/******************************************************************************
*
* 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 "master.h"
/*****************************************************************************/
/**
SDO Abort Code Messages
*/
typedef struct
{
uint32_t code;
const char *message;
}
ec_sdo_abort_message_t;
const ec_sdo_abort_message_t sdo_abort_messages[];
/*****************************************************************************/
/**
Schreibt ein CANopen-SDO (service data object).
*/
int ecrt_slave_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;
uint32_t abort_code;
const ec_sdo_abort_message_t *abort_msg;
memset(data, 0x00, 0xF6);
master = slave->master;
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);
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 = (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.
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_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Liest ein CANopen-SDO (service data object).
*/
int ecrt_slave_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 */
)
{
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
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 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.
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_ERR("Invalid SDO upload 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 ecrt_slave_sdo_write()
\return 0 wenn alles ok, < 0 bei Fehler
*/
int ecrt_master_sdo_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_write(slave, index, subindex, value, size);
}
/*****************************************************************************/
/**
Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
Siehe ecrt_slave_sdo_read()
\return 0 wenn alles ok, < 0 bei Fehler
*/
int ecrt_master_sdo_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_read(slave, index, subindex, value);
}
/*****************************************************************************/
const ec_sdo_abort_message_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},
{0x05040001, "Client/Server command specifier not valid or unknown"},
{0x05040005, "Out of memory"},
{0x06010000, "Unsupported access to an object"},
{0x06010001, "Attempt to read a write-only object"},
{0x06010002, "Attempt to write a read-only object"},
{0x06020000, "This object does not exist in the object directory"},
{0x06040041, "The object cannot be mapped into the PDO"},
{0x06040042, "The number and length of the objects to be mapped would"
" exceed the PDO length"},
{0x06040043, "General parameter incompatibility reason"},
{0x06040047, "Gerneral internal incompatibility in device"},
{0x06060000, "Access failure due to a hardware error"},
{0x06070010, "Data type does not match, length of service parameter does"
" not match"},
{0x06070012, "Data type does not match, length of service parameter too"
" high"},
{0x06070013, "Data type does not match, length of service parameter too"
" low"},
{0x06090011, "Subindex does not exist"},
{0x06090030, "Value range of parameter exceeded"},
{0x06090031, "Value of parameter written too high"},
{0x06090032, "Value of parameter written too low"},
{0x06090036, "Maximum value is less than minimum value"},
{0x08000000, "General error"},
{0x08000020, "Data cannot be transferred or stored to the application"},
{0x08000021, "Data cannot be transferred or stored to the application"
" because of local control"},
{0x08000022, "Data cannot be transferred or stored to the application"
" because of the present device state"},
{0x08000023, "Object dictionary dynamic generation fails or no object"
" dictionary is present"},
{}
};
/*****************************************************************************/
EXPORT_SYMBOL(ecrt_slave_sdo_write);
EXPORT_SYMBOL(ecrt_slave_sdo_read);
EXPORT_SYMBOL(ecrt_master_sdo_write);
EXPORT_SYMBOL(ecrt_master_sdo_read);
/*****************************************************************************/
/* Emacs-Konfiguration
;;; Local Variables: ***
;;; c-basic-offset:4 ***
;;; End: ***
*/