--- 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
--- 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 <linux/delay.h>
+#include <linux/slab.h>
+#include <linux/module.h>
#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);
/*****************************************************************************/
--- 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: ***
-*/
--- 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";