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ethercat
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CANopen over EtherCAT.

This commit is contained in:
Florian Pose 2006-02-03 16:23:52 +00:00
parent 842f163d28
commit fb4b07cf52
8 changed files with 182 additions and 9 deletions
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5
include/EtherCAT_rt.h
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@ -48,6 +48,11 @@ int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain,
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);
/*****************************************************************************/
/**

3
master/Makefile
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@ -15,7 +15,8 @@ ifneq ($(KERNELRELEASE),)
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`

135
master/canopen.c Normal file
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@ -0,0 +1,135 @@
/******************************************************************************
*
* c a n o p e n . c
*
* CANopen over EtherCAT
*
* $Id$
*
*****************************************************************************/
#include <linux/delay.h>
#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: ***
*/

19
master/canopen.h Normal file
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@ -0,0 +1,19 @@
/******************************************************************************
*
* c a n o p e n . h
*
* CANopen over EtherCAT
*
* $Id$
*
*****************************************************************************/
#ifndef _CANOPEN_H_
#define _CANOPEN_H_
/*****************************************************************************/
/*****************************************************************************/
#endif

3
master/master.c
View File

@ -306,7 +306,8 @@ int ec_simple_receive(ec_master_t *master, ec_command_t *cmd)
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;

5
master/master.h
View File

@ -50,8 +50,6 @@ struct ec_master
/*****************************************************************************/
// Private Methods
// Master creation and deletion
void ec_master_init(ec_master_t *);
void ec_master_clear(ec_master_t *);
@ -64,6 +62,9 @@ void ec_master_close(ec_master_t *);
// Slave management
int ec_scan_for_slaves(ec_master_t *);
// Data
int ec_simple_send_receive(ec_master_t *, ec_command_t *);
/*****************************************************************************/
#endif

3
master/module.c
View File

@ -47,8 +47,7 @@ int *ec_masters_reserved = NULL;
/*****************************************************************************/
MODULE_AUTHOR ("Wilhelm Hagemeister <hm@igh-essen.com>,"
"Florian Pose <fp@igh-essen.com>");
MODULE_AUTHOR ("Florian Pose <fp@igh-essen.com>");
MODULE_DESCRIPTION ("EtherCAT master driver module");
MODULE_LICENSE("GPL");
MODULE_VERSION(COMPILE_INFO);

18
mini/mini.c
View File

@ -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 @@ int __init init_mini_module(void)
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);