Implemented fetching of SDO dictionary.
This commit is contained in:
Florian Pose
parent
d430dec17c
commit
25964ccc9a
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@ -38,7 +38,7 @@
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obj-m := ec_master.o
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ec_master-objs := module.o master.o device.o slave.o datagram.o \
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domain.o mailbox.o ethernet.o fsm.o xmldev.o
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domain.o mailbox.o canopen.o ethernet.o fsm.o xmldev.o
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ifeq ($(EC_DBG_IF),1)
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ec_master-objs += debug.o
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@ -37,6 +37,7 @@
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EXTRA_DIST = \
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Kbuild \
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canopen.c canopen.h \
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datagram.c datagram.h \
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debug.c debug.h \
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device.c device.h \
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@ -0,0 +1,330 @@
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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
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*
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* This file is part of the IgH EtherCAT Master.
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*
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* The IgH EtherCAT Master is free software; you can redistribute it
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* and/or modify it under the terms of the GNU General Public License
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* as published by the Free Software Foundation; either version 2 of the
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* License, or (at your option) any later version.
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*
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* The IgH EtherCAT Master is distributed in the hope that it will be
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with the IgH EtherCAT Master; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* The right to use EtherCAT Technology is granted and comes free of
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* charge under condition of compatibility of product made by
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* Licensee. People intending to distribute/sell products based on the
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* code, have to sign an agreement to guarantee that products using
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* software based on IgH EtherCAT master stay compatible with the actual
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* EtherCAT specification (which are released themselves as an open
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* standard) as the (only) precondition to have the right to use EtherCAT
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* Technology, IP and trade marks.
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*
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*****************************************************************************/
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/**
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\file
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Canopen-over-EtherCAT functions.
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*/
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/*****************************************************************************/
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#include <linux/module.h>
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#include "canopen.h"
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/*****************************************************************************/
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ssize_t ec_show_sdo_attribute(struct kobject *, struct attribute *, char *);
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ssize_t ec_show_sdo_entry_attribute(struct kobject *, struct attribute *,
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char *);
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void ec_sdo_clear(struct kobject *);
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void ec_sdo_entry_clear(struct kobject *);
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/*****************************************************************************/
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/** \cond */
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EC_SYSFS_READ_ATTR(info);
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static struct attribute *sdo_def_attrs[] = {
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&attr_info,
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NULL,
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};
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static struct sysfs_ops sdo_sysfs_ops = {
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.show = &ec_show_sdo_attribute,
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.store = NULL
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};
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static struct kobj_type ktype_ec_sdo = {
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.release = ec_sdo_clear,
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.sysfs_ops = &sdo_sysfs_ops,
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.default_attrs = sdo_def_attrs
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};
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static struct attribute *sdo_entry_def_attrs[] = {
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&attr_info,
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NULL,
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};
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static struct sysfs_ops sdo_entry_sysfs_ops = {
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.show = &ec_show_sdo_entry_attribute,
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.store = NULL
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};
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static struct kobj_type ktype_ec_sdo_entry = {
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.release = ec_sdo_entry_clear,
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.sysfs_ops = &sdo_entry_sysfs_ops,
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.default_attrs = sdo_entry_def_attrs
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};
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/** \endcond */
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/*****************************************************************************/
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/**
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SDO constructor.
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*/
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int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
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uint16_t index, /**< SDO index */
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ec_slave_t *slave /**< parent slave */
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)
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{
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sdo->index = index;
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sdo->object_code = 0x00;
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sdo->name = NULL;
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sdo->subindices = 0;
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INIT_LIST_HEAD(&sdo->entries);
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// init kobject and add it to the hierarchy
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memset(&sdo->kobj, 0x00, sizeof(struct kobject));
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kobject_init(&sdo->kobj);
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sdo->kobj.ktype = &ktype_ec_sdo;
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sdo->kobj.parent = &slave->kobj;
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if (kobject_set_name(&sdo->kobj, "sdo%4X", sdo->index)) {
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EC_ERR("Failed to set kobj name.\n");
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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SDO destructor.
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*/
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void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
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{
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ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
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ec_sdo_entry_t *entry, *next;
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// free all entries
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list_for_each_entry_safe(entry, next, &sdo->entries, list) {
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list_del(&entry->list);
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kobject_del(&entry->kobj);
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kobject_put(&entry->kobj);
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}
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if (sdo->name) kfree(sdo->name);
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kfree(sdo);
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}
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/*****************************************************************************/
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ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
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char *buffer /**< target buffer */
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)
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{
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off_t off = 0;
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off += sprintf(buffer + off, "Index: 0x%04X\n", sdo->index);
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off += sprintf(buffer + off, "Name: %s\n", sdo->name ? sdo->name : "");
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off += sprintf(buffer + off, "Subindices: %i\n", sdo->subindices);
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return off;
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}
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/*****************************************************************************/
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ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
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struct attribute *attr,
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char *buffer
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)
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{
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ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
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if (attr == &attr_info) {
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return ec_sdo_info(sdo, buffer);
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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SDO entry constructor.
