# HG changeset patch # User Florian Pose # Date 1138983832 0 # Node ID ea6ccf12c612d34558d73d7d35ecbe373100712f # Parent 0333d8ebfff55fb4b992992ec7da2de3dc8a6c09 CANopen over EtherCAT. diff -r 0333d8ebfff5 -r ea6ccf12c612 include/EtherCAT_rt.h --- a/include/EtherCAT_rt.h Fri Feb 03 10:46:33 2006 +0000 +++ b/include/EtherCAT_rt.h Fri Feb 03 16:23:52 2006 +0000 @@ -48,6 +48,11 @@ void EtherCAT_rt_debug_level(ec_master_t *master, int level); +int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave, + unsigned int sdo_index, + unsigned char sdo_subindex, + unsigned int value, unsigned int size); + /*****************************************************************************/ /** diff -r 0333d8ebfff5 -r ea6ccf12c612 master/Makefile --- a/master/Makefile Fri Feb 03 10:46:33 2006 +0000 +++ b/master/Makefile Fri Feb 03 16:23:52 2006 +0000 @@ -15,7 +15,8 @@ obj-m := ec_master.o -ec_master-objs := module.o master.o device.o slave.o command.o types.o domain.o +ec_master-objs := module.o master.o device.o slave.o command.o types.o \ + domain.o canopen.o REV = `svnversion $(src)` DATE = `date` diff -r 0333d8ebfff5 -r ea6ccf12c612 master/canopen.c --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/canopen.c Fri Feb 03 16:23:52 2006 +0000 @@ -0,0 +1,135 @@ +/****************************************************************************** + * + * c a n o p e n . c + * + * CANopen over EtherCAT + * + * $Id$ + * + *****************************************************************************/ + +#include + +#include "master.h" + +/*****************************************************************************/ + +// Prototypen + +/*****************************************************************************/ + +int EtherCAT_rt_canopen_sdo_write(ec_master_t *master, ec_slave_t *slave, + unsigned int sdo_index, + unsigned char sdo_subindex, + unsigned int value, unsigned int size) +{ + unsigned char data[0xF6]; + ec_command_t cmd; + unsigned int tries_left, i; + + for (i = 0; i < 0xF6; i++) data[i] = 0x00; + + if (size == 0 || size > 4) { + printk(KERN_ERR "EtherCAT: Illegal SDO data size: %i!\n", size); + return -1; + } + + data[0] = 0x0A; // Length of the Mailbox service data + data[1] = 0x00; + data[2] = slave->station_address & 0xFF; // Station address + data[3] = (slave->station_address >> 8) & 0xFF; + data[4] = 0x00; // Channel & priority + data[5] = 0x03; // CANopen over EtherCAT + data[6] = 0x00; // Number(7-0) + data[7] = 0x2 << 4; // Number(8) & Service = SDO Request (0x02) + data[8] = 0x01 // Size specified + | (0x1 << 1) // Transfer type = Expedited + | ((4 - size) << 2) // Data Set Size + | (0x1 << 5); // Command specifier = Initiate download request (0x01) + data[9] = sdo_index & 0xFF; + data[10] = (sdo_index >> 8) & 0xFF; + data[11] = sdo_subindex; + + for (i = 0; i < size; i++) { + data[12 + i] = value & 0xFF; + value >>= 8; + } + + ec_command_write(&cmd, slave->station_address, 0x1800, 0xF6, data); + + if (unlikely(ec_simple_send_receive(master, &cmd) < 0)) + return -1; + + if (unlikely(cmd.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox send - Slave %i did not respond!\n", + slave->ring_position * (-1)); + return -1; + } + + // Read "written bit" of Sync-Manager + + tries_left = 10; + while (tries_left) + { + ec_command_read(&cmd, slave->station_address, 0x808, 8); + + if (unlikely(ec_simple_send_receive(master, &cmd) < 0)) + return -1; + + if (unlikely(cmd.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox check - Slave %i did not" + " respond!\n", slave->ring_position * (-1)); + return -1; + } + + if (cmd.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 * (-1)); + return -1; + } + + ec_command_read(&cmd, slave->station_address, 0x18F6, 0xF6); + + if (unlikely(ec_simple_send_receive(master, &cmd) < 0)) + return -1; + + if (unlikely(cmd.working_counter != 1)) { + printk(KERN_ERR "EtherCAT: Mailbox receive - Slave %i did not" + " respond!