# HG changeset patch # User Florian Pose # Date 1143567657 0 # Node ID 3fb18812871a0ecaac7061892840ccdb6801a5b3 # Parent a03a684cac8958cabfa4547ab0c3bdd51c3acaf3 SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht fertig... diff -r a03a684cac89 -r 3fb18812871a include/ecrt.h --- a/include/ecrt.h Tue Mar 28 15:45:19 2006 +0000 +++ b/include/ecrt.h Tue Mar 28 17:40:57 2006 +0000 @@ -59,17 +59,23 @@ void ecrt_master_prepare_async_io(ec_master_t *master); void ecrt_master_debug(ec_master_t *master, int level); void ecrt_master_print(const ec_master_t *master); -int ecrt_master_sdo_write(ec_master_t *master, - const char *slave_addr, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); +int ecrt_master_sdo_exp_write(ec_master_t *master, + const char *slave_addr, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t value, + size_t size); +int ecrt_master_sdo_exp_read(ec_master_t *master, + const char *slave_addr, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t *value); int ecrt_master_sdo_read(ec_master_t *master, const char *slave_addr, uint16_t sdo_index, uint8_t sdo_subindex, - uint32_t *value); + uint8_t *data, + size_t *size); int ecrt_master_write_slave_alias(ec_master_t *master, const char *slave_address, uint16_t alias); @@ -93,15 +99,20 @@ /*****************************************************************************/ // Slave Methods -int ecrt_slave_sdo_write(ec_slave_t *slave, - uint16_t sdo_index, - uint8_t sdo_subindex, - uint32_t value, - size_t size); +int ecrt_slave_sdo_exp_write(ec_slave_t *slave, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t value, + size_t size); +int ecrt_slave_sdo_exp_read(ec_slave_t *slave, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t *value); int ecrt_slave_sdo_read(ec_slave_t *slave, uint16_t sdo_index, uint8_t sdo_subindex, - uint32_t *value); + uint8_t *data, + size_t *size); /*****************************************************************************/ // Bitwise read/write macros diff -r a03a684cac89 -r 3fb18812871a master/canopen.c --- a/master/canopen.c Tue Mar 28 15:45:19 2006 +0000 +++ b/master/canopen.c Tue Mar 28 17:40:57 2006 +0000 @@ -35,15 +35,15 @@ /*****************************************************************************/ /** - Schreibt ein CANopen-SDO (service data object). + Schreibt ein CANopen-SDO (service data object), expedited. */ -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 */ - ) +int ecrt_slave_sdo_exp_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[0x0A]; unsigned int i; @@ -95,14 +95,14 @@ /*****************************************************************************/ /** - Liest ein CANopen-SDO (service data object). + Liest ein CANopen-SDO (service data object), expedited. */ -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 */ - ) +int ecrt_slave_sdo_exp_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[0x20]; size_t rec_size; @@ -141,57 +141,149 @@ /*****************************************************************************/ /** - Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse). - - Siehe ecrt_slave_sdo_write() + 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 */ + uint8_t *target, /**< Speicher für gel. Wert */ + size_t *size /**< Größe des Speichers */ + ) +{ + uint8_t data[0x20]; + size_t rec_size, data_size; + uint32_t complete_size; + + EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request + EC_WRITE_U8 (data + 2, 0x2 << 5); // Initiate upload request + EC_WRITE_U16(data + 3, sdo_index); + EC_WRITE_U8 (data + 5, sdo_subindex); + + if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1; + + rec_size = 0x20; + if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1; + + if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request + EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request + EC_ERR("SDO upload of 0x%04X:%X aborted on slave %i.\n", + sdo_index, sdo_subindex, slave->ring_position); + ec_canopen_abort_msg(EC_READ_U32(data + 6)); + return -1; + } + + if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response + EC_READ_U8 (data + 2) >> 5 != 0x02 || // Initiate upload response + EC_READ_U16(data + 3) != sdo_index || // Index + EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex + EC_ERR("Invalid SDO upload response at slave %i!\n", + slave->ring_position); + return -1; + } + + if (rec_size < 10) { + EC_ERR("Received currupted SDO upload response!\n"); + return -1; + } + + if ((complete_size = EC_READ_U32(data + 6)) > *size) { + EC_ERR("SDO data does not fit into buffer (%i / %i)!\n", + complete_size, *size); + return -1; + } + + data_size = rec_size - 10; + + if (data_size == complete_size) { + memcpy(target, data + 10, data_size); + } + else { + EC_ERR("SDO data incomplete.