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@64: int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave,
fp@66:                                   unsigned int sdo_index,
fp@66:                                   unsigned char sdo_subindex,
fp@66:                                   unsigned int value, unsigned int size)
fp@64: {
fp@64:     unsigned char data[0xF6];
fp@64:     ec_command_t cmd;
fp@64:     unsigned int tries_left, i;
fp@64: 
fp@64:     for (i = 0; i < 0xF6; i++) data[i] = 0x00;
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@64:     ec_command_write(&cmd, slave->station_address, 0x1800, 0xF6, data);
fp@64: 
fp@64:     if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
fp@64:         return -1;
fp@64: 
fp@64:     if (unlikely(cmd.working_counter != 1)) {
fp@64:         printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n",
fp@64:                slave->ring_position * (-1));
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@64:         ec_command_read(&cmd, slave->station_address, 0x808, 8);
fp@64: 
fp@64:         if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
fp@64:             return -1;
fp@64: 
fp@64:         if (unlikely(cmd.working_counter != 1)) {
fp@64:             printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not"
fp@64:                    " respond!\n", slave->ring_position * (-1));
fp@64:             return -1;
fp@64:         }
fp@64: 
fp@64:         if (cmd.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@64:                slave->ring_position * (-1));
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     ec_command_read(&cmd, slave->station_address, 0x18F6, 0xF6);
fp@64: 
fp@64:     if (unlikely(ec_simple_send_receive(master, &cmd) < 0))
fp@64:         return -1;
fp@64: 
fp@64:     if (unlikely(cmd.working_counter != 1)) {
fp@64:         printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not"
fp@64:                " respond!\n", slave->ring_position * (-1));
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     if (cmd.data[5] != 0x03 // COE
fp@64:         || (cmd.data[7] >> 4) != 0x03 // SDO response
fp@64:         || (cmd.data[8] >> 5) != 0x03 // Initiate download response
fp@64:         || (cmd.data[9] != (sdo_index & 0xFF)) // Index
fp@64:         || (cmd.data[10] != ((sdo_index >> 8) & 0xFF))
fp@64:         || (cmd.data[11] != sdo_subindex)) // Subindex
fp@64:     {
fp@64:         printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n",
fp@64:                slave->ring_position * (-1));
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: */