/******************************************************************************
*
* c a n o p e n . c
*
* CANopen over EtherCAT
*
* $Id$
*
*****************************************************************************/
#include <linux/delay.h>
#include <linux/slab.h>
#include <linux/module.h>
#include "../include/EtherCAT_si.h"
#include "master.h"
/*****************************************************************************/
/**
Schreibt ein CANopen-SDO (service data object).
*/
int EtherCAT_rt_canopen_sdo_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 */
)
{
uint8_t data[0xF6];
ec_command_t command;
unsigned int i;
ec_master_t *master;
cycles_t start, end, timeout;
memset(data, 0x00, 0xF6);
master = slave->master;
if (size == 0 || size > 4) {
EC_ERR("Illegal 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, 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);
for (i = 0; i < size; i++) {
EC_WRITE_U8(data + 12 + 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 = cpu_khz; // 1ms
do
{
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
}
while ((end - start) < timeout);
if ((end - start) >= timeout) {
EC_ERR("Mailbox check - 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 || // COE
EC_READ_U16(command.data + 6) != 0x3000 || // 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_ERR("Illegal mailbox response at slave %i!\n",
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Liest 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_command_t command;
ec_master_t *master;
cycles_t start, end, timeout;
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
do
{
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;
}
}
while (likely((end - start) < timeout));
if (unlikely((end - start) >= timeout)) {
EC_ERR("Mailbox check - 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 || // COE
EC_READ_U16(command.data + 6) != 0x3000 || // 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_ERR("Illegal mailbox response at slave %i!\n",
slave->ring_position);
return -1;
}
*value = EC_READ_U32(command.data + 12);
return 0;
}
/*****************************************************************************/
/**
Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
Siehe EtherCAT_rt_canopen_sdo_write()
\return 0 wenn alles ok, < 0 bei Fehler
*/
int EtherCAT_rt_canopen_sdo_addr_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 EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
}
/*****************************************************************************/
/**
Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
Siehe EtherCAT_rt_canopen_sdo_read()
\return 0 wenn alles ok, < 0 bei Fehler
*/
int EtherCAT_rt_canopen_sdo_addr_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 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);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/