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*/
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int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
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uint8_t subindex, /**< SDO entry subindex */
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ec_sdo_t *sdo /**< parent SDO */
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)
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{
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entry->subindex = subindex;
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entry->data_type = 0x0000;
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entry->bit_length = 0;
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entry->description = NULL;
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// init kobject and add it to the hierarchy
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memset(&entry->kobj, 0x00, sizeof(struct kobject));
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kobject_init(&entry->kobj);
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entry->kobj.ktype = &ktype_ec_sdo_entry;
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entry->kobj.parent = &sdo->kobj;
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if (kobject_set_name(&entry->kobj, "entry%02X", entry->subindex)) {
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EC_ERR("Failed to set kobj name.\n");
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return -1;
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}
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return 0;
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}
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/*****************************************************************************/
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/**
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SDO destructor.
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*/
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void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
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{
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ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
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if (entry->description) kfree(entry->description);
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kfree(entry);
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}
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/*****************************************************************************/
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ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
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char *buffer /**< target buffer */
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)
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{
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off_t off = 0;
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off += sprintf(buffer + off, "Subindex: 0x%02X\n", entry->subindex);
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off += sprintf(buffer + off, "Description: %s\n",
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entry->description ? entry->description : "");
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off += sprintf(buffer + off, "Data type: 0x%04X\n", entry->data_type);
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off += sprintf(buffer + off, "Bit length: %i\n", entry->bit_length);
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return off;
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}
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/*****************************************************************************/
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ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
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struct attribute *attr,
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char *buffer
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)
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{
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ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
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if (attr == &attr_info) {
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return ec_sdo_entry_info(entry, buffer);
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}
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return 0;
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}
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/*****************************************************************************/
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#if 0
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int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
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uint16_t sdo_index, /**< SDO index */
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uint8_t sdo_subindex, /**< SDO subindex */
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uint8_t *target, /**< memory for value */
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size_t *size /**< target memory size */
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)
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{
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uint8_t *data;
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size_t rec_size, data_size;
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uint32_t complete_size;
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ec_datagram_t datagram;
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ec_datagram_init(&datagram);
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if (!(data = ec_slave_mbox_prepare_send(slave, &datagram, 0x03, 6)))
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goto err;
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EC_WRITE_U16(data, 0x2 << 12); // SDO request
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EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
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EC_WRITE_U16(data + 3, sdo_index);
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EC_WRITE_U8 (data + 5, sdo_subindex);
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if (!(data = ec_slave_mbox_simple_io(slave, &datagram, &rec_size)))
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goto err;
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if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
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EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
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EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
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sdo_index, sdo_subindex, slave->ring_position);
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ec_canopen_abort_msg(EC_READ_U32(data + 6));
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goto err;
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}
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if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
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EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
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EC_READ_U16(data + 3) != sdo_index || // index
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EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
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EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
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EC_ERR("Invalid SDO upload response at slave %i!\n",
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slave->ring_position);
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ec_print_data(data, rec_size);
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goto err;
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}
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if (rec_size < 10) {
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EC_ERR("Received currupted SDO upload response!\n");
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ec_print_data(data, rec_size);
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goto err;
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}
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if ((complete_size = EC_READ_U32(data + 6)) > *size) {
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EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
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complete_size, *size);
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goto err;
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}
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data_size = rec_size - 10;
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if (data_size != complete_size) {
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EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
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goto err;
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}
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memcpy(target, data + 10, data_size);
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ec_datagram_clear(&datagram);
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return 0;
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err:
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ec_datagram_clear(&datagram);
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return -1;
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}
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#endif
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/*****************************************************************************/
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@ -0,0 +1,108 @@
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/******************************************************************************
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*
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* $Id$
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*
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
|
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*
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* This file is part of the IgH EtherCAT Master.
|
||||
*
|
||||
* The IgH EtherCAT Master is free software; you can redistribute it
|
||||
* and/or modify it under the terms of the GNU General Public License
|
||||
* as published by the Free Software Foundation; either version 2 of the
|
||||
* License, or (at your option) any later version.
|
||||
*
|
||||
* The IgH EtherCAT Master is distributed in the hope that it will be
|
||||
* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with the IgH EtherCAT Master; if not, write to the Free Software
|
||||
* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
|
||||
*
|
||||
* The right to use EtherCAT Technology is granted and comes free of
|
||||
* charge under condition of compatibility of product made by
|
||||
* Licensee. People intending to distribute/sell products based on the
|
||||
* code, have to sign an agreement to guarantee that products using
|
||||
* software based on IgH EtherCAT master stay compatible with the actual
|
||||
* EtherCAT specification (which are released themselves as an open
|
||||
* standard) as the (only) precondition to have the right to use EtherCAT
|
||||
* Technology, IP and trade marks.
|
||||
*
|
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*****************************************************************************/
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|
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/**
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\file
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EtherCAT CANopen structures.
