--- a/master/canopen.c Tue Mar 28 17:40:57 2006 +0000
+++ b/master/canopen.c Wed Mar 29 10:30:13 2006 +0000
@@ -16,6 +16,11 @@
/*****************************************************************************/
+void ec_canopen_abort_msg(uint32_t);
+int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
+
+/*****************************************************************************/
+
/**
SDO Abort Code Messages
*/
@@ -29,40 +34,35 @@
const ec_sdo_abort_message_t sdo_abort_messages[];
-void ec_canopen_abort_msg(uint32_t);
-int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
-
-/*****************************************************************************/
-
-/**
- Schreibt ein CANopen-SDO (service data object), expedited.
- */
-
-int ecrt_slave_sdo_exp_write(ec_slave_t *slave, /**< EtherCAT-Slave */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- uint32_t value, /**< Neuer Wert */
- size_t size /**< Größe des Datenfeldes */
- )
+/*****************************************************************************/
+
+/**
+ Beschreibt ein CANopen-SDO eines Slaves im Expedited-Modus.
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ const uint8_t *sdo_data, /**< Neuer Wert */
+ size_t size
+ )
{
uint8_t data[0x0A];
- unsigned int i;
size_t rec_size;
if (size == 0 || size > 4) {
- EC_ERR("Invalid SDO data size: %i!\n", size);
- return -1;
- }
-
- EC_WRITE_U16(data, 0x02 << 12); // Number (0), Service (SDO request)
- EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
+ EC_ERR("Invalid data size!\n");
+ return -1;
+ }
+
+ EC_WRITE_U16(data, 0x2000); // SDO request
+ EC_WRITE_U8 (data + 2, 0x23 | (4 - size) << 2); // expedited, size specif.
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
- for (i = 0; i < size; i++) {
- EC_WRITE_U8(data + 6 + i, value & 0xFF);
- value >>= 8;
- }
+ memcpy(data + 6, sdo_data, size);
+ if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
// Mailox senden und empfangen
if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
@@ -71,9 +71,9 @@
if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transf. req.
- EC_ERR("SDO download of 0x%04X:%X (value %X, size %X) aborted on slave"
- " %i.\n", sdo_index, sdo_subindex, value, size,
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request
+ EC_ERR("SDO download of 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;
@@ -95,20 +95,21 @@
/*****************************************************************************/
/**
- Liest ein CANopen-SDO (service data object), expedited.
- */
-
-int ecrt_slave_sdo_exp_read(ec_slave_t *slave, /**< EtherCAT-Slave */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- uint32_t *value /**< Speicher für gel. Wert */
- )
+ Liest 32-Bit eines CANopen-SDOs im Expedited-Modus aus einem Slave.
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint8_t *target /**< Speicher für 4 Bytes */
+ )
{
uint8_t data[0x20];
size_t rec_size;
- EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request
- EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request
+ EC_WRITE_U16(data, 0x2000); // SDO request
+ EC_WRITE_U8 (data + 2, 0x42); // Upload request, expedited
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
@@ -134,14 +135,15 @@
return -1;
}
- *value = EC_READ_U32(data + 6);
- return 0;
-}
-
-/*****************************************************************************/
-
-/**
- Liest ein CANopen-SDO (service data object).
+ memcpy(target, data + 6, 4);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Liest ein CANopen-SDO aus einem Slave.