\n", slave->ring_position * (-1)); + return -1; + } + + if (cmd.data[5] != 0x03 // COE + || (cmd.data[7] >> 4) != 0x03 // SDO response + || (cmd.data[8] >> 5) != 0x03 // Initiate download response + || (cmd.data[9] != (sdo_index & 0xFF)) // Index + || (cmd.data[10] != ((sdo_index >> 8) & 0xFF)) + || (cmd.data[11] != sdo_subindex)) // Subindex + { + printk(KERN_ERR "EtherCAT: Illegal mailbox response at slave %i!\n", + slave->ring_position * (-1)); + return -1; + } + + return 0; +} + +/*****************************************************************************/ + +EXPORT_SYMBOL(EtherCAT_rt_canopen_sdo_write); + +/*****************************************************************************/ + +/* Emacs-Konfiguration +;;; Local Variables: *** +;;; c-basic-offset:4 *** +;;; End: *** +*/ diff -r 0333d8ebfff5 -r ea6ccf12c612 master/canopen.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/master/canopen.h Fri Feb 03 16:23:52 2006 +0000 @@ -0,0 +1,19 @@ +/****************************************************************************** + * + * c a n o p e n . h + * + * CANopen over EtherCAT + * + * $Id$ + * + *****************************************************************************/ + +#ifndef _CANOPEN_H_ +#define _CANOPEN_H_ + +/*****************************************************************************/ + + +/*****************************************************************************/ + +#endif diff -r 0333d8ebfff5 -r ea6ccf12c612 master/master.c --- a/master/master.c Fri Feb 03 10:46:33 2006 +0000 +++ b/master/master.c Fri Feb 03 16:23:52 2006 +0000 @@ -306,7 +306,8 @@ int ret; unsigned char command_type, command_index; - if (unlikely((ret = ec_device_receive(&master->device, master->rx_data)) < 0)) + if (unlikely((ret = ec_device_receive(&master->device, + master->rx_data)) < 0)) return -1; master->rx_data_length = (unsigned int) ret; diff -r 0333d8ebfff5 -r ea6ccf12c612 master/master.h --- a/master/master.h Fri Feb 03 10:46:33 2006 +0000 +++ b/master/master.h Fri Feb 03 16:23:52 2006 +0000 @@ -50,8 +50,6 @@ /*****************************************************************************/ -// Private Methods - // Master creation and deletion void ec_master_init(ec_master_t *); void ec_master_clear(ec_master_t *); @@ -64,6 +62,9 @@ // Slave management int ec_scan_for_slaves(ec_master_t *); +// Data +int ec_simple_send_receive(ec_master_t *, ec_command_t *); + /*****************************************************************************/ #endif diff -r 0333d8ebfff5 -r ea6ccf12c612 master/module.c --- a/master/module.c Fri Feb 03 10:46:33 2006 +0000 +++ b/master/module.c Fri Feb 03 16:23:52 2006 +0000 @@ -47,8 +47,7 @@ /*****************************************************************************/ -MODULE_AUTHOR ("Wilhelm Hagemeister ," - "Florian Pose "); +MODULE_AUTHOR ("Florian Pose "); MODULE_DESCRIPTION ("EtherCAT master driver module"); MODULE_LICENSE("GPL"); MODULE_VERSION(COMPILE_INFO); diff -r 0333d8ebfff5 -r ea6ccf12c612 mini/mini.c --- a/mini/mini.c Fri Feb 03 10:46:33 2006 +0000 +++ b/mini/mini.c Fri Feb 03 16:23:52 2006 +0000 @@ -18,14 +18,15 @@ /*****************************************************************************/ ec_master_t *master = NULL; -ec_slave_t *s_in, *s_out; +ec_slave_t *s_in, *s_out, *s_ssi; struct timer_list timer; ec_slave_init_t slaves[] = { // Zeiger, Index, Herstellername, Produktname, Domäne - { &s_out, 9, "Beckhoff", "EL2004", 1 }, - { &s_in, 1, "Beckhoff", "EL3102", 1 } + { &s_out, 2, "Beckhoff", "EL2004", 1 }, + { &s_in, 1, "Beckhoff", "EL3102", 1 }, + { &s_ssi, 7, "Beckhoff", "EL5001", 1 } }; #define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t)) @@ -68,6 +69,17 @@ goto out_release_master; } + printk("Configuring EtherCAT slaves.\n"); + + EtherCAT_rt_debug_level(master, 2); + + if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 2, 2)) { + printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n"); + goto out_release_master; + } + + EtherCAT_rt_debug_level(master, 0); + printk("Starting cyclic sample thread.\n"); init_timer(&timer);