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@80: #include <linux/slab.h>
fp@80: #include <linux/module.h>
fp@64: 
fp@77: #include "../include/EtherCAT_si.h"
fp@64: #include "master.h"
fp@64: 
fp@64: /*****************************************************************************/
fp@64: 
fp@73: /**
fp@73:    Schreibt ein CANopen-SDO (service data object).
fp@73:  */
fp@73: 
fp@77: int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@77:                                   uint16_t sdo_index, /**< SDO-Index */
fp@77:                                   uint8_t sdo_subindex, /**< SDO-Subindex */
fp@77:                                   uint32_t value, /**< Neuer Wert */
fp@77:                                   size_t size /**< Größe des Datenfeldes */
fp@77:                                   )
fp@64: {
fp@98:     uint8_t data[0xF6];
fp@98:     ec_command_t command;
fp@98:     unsigned int i;
fp@73:     ec_master_t *master;
fp@98:     cycles_t start, end, timeout;
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@84:         EC_ERR("Illegal SDO data size: %i!\n", size);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@77:     EC_WRITE_U16(data,      0x000A); // Length of the Mailbox service data
fp@77:     EC_WRITE_U16(data + 2,  slave->station_address); // Station address
fp@77:     EC_WRITE_U8 (data + 4,  0x00); // Channel & priority
fp@77:     EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT
fp@80:     EC_WRITE_U16(data + 6,  0x2000); // Number (0), Service (SDO request)
fp@77:     EC_WRITE_U8 (data + 8,  0x13 | ((4 - size) << 2)); // Spec., exp., init.
fp@77:     EC_WRITE_U16(data + 9,  sdo_index);
fp@77:     EC_WRITE_U8 (data + 11, sdo_subindex);
fp@64: 
fp@64:     for (i = 0; i < size; i++) {
fp@77:         EC_WRITE_U8(data + 12 + i, value & 0xFF);
fp@64:         value >>= 8;
fp@64:     }
fp@64: 
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
fp@98:     if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:         EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@64:     // Read "written bit" of Sync-Manager
fp@98:     start = get_cycles();
fp@98:     timeout = cpu_khz; // 1ms
fp@98: 
fp@98:     do
fp@98:     {
fp@98:         ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
fp@98:         if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:             EC_ERR("Mailbox checking failed on slave %i!\n",
fp@84:                    slave->ring_position);
fp@64:             return -1;
fp@64:         }
fp@64: 
fp@98:         end = get_cycles();
fp@98: 
fp@98:         if (EC_READ_U8(command.data + 5) & 8) break; // Written bit is high
fp@98:     }
fp@98:     while ((end - start) < timeout);
fp@98: 
fp@98:     if ((end - start) >= timeout) {
fp@84:         EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@98:     ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
fp@98:     if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:         EC_ERR("Mailbox receiving failed on slave %i!\n",
fp@84:                slave->ring_position);
fp@64:         return -1;
fp@64:     }
fp@64: 
fp@98:     if (EC_READ_U8 (command.data + 5) != 0x03 || // COE
fp@98:         EC_READ_U16(command.data + 6) != 0x3000 || // SDO response
fp@98:         EC_READ_U8 (command.data + 8) >> 5 != 0x03 || // Download response
fp@98:         EC_READ_U16(command.data + 9) != sdo_index || // Index
fp@98:         EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
fp@64:     {
fp@84:         EC_ERR("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@80: /**
fp@91:    Liest ein CANopen-SDO (service data object).
