# HG changeset patch # User Florian Pose # Date 1140786891 0 # Node ID 8cd08d73b5609b799bc74e607433f77812e2946a # Parent 319a97c1f0f9520798c9935efcf6cd4730f4d2ad CANopen SDO read implementiert. diff -r 319a97c1f0f9 -r 8cd08d73b560 include/EtherCAT_rt.h --- a/include/EtherCAT_rt.h Fri Feb 24 13:14:21 2006 +0000 +++ b/include/EtherCAT_rt.h Fri Feb 24 13:14:51 2006 +0000 @@ -92,6 +92,24 @@ uint32_t value, size_t size); +int EtherCAT_rt_canopen_sdo_read(ec_slave_t *slave, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t *value); + +int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master, + const char *addr, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t value, + size_t size); + +int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master, + const char *addr, + uint16_t sdo_index, + uint8_t sdo_subindex, + uint32_t *value); + /*****************************************************************************/ #endif diff -r 319a97c1f0f9 -r 8cd08d73b560 master/canopen.c --- a/master/canopen.c Fri Feb 24 13:14:21 2006 +0000 +++ b/master/canopen.c Fri Feb 24 13:14:51 2006 +0000 @@ -9,16 +9,14 @@ *****************************************************************************/ #include +#include +#include #include "../include/EtherCAT_si.h" #include "master.h" /*****************************************************************************/ -// Prototypen - -/*****************************************************************************/ - /** Schreibt ein CANopen-SDO (service data object). */ @@ -48,7 +46,7 @@ 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 & Service + EC_WRITE_U16(data + 6, 0x2000); // Number (0), Service (SDO request) EC_WRITE_U8 (data + 8, 0x13 | ((4 - size) << 2)); // Spec., exp., init. EC_WRITE_U16(data + 9, sdo_index); EC_WRITE_U8 (data + 11, sdo_subindex); @@ -124,7 +122,146 @@ /*****************************************************************************/ +/** + Schreibt ein CANopen-SDO (service data object). + */ + +int EtherCAT_rt_canopen_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 */ + ) +{ + unsigned char data[0xF6]; + ec_frame_t frame; + unsigned int tries_left; + ec_master_t *master; + + 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_frame_init_npwr(&frame, master, slave->station_address, 0x1800, 0xF6, + data); + + if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1; + + if (unlikely(frame.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n", + slave->ring_position); + return -1; + } + + // Read "written bit" of Sync-Manager + + tries_left = 10; + while (tries_left) + { + ec_frame_init_nprd(&frame, master, slave->station_address, 0x808, 8); + + if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1; + + if (unlikely(frame.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not" + " respond!\n", slave->ring_position); + return -1; + } + + if (EC_READ_U8(frame.data + 5) & 8) { // Written bit is high + break; + } + + udelay(1000); + tries_left--; + } + + if (!tries_left) { + printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i timed out.\n", + slave->ring_position); + return -1; + } + + ec_frame_init_nprd(&frame, master, slave->station_address, 0x18F6, 0xF6); + + if (unlikely(ec_frame_send_receive(&frame) < 0)) return -1; + + if (unlikely(frame.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not" + " respond!\n", slave->ring_position); + return -1; + } + + if (EC_READ_U8 (frame.data + 5) != 0x03 || // COE + EC_READ_U16(frame.data + 6) != 0x3000 || // SDO response + EC_READ_U8 (frame.data + 8) >> 5 != 0x02 || // Upload response + EC_READ_U16(frame.data + 9) != sdo_index || // Index + EC_READ_U8 (frame.data + 11) != sdo_subindex) // Subindex + { + printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n", + slave->ring_position); + return -1; + } + + *value = EC_READ_U32(frame.data + 12); + + return 0; +} + +/*****************************************************************************/ + +int EtherCAT_rt_canopen_sdo_addr_write(ec_master_t *master, + /**< EtherCAT-Master */ + const char *addr, + /**< Addresse, siehe ec_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_address(master, addr))) return -1; + return EtherCAT_rt_canopen_sdo_write(slave, index, subindex, value, size); +} + +/*****************************************************************************/ + +int EtherCAT_rt_canopen_sdo_addr_read(ec_master_t *master, + /**< EtherCAT-Slave */ + const char *addr, + /**< Addresse, siehe ec_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_address(master, addr))) return -1; + return EtherCAT_rt_canopen_sdo_read(slave, index, subindex, value); +} + +/*****************************************************************************/ + EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write); +EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_read); +EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_write); +EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_addr_read); /*****************************************************************************/ diff -r 319a97c1f0f9 -r 8cd08d73b560 master/canopen.h --- a/master/canopen.h Fri Feb 24 13:14:21 2006 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,25 +0,0 @@ -/****************************************************************************** - * - * c a n o p e n . h - * - * CANopen over EtherCAT - * - * $Id$ - * - *****************************************************************************/ - -#ifndef _CANOPEN_H_ -#define _CANOPEN_H_ - -/*****************************************************************************/ - - -/*****************************************************************************/ - -#endif - -/* Emacs-Konfiguration -;;; Local Variables: *** -;;; c-basic-offset:4 *** -;;; End: *** -*/ diff -r 319a97c1f0f9 -r 8cd08d73b560 rt/msr_module.c --- a/rt/msr_module.c Fri Feb 24 13:14:21 2006 +0000 +++ b/rt/msr_module.c Fri Feb 24 13:14:51 2006 +0000 @@ -118,6 +118,7 @@ { struct ipipe_domain_attr attr; //ipipe const ec_field_init_t *field; + uint32_t version; // Als allererstes die RT-lib initialisieren if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) { @@ -152,7 +153,7 @@ field->field_type, field->field_index, field->field_count)) { - printk(KERN_ERR "EtherCAT: Could not register field!\n"); + printk(KERN_ERR "Could not register field!\n"); goto out_release_master; } } @@ -160,21 +161,18 @@ printk(KERN_INFO "Activating master...\n"); if (EtherCAT_rt_master_activate(master)) { - printk(KERN_ERR "EtherCAT: Could not activate master!\n"); + printk(KERN_ERR "Could not activate master!\n"); goto out_release_master; } -#if 0 - if (EtherCAT_rt_canopen_sdo_write(master, "0:4", 0x4067, 0, 1, 2)) { - printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n"); + EtherCAT_rt_master_debug(master, 2); + if (EtherCAT_rt_canopen_sdo_addr_read(master, "0:3", 0x100A, 1, + &version)) { + printk(KERN_ERR "Could not read SSI version!\n"); goto out_release_master; } - - if (EtherCAT_rt_canopen_sdo_write(master, "0:4", 0x4061, 4, 1, 1)) { - printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n"); - goto out_release_master; - } -#endif + printk(KERN_INFO "Klemme 3 Software-version: %u\n", version); + EtherCAT_rt_master_debug(master, 0); ipipe_init_attr(&attr); attr.name = "IPIPE-MSR-MODULE";