fp@64: /******************************************************************************
fp@64:  *
fp@64:  *  c a n o p e n . c
fp@64:  *
fp@64:  *  CANopen over EtherCAT
fp@64:  *
fp@64:  *  $Id$
fp@64:  *
fp@64:  *****************************************************************************/
fp@64: 
fp@64: #include <linux/delay.h>
fp@64: 
fp@64: #include "master.h"
fp@64: 
fp@64: /*****************************************************************************/
fp@64: 
fp@64: // Prototypen
fp@64: 
fp@64: /*****************************************************************************/
fp@64: 
fp@73: /**
fp@73:    Schreibt ein CANopen-SDO (service data object).
fp@73:  */
fp@73: 
fp@73: int EtherCAT_rt_canopen_sdo_write(
fp@73:     ec_slave_t *slave, /**< EtherCAT-Slave */
fp@73:     unsigned int sdo_index, /**< SDO-Index */
fp@73:     unsigned char sdo_subindex, /**< SDO-Subindex */
fp@73:     unsigned int value, /**< Neuer Wert */
fp@73:     unsigned int size /**< Größe des Datenfeldes */
fp@73:     )
fp@64: {
fp@64:     unsigned char data[0xF6];
fp@73:     ec_frame_t frame;
fp@64:     unsigned int tries_left, i;
fp@73:     ec_master_t *master;
fp@64: 
fp@73:     memset(data, 0x00, 0xF6);
fp@73: 
fp@73:     master = slave->master;
fp@64: 
fp@64:     if (size == 0 || size > 4) {
fp@64:         printk(KERN_ERR "EtherCAT: Illegal SDO data size: %i!\n", size);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     data[0] = 0x0A; // Length of the Mailbox service data
fp@64:     data[1] = 0x00;
fp@64:     data[2] = slave->station_address & 0xFF; // Station address
fp@64:     data[3] = (slave->station_address >> 8) & 0xFF;
fp@64:     data[4] = 0x00; // Channel & priority
fp@64:     data[5] = 0x03; // CANopen over EtherCAT
fp@64:     data[6] = 0x00; // Number(7-0)
fp@64:     data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02)
fp@64:     data[8] = 0x01 // Size specified
fp@64:         | (0x1 << 1) // Transfer type = Expedited
fp@64:         | ((4 - size) << 2) // Data Set Size
fp@64:         | (0x1 << 5); // Command specifier = Initiate download request (0x01)
fp@64:     data[9] = sdo_index & 0xFF;
fp@64:     data[10] = (sdo_index >> 8) & 0xFF;
fp@64:     data[11] = sdo_subindex;
fp@64: 
fp@64:     for (i = 0; i < size; i++) {
fp@64:         data[12 + i] = value & 0xFF;
fp@64:         value >>= 8;
fp@64:     }
fp@64: 
fp@73:     ec_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6,
fp@73:                        data);
fp@64: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
fp@64: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@64:         printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
fp@73:                slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     // Read "written bit" of Sync-Manager
fp@64: 
fp@64:     tries_left = 10;
fp@64:     while (tries_left)
fp@64:     {
fp@73:         ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8);
fp@64: 
fp@73:         if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
fp@64: 
fp@73:         if (unlikely(frame.working_counter != 1)) {
fp@64:             printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
fp@73:                    " respond!\n", slave->ring_position);
fp@64:             return -1;
fp@64:         }
fp@64: 
fp@73:         if (frame.data[5] & 8) { // Written bit is high
fp@64:             break;
fp@64:         }
fp@64: 
fp@64:         udelay(1000);
fp@64:         tries_left--;
fp@64:     }
fp@64: 
fp@64:     if (!tries_left) {
fp@64:         printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n",
fp@73:                slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@73:     ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6);
fp@64: 
fp@73:     if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1;
fp@64: 
fp@73:     if (unlikely(frame.working_counter != 1)) {
fp@64:         printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
fp@73:                " respond!\n", slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@73:     if (frame.data[5] != 0x03 // COE
fp@73:         || (frame.data[7] >> 4) != 0x03 // SDO response
fp@73:         || (frame.data[8] >> 5) != 0x03 // Initiate download response
fp@73:         || (frame.data[9] != (sdo_index & 0xFF)) // Index
fp@73:         || (frame.data[10] != ((sdo_index >> 8) & 0xFF))
fp@73:         || (frame.data[11] != sdo_subindex)) // Subindex
fp@64:     {
fp@64:         printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
fp@73:                slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     return 0;
fp@64: }
fp@64: 
fp@64: /*****************************************************************************/
fp@64: 
fp@64: EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
fp@64: 
fp@64: /*****************************************************************************/
fp@64: 
fp@64: /* Emacs-Konfiguration
fp@64: ;;; Local Variables: ***
fp@64: ;;; c-basic-offset:4 ***
fp@64: ;;; End: ***
fp@64: */