--- a/master/canopen.c Mon Mar 27 12:04:55 2006 +0000
+++ b/master/canopen.c Mon Mar 27 15:52:08 2006 +0000
@@ -29,6 +29,8 @@
const ec_sdo_abort_message_t sdo_abort_messages[];
+void ec_canopen_abort_msg(uint32_t);
+
/*****************************************************************************/
/**
@@ -42,107 +44,44 @@
size_t size /**< Größe des Datenfeldes */
)
{
- uint8_t data[0xF6];
- ec_command_t command;
+ uint8_t data[0x0A];
unsigned int i;
- ec_master_t *master;
- cycles_t start, end, timeout;
- uint32_t abort_code;
- const ec_sdo_abort_message_t *abort_msg;
-
- memset(data, 0x00, 0xF6);
-
- master = slave->master;
+ size_t rec_size;
if (size == 0 || size > 4) {
EC_ERR("Invalid SDO data size: %i!\n", size);
return -1;
}
- EC_WRITE_U16(data, 0x000A); // 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, 0x02 << 12); // Number (0), Service (SDO request)
- EC_WRITE_U8 (data + 8, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
- EC_WRITE_U16(data + 9, sdo_index);
- EC_WRITE_U8 (data + 11, sdo_subindex);
+ EC_WRITE_U16(data, 0x02 << 12); // Number (0), Service (SDO request)
+ EC_WRITE_U8 (data + 2, 0x23 | ((4 - size) << 2)); // Spec., exp., init.
+ EC_WRITE_U16(data + 3, sdo_index);
+ EC_WRITE_U8 (data + 5, sdo_subindex);
for (i = 0; i < size; i++) {
- EC_WRITE_U8(data + 12 + i, value & 0xFF);
+ EC_WRITE_U8(data + 6 + i, value & 0xFF);
value >>= 8;
}
- ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- // Read "written bit" of Sync-Manager
- start = get_cycles();
- timeout = (cycles_t) 10 * cpu_khz; // 10ms
-
- while (1)
- {
- udelay(100);
-
- ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox checking failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- end = get_cycles();
-
- if (EC_READ_U8(command.data + 5) & 8) break; // Written bit is high
-
- if ((end - start) >= timeout) {
- EC_ERR("Mailbox check - Slave %i timed out.\n",
- slave->ring_position);
- return -1;
- }
- }
-
- if (unlikely(slave->master->debug_level) > 1)
- EC_DBG("SDO download took %ius.\n", ((u32) (end - start) * 1000
- / cpu_khz));
-
- ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox receiving failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE
- EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (command.data + 8) >> 5 == 0x04) { // Abort SDO transf. req.
+ // Mailox senden und empfangen
+ if (ec_slave_mailbox_send(slave, 0x03, data, 0x0A)) return -1;
+
+ rec_size = 0x0A;
+ 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,
slave->ring_position);
- abort_code = EC_READ_U32(command.data + 12);
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return -1;
- }
- }
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (command.data + 8) >> 5 != 0x03 || // Download response
- EC_READ_U16(command.data + 9) != sdo_index || // Index
- EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x03 || // Download response
+ EC_READ_U16(data + 3) != sdo_index || // Index
+ EC_READ_U8 (data + 5) != sdo_subindex) // Subindex
{
EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
@@ -164,101 +103,37 @@
uint32_t *value /**< Speicher für gel. Wert */
)
{
- uint8_t data[0xF6];
- ec_command_t command;
- ec_master_t *master;
- cycles_t start, end, timeout;
- uint32_t abort_code;
- const ec_sdo_abort_message_t *abort_msg;
-
- 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_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
- return -1;
- }
-
- // Read "written bit" of Sync-Manager
-
- start = get_cycles();
- timeout = cpu_khz; // 1ms
-
- while (1)
- {
- udelay(10);
-
- ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox checking failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- end = get_cycles();
-
- if (EC_READ_U8(command.data + 5) & 8) { // Written bit is high
- break;
- }
-
- if (unlikely((end - start) >= timeout)) {
- EC_ERR("Mailbox check on slave %i timed out.\n",
- slave->ring_position);
- return -1;
- }
- }
-
- ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
- if (unlikely(ec_master_simple_io(master, &command))) {
- EC_ERR("Mailbox receiving failed on slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U8 (command.data + 5) != 0x03) { // nicht CoE
- EC_ERR("Invalid mailbox response (non-CoE) at slave %i!\n",
- slave->ring_position);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 == 0x02 && // SDO request
- EC_READ_U8 (command.data + 8) >> 5 == 0x04) { // Abort SDO transf. req.
+ uint8_t data[0x0A];
+ size_t rec_size;
+
+ EC_WRITE_U16(data, 0x2000); // Number (0), Service (SDO request)
+ EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Exp., Upload request
+ EC_WRITE_U16(data + 3, sdo_index);
+ EC_WRITE_U8 (data + 5, sdo_subindex);
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
+
+ rec_size = 6;
+ 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 upload of 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
- abort_code = EC_READ_U32(command.data + 12);
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return -1;
- }
- }
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
- return -1;
- }
-
- if (EC_READ_U16(command.data + 6) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (command.data + 8) >> 5 != 0x02 || // Upload response
- EC_READ_U16(command.data + 9) != sdo_index || // Index
- EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
- {
+ ec_canopen_abort_msg(EC_READ_U32(data + 6));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
+ EC_READ_U16(data + 3) != sdo_index || // Index
+ EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
return -1;
}
- *value = EC_READ_U32(command.data + 12);
-
+ *value = EC_READ_U32(data + 6);
return 0;
}
@@ -320,6 +195,92 @@
/*****************************************************************************/
+/**
+ Holt das Object-Dictionary aus dem Slave.
+
+ \return 0, wenn alles ok, sonst < 0
+*/
+
+int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT-Slave */)
+{
+ uint8_t data[0xF0];
+ size_t rec_size;
+
+ //EC_DBG("Fetching SDO list for slave %i...\n", slave->ring_position);
+
+ EC_WRITE_U16(data, 0x8000); // Number (0), Service (get OD request)
+ 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_U16(data + 6, 0x0001); // Deliver all SDOs!
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 8)) return -1;
+
+ do
+ {
+ rec_size = 0xF0;
+ 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 list download aborted on slave %i.\n",
+ slave->ring_position);
+ ec_canopen_abort_msg(EC_READ_U32(data + 12));
+ return -1;
+ }
+
+ if (EC_READ_U16(data) >> 12 == 0x08 && // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // Get OD List 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;
+ }
+
+ if (EC_READ_U16(data) >> 12 != 0x08 || // SDO information
+ (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
+ EC_ERR("Invalid SDO list response at slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ if (rec_size < 8) {
+ EC_ERR("Invalid data size!\n");
+ return -1;
+ }
+
+#if 0
+ for (i = 0; i < (rec_size - 8) / 2; i++)
+ EC_INFO("Object 0x%04X\n", EC_READ_U16(data + 8 + i * 2));
+#endif
+ }
+ while (EC_READ_U8(data + 2) & 0x80);
+
+ return 0;
+}
+
+/*****************************************************************************/
+
+/**
+ Gibt eine SDO-Abort-Meldung aus.
+*/
+
+void ec_canopen_abort_msg(uint32_t abort_code)
+{
+ const ec_sdo_abort_message_t *abort_msg;
+
+ for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
+ if (abort_msg->code == abort_code) {
+ EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+ abort_msg->code, abort_msg->message);
+ return;
+ }
+ }
+ EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+}
+
+/*****************************************************************************/
+
const ec_sdo_abort_message_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},