\n"); + return -1; + } + + return 0; +} + +/*****************************************************************************/ + +/** + Schreibt ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. + + Siehe ecrt_slave_sdo_exp_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 */ - ) +int ecrt_master_sdo_exp_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 ecrt_slave_sdo_exp_write(slave, index, subindex, value, size); +} + +/*****************************************************************************/ + +/** + Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. + + Siehe ecrt_slave_sdo_exp_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 */ - ) +int ecrt_master_sdo_exp_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); + return ecrt_slave_sdo_exp_read(slave, index, subindex, value); +} + +/*****************************************************************************/ + +/** + Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited. + + Siehe ecrt_slave_sdo_exp_read() + + \return 0 wenn alles ok, < 0 bei Fehler + */ + +int ecrt_master_sdo_read(ec_master_t *master, /**< EtherCAT-Master */ + const char *addr, /**< Addresse, siehe + ec_master_slave_address() */ + uint16_t sdo_index, /**< SDO-Index */ + uint8_t sdo_subindex, /**< SDO-Subindex */ + uint8_t *target, /**< Speicher für gel. Wert */ + size_t *size /**< Größe des Speichers */ + ) +{ + ec_slave_t *slave; + if (!(slave = ec_master_slave_address(master, addr))) return -1; + return ecrt_slave_sdo_read(slave, sdo_index, sdo_subindex, target, size); } /*****************************************************************************/ @@ -398,9 +490,11 @@ /*****************************************************************************/ -EXPORT_SYMBOL(ecrt_slave_sdo_write); +EXPORT_SYMBOL(ecrt_slave_sdo_exp_write); +EXPORT_SYMBOL(ecrt_slave_sdo_exp_read); EXPORT_SYMBOL(ecrt_slave_sdo_read); -EXPORT_SYMBOL(ecrt_master_sdo_write); +EXPORT_SYMBOL(ecrt_master_sdo_exp_write); +EXPORT_SYMBOL(ecrt_master_sdo_exp_read); EXPORT_SYMBOL(ecrt_master_sdo_read); /*****************************************************************************/ diff -r a03a684cac89 -r 3fb18812871a rt/msr_module.c --- a/rt/msr_module.c Tue Mar 28 15:45:19 2006 +0000 +++ b/rt/msr_module.c Tue Mar 28 17:40:57 2006 +0000 @@ -38,7 +38,7 @@ #include "../include/ecrt.h" #define ASYNC -//#define BLOCK1 +#define BLOCK1 // Defines/Makros #define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ) @@ -70,8 +70,8 @@ #ifdef BLOCK1 ec_field_init_t domain1_fields[] = { - {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0}, - {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0}, + {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0}, + {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0}, {} }; #else @@ -184,9 +184,10 @@ int __init init_rt_module(void) { struct ipipe_domain_attr attr; //ipipe - uint32_t version; - - // Als allererstes die RT-lib initialisieren + uint8_t string[10]; + size_t size; + + // Als allererstes die RT-Lib initialisieren if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { msr_print_warn("msr_modul: can't initialize rtlib!"); goto out_return; @@ -230,21 +231,31 @@ ecrt_master_print(master); #ifdef BLOCK1 - if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) { + size = 10; + if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) { printk(KERN_ERR "Could not read SSI version!\n"); goto out_deactivate; } - printk(KERN_INFO "Software-version: %u\n", version); - - if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) || - ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) || - ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) || - ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) || - ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) || - ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) || - ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) { + string[size] = 0; + printk(KERN_INFO "Software-version 1: %s\n", string); + + size = 10; + if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) { + printk(KERN_ERR "Could not read SSI version!\n"); + goto out_deactivate; + } + string[size] = 0; + printk(KERN_INFO "Software-version 5: %s\n", string); + + if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1, 0, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4061, 2, 1, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4061, 3, 1, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4066, 0, 0, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4067, 0, 4, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4068, 0, 0, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) || + ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) { printk(KERN_ERR "Failed to configure SSI slave!\n"); goto out_deactivate; }