+ \return 0 wenn alles ok, < 0 bei Fehler
*/
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
@@ -155,7 +157,7 @@
size_t rec_size, data_size;
uint32_t complete_size;
- EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request
+ EC_WRITE_U16(data, 0x2000); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // Initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
@@ -209,88 +211,7 @@
/*****************************************************************************/
/**
- Schreibt ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
-
- Siehe ecrt_slave_sdo_exp_write()
-
- \return 0 wenn alles ok, < 0 bei Fehler
- */
-
-int ecrt_master_sdo_exp_write(ec_master_t *master,
- /**< EtherCAT-Master */
- const char *addr,
- /**< Addresse, siehe ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t value,
- /**< Neuer Wert */
- size_t size
- /**< Größe des Datenfeldes */
- )
-{
- ec_slave_t *slave;
- if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return ecrt_slave_sdo_exp_write(slave, index, subindex, value, size);
-}
-
-/*****************************************************************************/
-
-/**
- Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
-
- Siehe ecrt_slave_sdo_exp_read()
-
- \return 0 wenn alles ok, < 0 bei Fehler
- */
-
-int ecrt_master_sdo_exp_read(ec_master_t *master,
- /**< EtherCAT-Slave */
- const char *addr,
- /**< Addresse, siehe ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t *value
- /**< Speicher für gel. Wert */
- )
-{
- ec_slave_t *slave;
- if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return ecrt_slave_sdo_exp_read(slave, index, subindex, value);
-}
-
-/*****************************************************************************/
-
-/**
- Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
-
- Siehe ecrt_slave_sdo_exp_read()
-
- \return 0 wenn alles ok, < 0 bei Fehler
- */
-
-int ecrt_master_sdo_read(ec_master_t *master, /**< EtherCAT-Master */
- const char *addr, /**< Addresse, siehe
- ec_master_slave_address() */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- uint8_t *target, /**< Speicher für gel. Wert */
- size_t *size /**< Größe des Speichers */
- )
-{
- ec_slave_t *slave;
- if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return ecrt_slave_sdo_read(slave, sdo_index, sdo_subindex, target, size);
-}
-
-/*****************************************************************************/
-
-/**
Holt das Object-Dictionary aus dem Slave.
-
\return 0, wenn alles ok, sonst < 0
*/
@@ -302,10 +223,10 @@
ec_sdo_t *sdo;
uint16_t sdo_index;
- EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO information
+ EC_WRITE_U16(data, 0x8000); // SDO information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
- EC_WRITE_U8 (data + 3, 0x00); // res.
- EC_WRITE_U16(data + 4, 0x0000); // fragments left
+ EC_WRITE_U8 (data + 3, 0x00);
+ EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // Deliver all SDOs!
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
@@ -370,11 +291,12 @@
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
- EC_WRITE_U16(data, 0x8000); // Number (0), Service = SDO inform.
+ EC_WRITE_U16(data, 0x8000); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
- EC_WRITE_U8 (data + 3, 0x00); // res.
- EC_WRITE_U16(data + 4, 0x0000); // fragments left
+ EC_WRITE_U8 (data + 3, 0x00);
+ EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
+
if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
rec_size = 0xF0;
@@ -489,13 +411,129 @@
};
/*****************************************************************************/
-
-EXPORT_SYMBOL(ecrt_slave_sdo_exp_write);
-EXPORT_SYMBOL(ecrt_slave_sdo_exp_read);
+// Echtzeitschnittstelle
+
+/*****************************************************************************/
+
+/**
+ Liest ein 8-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+ Siehe ec_slave_sdo_read_exp()
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ 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);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Liest ein 16-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+ Siehe ec_slave_sdo_read_exp()
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint16_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_U16(data);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Liest ein 32-Bit CANopen-SDO im Expedited-Modus aus einem Slave.
+ Siehe ec_slave_sdo_read_exp()
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint32_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_U32(data);
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Beschreibt ein 8-Bit CANopen-SDO eines Slaves im Expedited-Modus.
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint8_t value /**< Neuer Wert */
+ )
+{
+ return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
+}
+
+/*****************************************************************************/
+
+/**
+ Beschreibt ein 16-Bit CANopen-SDO eines Slaves im Expedited-Modus.
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint16_t value /**< Neuer Wert */
+ )
+{
+ 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.
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint32_t value /**< Neuer Wert */
+ )
+{
+ 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_read_exp8);
+EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
+EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
+EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
+EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
+EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
EXPORT_SYMBOL(ecrt_slave_sdo_read);
-EXPORT_SYMBOL(ecrt_master_sdo_exp_write);
-EXPORT_SYMBOL(ecrt_master_sdo_exp_read);
-EXPORT_SYMBOL(ecrt_master_sdo_read);
/*****************************************************************************/