--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/master/canopen.c	Fri Feb 03 16:23:52 2006 +0000
@@ -0,0 +1,135 @@
+/******************************************************************************
+ *
+ *  c a n o p e n . c
+ *
+ *  CANopen over EtherCAT
+ *
+ *  $Id$
+ *
+ *****************************************************************************/
+
+#include <linux/delay.h>
+
+#include "master.h"
+
+/*****************************************************************************/
+
+// Prototypen
+
+/*****************************************************************************/
+
+int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave,
+                                        unsigned int sdo_index,
+                                        unsigned char sdo_subindex,
+                                        unsigned int value, unsigned int size)
+{
+    unsigned char data[0xF6];
+    ec_command_t cmd;
+    unsigned int tries_left, i;
+
+    for (i = 0; i < 0xF6; i++) data[i] = 0x00;
+
+    if (size == 0 || size > 4) {
+        printk(KERN_ERR "EtherCAT: Illegal SDO data size: %i!\n", size);
+        return -1;
+    }
+
+    data[0] = 0x0A; // Length of the Mailbox service data
+    data[1] = 0x00;
+    data[2] = slave->station_address & 0xFF; // Station address
+    data[3] = (slave->station_address >> 8) & 0xFF;
+    data[4] = 0x00; // Channel & priority
+    data[5] = 0x03; // CANopen over EtherCAT
+    data[6] = 0x00; // Number(7-0)
+    data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02)
+    data[8] = 0x01 // Size specified
+        | (0x1 << 1) // Transfer type = Expedited
+        | ((4 - size) << 2) // Data Set Size
+        | (0x1 << 5); // Command specifier = Initiate download request (0x01)
+    data[9] = sdo_index & 0xFF;
+    data[10] = (sdo_index >> 8) & 0xFF;
+    data[11] = sdo_subindex;
+
+    for (i = 0; i < size; i++) {
+        data[12 + i] = value & 0xFF;
+        value >>= 8;
+    }
+
+    ec_command_write(&cmd, slave->station_address, 0x1800, 0xF6, data);
+
+    if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+        return -1;
+
+    if (unlikely(cmd.working_counter != 1)) {
+        printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
+               slave->ring_position * (-1));
+        return -1;
+    }
+
+    // Read "written bit" of Sync-Manager
+
+    tries_left = 10;
+    while (tries_left)
+    {
+        ec_command_read(&cmd, slave->station_address, 0x808, 8);
+
+        if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+            return -1;
+
+        if (unlikely(cmd.working_counter != 1)) {
+            printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
+                   " respond!\n", slave->ring_position * (-1));
+            return -1;
+        }
+
+        if (cmd.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 * (-1));
+        return -1;
+    }
+
+    ec_command_read(&cmd, slave->station_address, 0x18F6, 0xF6);
+
+    if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
+        return -1;
+
+    if (unlikely(cmd.working_counter != 1)) {
+        printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
+               " respond!\n", slave->ring_position * (-1));
+        return -1;
+    }
+
+    if (cmd.data[5] != 0x03 // COE
+        || (cmd.data[7] >> 4) != 0x03 // SDO response
+        || (cmd.data[8] >> 5) != 0x03 // Initiate download response
+        || (cmd.data[9] != (sdo_index & 0xFF)) // Index
+        || (cmd.data[10] != ((sdo_index >> 8) & 0xFF))
+        || (cmd.data[11] != sdo_subindex)) // Subindex
+    {
+        printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
+               slave->ring_position * (-1));
+        return -1;
+    }
+
+    return 0;
+}
+
+/*****************************************************************************/
+
+EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
+
+/*****************************************************************************/
+
+/* Emacs-Konfiguration
+;;; Local Variables: ***
+;;; c-basic-offset:4 ***
+;;; End: ***
+*/