fp@80:  */
fp@80: 
fp@80: int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
fp@80:                                  uint16_t sdo_index, /**< SDO-Index */
fp@80:                                  uint8_t sdo_subindex, /**< SDO-Subindex */
fp@80:                                  uint32_t *value /**< Speicher für gel. Wert */
fp@80:                                  )
fp@80: {
fp@80:     unsigned char data[0xF6];
fp@98:     ec_command_t command;
fp@80:     ec_master_t *master;
fp@98:     cycles_t start, end, timeout;
fp@80: 
fp@80:     memset(data, 0x00, 0xF6);
fp@80:     master = slave->master;
fp@80: 
fp@80:     EC_WRITE_U16(data,      0x0006); // Length of the Mailbox service data
fp@80:     EC_WRITE_U16(data + 2,  slave->station_address); // Station address
fp@80:     EC_WRITE_U8 (data + 4,  0x00); // Channel & priority
fp@80:     EC_WRITE_U8 (data + 5,  0x03); // CANopen over EtherCAT
fp@80:     EC_WRITE_U16(data + 6,  0x2000); // Number (0), Service (SDO request)
fp@80:     EC_WRITE_U8 (data + 8,  0x1 << 1 | 0x2 << 5); // Exp., Upload request
fp@80:     EC_WRITE_U16(data + 9,  sdo_index);
fp@80:     EC_WRITE_U8 (data + 11, sdo_subindex);
fp@80: 
fp@98:     ec_command_init_npwr(&command, slave->station_address, 0x1800, 0xF6, data);
fp@98:     if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:         EC_ERR("Mailbox sending failed on slave %i!\n", slave->ring_position);
fp@80:         return -1;
fp@80:     }
fp@80: 
fp@80:     // Read "written bit" of Sync-Manager
fp@80: 
fp@98:     start = get_cycles();
fp@98:     timeout = cpu_khz; // 1ms
fp@98: 
fp@98:     do
fp@98:     {
fp@98:         ec_command_init_nprd(&command, slave->station_address, 0x808, 8);
fp@98:         if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:             EC_ERR("Mailbox checking failed on slave %i!\n",
fp@84:                    slave->ring_position);
fp@80:             return -1;
fp@80:         }
fp@80: 
fp@98:         end = get_cycles();
fp@98: 
fp@98:         if (EC_READ_U8(command.data + 5) & 8) { // Written bit is high
fp@80:             break;
fp@80:         }
fp@98:     }
fp@98:     while (likely((end - start) < timeout));
fp@98: 
fp@98:     if (unlikely((end - start) >= timeout)) {
fp@84:         EC_ERR("Mailbox check - Slave %i timed out.\n", slave->ring_position);
fp@80:         return -1;
fp@80:     }
fp@80: 
fp@98:     ec_command_init_nprd(&command, slave->station_address, 0x18F6, 0xF6);
fp@98:     if (unlikely(ec_master_simple_io(master, &command))) {
fp@89:         EC_ERR("Mailbox receiving failed on slave %i!\n",
fp@84:                slave->ring_position);
fp@80:         return -1;
fp@80:     }
fp@80: 
fp@98:     if (EC_READ_U8 (command.data + 5) != 0x03 || // COE
fp@98:         EC_READ_U16(command.data + 6) != 0x3000 || // SDO response
fp@98:         EC_READ_U8 (command.data + 8) >> 5 != 0x02 || // Upload response
fp@98:         EC_READ_U16(command.data + 9) != sdo_index || // Index
fp@98:         EC_READ_U8 (command.data + 11) != sdo_subindex) // Subindex
fp@80:     {
fp@84:         EC_ERR("Illegal mailbox response at slave %i!\n",
fp@80:                slave->ring_position);
fp@80:         return -1;
fp@80:     }
fp@80: 
fp@98:     *value = EC_READ_U32(command.data + 12);
fp@80: 
fp@80:     return 0;
fp@80: }
fp@80: 
fp@80: /*****************************************************************************/
fp@80: 
fp@91: /**
fp@91:    Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
fp@91: 
fp@91:    Siehe EtherCAT_rt_canopen_sdo_write()
fp@91: 
fp@91:    \return 0 wenn alles ok, < 0 bei Fehler
fp@91:  */
fp@91: 
fp@80: int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master,
fp@80:                                        /**< EtherCAT-Master */
fp@80:                                        const char *addr,
fp@98:                                        /**< Addresse, siehe
fp@98:                                           ec_master_slave_address() */
fp@80:                                        uint16_t index,
fp@80:                                        /**< SDO-Index */
fp@80:                                        uint8_t subindex,
fp@80:                                        /**< SDO-Subindex */
fp@80:                                        uint32_t value,
fp@80:                                        /**< Neuer Wert */
fp@80:                                        size_t size
fp@80:                                        /**< Größe des Datenfeldes */
fp@80:                                        )
fp@80: {
fp@80:     ec_slave_t *slave;
fp@98:     if (!(slave = ec_master_slave_address(master, addr))) return -1;
fp@80:     return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size);
fp@80: }
fp@80: 
fp@80: /*****************************************************************************/
fp@80: 
fp@91: /**
fp@91:    Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
fp@91: 
fp@91:    Siehe EtherCAT_rt_canopen_sdo_read()
fp@91: 
fp@91:    \return 0 wenn alles ok, < 0 bei Fehler
fp@91:  */
fp@91: 
fp@80: int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master,
fp@80:                                       /**< EtherCAT-Slave */
fp@80:                                       const char *addr,
fp@98:                                       /**< Addresse, siehe
fp@98:                                          ec_master_slave_address() */
fp@80:                                       uint16_t index,
fp@80:                                       /**< SDO-Index */
fp@80:                                       uint8_t subindex,
fp@80:                                       /**< SDO-Subindex */
fp@80:                                       uint32_t *value
fp@80:                                       /**< Speicher für gel. Wert */
fp@80:                                       )
fp@80: {
fp@80:     ec_slave_t *slave;
fp@98:     if (!(slave = ec_master_slave_address(master, addr))) return -1;
fp@80:     return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value);
fp@80: }
fp@80: 
fp@80: /*****************************************************************************/
fp@80: 
fp@64: EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write);
fp@80: EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read);
fp@80: EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write);
fp@80: EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read);
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: */