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ethercat
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CANopen SDO read implementiert.

This commit is contained in:
Florian Pose 2006-02-24 13:14:51 +00:00
parent 4b24372bb2
commit 61c05edf56
4 changed files with 169 additions and 41 deletions
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18
include/EtherCAT_rt.h
View File

@ -92,6 +92,24 @@ int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave,
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

147
master/canopen.c
View File

@ -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 @@ int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
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 @@ int EtherCAT_rt_canopen_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
/*****************************************************************************/
/**
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);
/*****************************************************************************/

25
master/canopen.h
View File

@ -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: ***
*/

20
rt/msr_module.c
View File

@ -118,6 +118,7 @@ int __init init_rt_module(void)
{
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 @@ int __init init_rt_module(void)
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 @@ int __init init_rt_module(void)
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";