printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"

   106                " respond!\n", slave->ring_position * (-1));

   107         return -1;

   108     }

   109 

   110     if (cmd.data[5] != 0x03 // COE

   111         || (cmd.data[7] >> 4) != 0x03 // SDO response

   112         || (cmd.data[8] >> 5) != 0x03 // Initiate download response

   113         || (cmd.data[9] != (sdo_index & 0xFF)) // Index

   114         || (cmd.data[10] != ((sdo_index >> 8) & 0xFF))

   115         || (cmd.data[11] != sdo_subindex)) // Subindex

   116     {

   117         printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",

   118                slave->ring_position * (-1));

   119         return -1;

   120     }

   121 

   122     return 0;

   123 }

   124 

   125 /*****************************************************************************/

   126 

   127 EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);

   128 

   129 /*****************************************************************************/

   130 

   131 /* Emacs-Konfiguration

   132 ;;; Local Variables: ***

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

   134 ;;; End: ***

   135 */