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ethercat/master/canopen.c

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/******************************************************************************
*
* $Id$
*
* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
* 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.
*
*****************************************************************************/
/**
\file
Canopen-over-EtherCAT functions.
*/
/*****************************************************************************/
#include <linux/delay.h>
#include <linux/slab.h>
#include <linux/module.h>
#include "master.h"
#include "mailbox.h"
/*****************************************************************************/
void ec_canopen_abort_msg(uint32_t);
int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
int ec_slave_fetch_sdo_entries(ec_slave_t *, ec_sdo_t *, uint8_t);
/*****************************************************************************/
const ec_code_msg_t sdo_abort_messages[];
/*****************************************************************************/
/**
Reads 32 bit of a CANopen SDO in expedited mode.
\return 0 in case of success, else < 0
*/
int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t *target /**< 4-byte memory */
)
{
size_t rec_size;
uint8_t *data;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 << 1 // expedited transfer
| 0x2 << 5)); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != sdo_index || // index
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return -1;
}
memcpy(target, data + 6, 4);
return 0;
}
/*****************************************************************************/
/**
Writes a CANopen SDO using expedited mode.
\return 0 in case of success, else < 0
*/
int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
const uint8_t *sdo_data, /**< new value */
size_t size /**< Data size in bytes (1 - 4) */
)
{
uint8_t *data;
size_t rec_size;
if (size == 0 || size > 4) {
EC_ERR("Invalid data size!\n");
return -1;
}
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 0x0A))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 1 // expedited transfer
| (4 - size) << 2 // data set size
| 0x1 << 5)); // initiate download request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
memcpy(data + 6, sdo_data, size);
if (size < 4) memset(data + 6 + size, 0x00, 4 - size);
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
sdo_index, sdo_subindex, size, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x3 || // download response
EC_READ_U16(data + 3) != sdo_index || // index
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
sdo_index, sdo_subindex, size);
EC_ERR("Invalid SDO download response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Reads a CANopen SDO in normal mode.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
\todo Make size non-pointer.
*/
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t *target, /**< memory for value */
size_t *size /**< target memory size */
)
{
uint8_t *data;
size_t rec_size, data_size;
uint32_t complete_size;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 6))) return -1;
EC_WRITE_U16(data, 0x2 << 12); // SDO request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, sdo_index);
EC_WRITE_U8 (data + 5, sdo_subindex);
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
sdo_index, sdo_subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // initiate upload response
EC_READ_U16(data + 3) != sdo_index || // index
EC_READ_U8 (data + 5) != sdo_subindex) { // subindex
EC_ERR("SDO upload 0x%04X:%X failed:\n", sdo_index, sdo_subindex);
EC_ERR("Invalid SDO upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 10) {
EC_ERR("Received currupted SDO upload response!\n");
ec_print_data(data, rec_size);
return -1;
}
if ((complete_size = EC_READ_U32(data + 6)) > *size) {
EC_ERR("SDO data does not fit into buffer (%i / %i)!\n",
complete_size, *size);
return -1;
}
data_size = rec_size - 10;
if (data_size != complete_size) {
EC_ERR("SDO data incomplete - Fragmenting not implemented.\n");
return -1;
}
memcpy(target, data + 10, data_size);
return 0;
}
/*****************************************************************************/
/**
Fetches the SDO dictionary of a slave.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
{
uint8_t *data;
size_t rec_size;
unsigned int i, sdo_count;
ec_sdo_t *sdo;
uint16_t sdo_index;
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
if (unlikely(ec_master_simple_io(slave->master, &slave->mbox_command))) {
EC_ERR("Mailbox checking failed on slave %i!\n", slave->ring_position);
return -1;
}
do {
if (!(data = ec_slave_mbox_simple_receive(slave, 0x03, &rec_size)))
return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("SDO information error response at slave %i!\n",
slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
EC_ERR("Invalid SDO list response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 8) {
EC_ERR("Invalid data size!\n");
ec_print_data(data, rec_size);
return -1;
}
sdo_count = (rec_size - 8) / 2;
for (i = 0; i < sdo_count; i++) {
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) continue; // sometimes index is 0... ???
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for SDO!\n");
return -1;
}
// Initialize SDO object
sdo->index = sdo_index;
//sdo->unkown = 0x0000;
sdo->object_code = 0x00;
sdo->name = NULL;
INIT_LIST_HEAD(&sdo->entries);
list_add_tail(&sdo->list, &slave->sdo_dictionary);
}
}
while (EC_READ_U8(data + 2) & 0x80);
// Fetch all SDO descriptions
if (ec_slave_fetch_sdo_descriptions(slave)) return -1;
return 0;
}
/*****************************************************************************/
/**
Fetches the SDO descriptions for the known SDOs.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
{
uint8_t *data;
size_t rec_size, name_size;
ec_sdo_t *sdo;
list_for_each_entry(sdo, &slave->sdo_dictionary, list) {
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 8))) return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("SDO information error response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
EC_READ_U16(data + 6) != sdo->index) { // SDO index
EC_ERR("Invalid object description response at slave %i while"
" fetching SDO 0x%04X!\n", slave->ring_position,
sdo->index);
ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 12) {
EC_ERR("Invalid data size!\n");
ec_print_data(data, rec_size);
return -1;
}
EC_DBG("object desc response:\n");
ec_print_data(data, rec_size);
//sdo->unknown = EC_READ_U16(data + 8);
sdo->object_code = EC_READ_U8(data + 11);
name_size = rec_size - 12;
if (name_size) {
if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate SDO name!\n");
return -1;
}
memcpy(sdo->name, data + 12, name_size);
sdo->name[name_size] = 0;
}
if (EC_READ_U8(data + 2) & 0x80) {
EC_ERR("Fragment follows (not implemented)!\n");
return -1;
}
// Fetch all entries (subindices)
if (ec_slave_fetch_sdo_entries(slave, sdo, EC_READ_U8(data + 10)))
return -1;
}
return 0;
}
/*****************************************************************************/
/**
Fetches all entries (subindices) to an SDO.
