--- a/master/canopen.c Fri Feb 24 13:14:21 2006 +0000
+++ b/master/canopen.c Fri Feb 24 13:14:51 2006 +0000
@@ -9,16 +9,14 @@
*****************************************************************************/
#include <linux/delay.h>
+#include <linux/slab.h>
+#include <linux/module.h>
#include "../include/EtherCAT_si.h"
#include "master.h"
/*****************************************************************************/
-// Prototypen
-
-/*****************************************************************************/
-
/**
Schreibt ein CANopen-SDO (service data object).
*/
@@ -48,7 +46,7 @@
EC_WRITE_U16(data + 2, slave->station_address); // Station address
EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
- EC_WRITE_U16(data + 6, 0x2000); // Number & Service
+ EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
EC_WRITE_U8 (data + 8, 0x13 | ((4 - size) << 2)); // Spec., exp., init.
EC_WRITE_U16(data + 9, sdo_index);
EC_WRITE_U8 (data + 11, sdo_subindex);
@@ -124,7 +122,146 @@
/*****************************************************************************/
+/**
+ Schreibt ein CANopen-SDO (service data object).
+ */
+
+int EtherCAT_rt_canopen_sdo_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 */
+ )
+{
+ unsigned char data[0xF6];
+ ec_frame_t frame;
+ unsigned int tries_left;
+ ec_master_t *master;
+
+ memset(data, 0x00, 0xF6);
+
+ master = slave->master;
+
+ EC_WRITE_U16(data, 0x0006); // Length of the Mailbox service data
+ EC_WRITE_U16(data + 2, slave->station_address); // Station address
+ EC_WRITE_U8 (data + 4, 0x00); // Channel & priority
+ EC_WRITE_U8 (data + 5, 0x03); // CANopen over EtherCAT
+ EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request)
+ EC_WRITE_U8 (data + 8, 0x1 << 1 | 0x2 << 5); // Exp., Upload request
+ EC_WRITE_U16(data + 9, sdo_index);
+ EC_WRITE_U8 (data + 11, sdo_subindex);
+
+ ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
+ data);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
+
+ if (unlikely(frame.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ // Read "written bit" of Sync-Manager
+
+ tries_left = 10;
+ while (tries_left)
+ {
+ ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
+
+ if (unlikely(frame.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
+ " respond!\n", slave->ring_position);
+ return -1;
+ }
+
+ if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high
+ break;
+ }
+
+ udelay(1000);
+ tries_left--;
+ }
+
+ if (!tries_left) {
+ printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
+
+ if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
+
+ if (unlikely(frame.working_counter != 1)) {
+ printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
+ " respond!\n", slave->ring_position);
+ return -1;
+ }
+
+ if (EC_READ_U8 (frame.data + 5) != 0x03 || // COE
+ EC_READ_U16(frame.data + 6) != 0x3000 || // SDO response
+ EC_READ_U8 (frame.data + 8) >> 5 != 0x02 || // Upload response
+ EC_READ_U16(frame.data + 9) != sdo_index || // Index
+ EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex
+ {
+ printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ *value = EC_READ_U32(frame.data + 12);
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
+ /**< EtherCAT-Master */
+ const char *addr,
+ /**< Addresse, siehe ec_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_address(master, addr))) return -1;
+ return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
+}
+
+/*****************************************************************************/
+
+int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
+ /**< EtherCAT-Slave */
+ const char *addr,
+ /**< Addresse, siehe ec_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_address(master, addr))) return -1;
+ return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
+}
+
+/*****************************************************************************/
+
EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
+EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
+EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
+EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
/*****************************************************************************/