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*/
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/*****************************************************************************/
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#ifndef _EC_CANOPEN_H_
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#define _EC_CANOPEN_H_
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#include <linux/list.h>
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#include <linux/kobject.h>
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#include "globals.h"
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#include "slave.h"
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/*****************************************************************************/
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/**
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CANopen SDO.
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*/
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typedef struct
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{
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struct kobject kobj; /**< kobject */
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struct list_head list; /**< list item */
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uint16_t index; /**< SDO index */
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uint8_t object_code; /**< object code */
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char *name; /**< SDO name */
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uint8_t subindices; /**< subindices */
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struct list_head entries; /**< entry list */
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}
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ec_sdo_t;
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/*****************************************************************************/
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/**
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CANopen SDO entry.
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*/
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typedef struct
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{
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struct kobject kobj; /**< kobject */
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struct list_head list; /**< list item */
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uint8_t subindex; /**< entry subindex */
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uint16_t data_type; /**< entry data type */
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uint16_t bit_length; /**< entry length in bit */
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char *description; /**< entry description */
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}
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ec_sdo_entry_t;
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/*****************************************************************************/
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/**
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CANopen SDO configuration data.
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*/
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typedef struct
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{
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struct list_head list; /**< list item */
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uint16_t index; /**< SDO index */
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uint8_t subindex; /**< SDO subindex */
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uint8_t *data; /**< pointer to SDO data */
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size_t size; /**< size of SDO data */
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}
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ec_sdo_data_t;
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/*****************************************************************************/
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int ec_sdo_init(ec_sdo_t *, uint16_t, ec_slave_t *);
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int ec_sdo_entry_init(ec_sdo_entry_t *, uint8_t, ec_sdo_t *);
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/*****************************************************************************/
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#endif
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948
master/fsm.c
948
master/fsm.c
File diff suppressed because it is too large
Load Diff
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@ -45,6 +45,7 @@
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#include "../include/ecrt.h"
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#include "datagram.h"
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#include "slave.h"
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#include "canopen.h"
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/*****************************************************************************/
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@ -82,6 +83,8 @@ struct ec_fsm
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void (*coe_state)(ec_fsm_t *); /**< CoE state function */
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ec_sdo_data_t *coe_sdodata; /**< input/output: SDO data object */
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cycles_t coe_start; /**< CoE timestamp */
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ec_sdo_t *coe_sdo; /**< current SDO */
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uint8_t coe_subindex; /**< current subindex */
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};
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/*****************************************************************************/
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|
|
|
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@ -182,7 +182,6 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
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ec_sii_pdo_t *pdo, *next_pdo;
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ec_sii_pdo_entry_t *entry, *next_ent;
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ec_sdo_t *sdo, *next_sdo;
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ec_sdo_entry_t *en, *next_en;
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ec_sdo_data_t *sdodata, *next_sdodata;
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|
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slave = container_of(kobj, ec_slave_t, kobj);
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|
|
@ -222,14 +221,8 @@ void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
|
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// free all SDOs
|
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list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
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list_del(&sdo->list);
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if (sdo->name) kfree(sdo->name);
|
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|
||||
// free all SDO entries
|
||||
list_for_each_entry_safe(en, next_en, &sdo->entries, list) {
|
||||
list_del(&en->list);
|
||||
kfree(en);
|
||||
}
|
||||
kfree(sdo);
|
||||
kobject_del(&sdo->kobj);
|
||||
kobject_put(&sdo->kobj);
|
||||
}
|
||||
|
||||
// free all SDO configurations
|
||||
|
|
|
|||
|
|
@ -167,50 +167,6 @@ ec_sii_pdo_entry_t;
|
|||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**
|
||||
CANopen SDO.
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
struct list_head list; /**< list item */
|
||||
uint16_t index; /**< SDO index */
|
||||
uint8_t object_code; /**< object code */
|
||||
char *name; /**< SDO name */
|
||||
struct list_head entries; /**< entry list */
|
||||
}
|
||||
ec_sdo_t;
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**
|
||||
CANopen SDO entry.
|
||||
*/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
struct list_head list; /**< list item */
|
||||
uint8_t subindex; /**< entry subindex */
|
||||
uint16_t data_type; /**< entry data type */
|
||||
uint16_t bit_length; /**< entry length in bit */
|
||||
char *name; /**< entry name */
|
||||
}
|
||||
ec_sdo_entry_t;
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
typedef struct
|
||||
{
|
||||
struct list_head list; /**< list item */
|
||||
uint16_t index; /**< SDO index */
|
||||
uint8_t subindex; /**< SDO subindex */
|
||||
uint8_t *data; /**< pointer to SDO data */
|
||||
size_t size; /**< size of SDO data */
|
||||
}
|
||||
ec_sdo_data_t;
|
||||
|
||||
/*****************************************************************************/
|
||||
|
||||
/**
|
||||
FMMU configuration.
|
||||
*/
|
||||
|
|
|
|||
Loading…
Reference in New Issue