\return 0 in case of success, else < 0
*/
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
ec_sdo_t *sdo, /**< SDO */
uint8_t subindices /**< number of subindices */
)
{
uint8_t *data;
size_t rec_size, data_size;
uint8_t i;
ec_sdo_entry_t *entry;
for (i = 1; i <= subindices; i++) {
if (!(data = ec_slave_mbox_prepare_send(slave, 0x03, 10)))
return -1;
EC_WRITE_U16(data, 0x8 << 12); // SDO information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
EC_WRITE_U8 (data + 8, i); // SDO subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
if (!(data = ec_slave_mbox_simple_io(slave, &rec_size))) return -1;
if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
EC_ERR("SDO information error response at slave %i while"
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
sdo->index, i);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
return -1;
}
if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
EC_READ_U16(data + 6) != sdo->index || // SDO index
EC_READ_U8(data + 8) != i) { // SDO subindex
EC_ERR("Invalid entry description response at slave %i while"
" fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
sdo->index, i);
ec_print_data(data, rec_size);
return -1;
}
if (rec_size < 16) {
EC_ERR("Invalid data size!\n");
ec_print_data(data, rec_size);
return -1;
}
if (!EC_READ_U16(data + 12)) // bit length = 0
continue;
data_size = rec_size - 16;
if (!(entry = (ec_sdo_entry_t *)
kmalloc(sizeof(ec_sdo_entry_t) + data_size + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate entry!\n");
return -1;
}
entry->subindex = i;
entry->data_type = EC_READ_U16(data + 10);
entry->bit_length = EC_READ_U16(data + 12);
// memory for name string appended to entry
entry->name = (uint8_t *) entry + sizeof(ec_sdo_entry_t);
memcpy(entry->name, data + 16, data_size);
entry->name[data_size] = 0;
list_add_tail(&entry->list, &sdo->entries);
}
return 0;
}
/*****************************************************************************/
/**
Outputs an SDO abort message.
*/
void ec_canopen_abort_msg(uint32_t abort_code)
{
const ec_code_msg_t *abort_msg;
for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
if (abort_msg->code == abort_code) {
EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
abort_msg->code, abort_msg->message);
return;
}
}
EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
}
/*****************************************************************************/
const ec_code_msg_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
{0x05040000, "SDO protocol timeout"},
{0x05040001, "Client/Server command specifier not valid or unknown"},
{0x05040005, "Out of memory"},
{0x06010000, "Unsupported access to an object"},
{0x06010001, "Attempt to read a write-only object"},
{0x06010002, "Attempt to write a read-only object"},
{0x06020000, "This object does not exist in the object directory"},
{0x06040041, "The object cannot be mapped into the PDO"},
{0x06040042, "The number and length of the objects to be mapped would"
" exceed the PDO length"},
{0x06040043, "General parameter incompatibility reason"},
{0x06040047, "Gerneral internal incompatibility in device"},
{0x06060000, "Access failure due to a hardware error"},
{0x06070010, "Data type does not match, length of service parameter does"
" not match"},
{0x06070012, "Data type does not match, length of service parameter too"
" high"},
{0x06070013, "Data type does not match, length of service parameter too"
" low"},
{0x06090011, "Subindex does not exist"},
{0x06090030, "Value range of parameter exceeded"},
{0x06090031, "Value of parameter written too high"},
{0x06090032, "Value of parameter written too low"},
{0x06090036, "Maximum value is less than minimum value"},
{0x08000000, "General error"},
{0x08000020, "Data cannot be transferred or stored to the application"},
{0x08000021, "Data cannot be transferred or stored to the application"
" because of local control"},
{0x08000022, "Data cannot be transferred or stored to the application"
" because of the present device state"},
{0x08000023, "Object dictionary dynamic generation fails or no object"
" dictionary is present"},
{}
};
/******************************************************************************
* Realtime interface
*****************************************************************************/
/**
Reads an 8-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t *target /**< memory for read value */
)
{
uint8_t data[4];
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
*target = EC_READ_U8(data);
return 0;
}
/*****************************************************************************/
/**
Reads a 16-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint16_t *target /**< memory for read value */
)
{
uint8_t data[4];
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
*target = EC_READ_U16(data);
return 0;
}
/*****************************************************************************/
/**
Reads a 32-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint32_t *target /**< memory for read value */
)
{
uint8_t data[4];
if (ec_slave_sdo_read_exp(slave, sdo_index, sdo_subindex, data)) return -1;
*target = EC_READ_U32(data);
return 0;
}
/*****************************************************************************/
/**
Writes an 8-bit SDO in expedited mode.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint8_t value /**< new value */
)
{
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, &value, 1);
}
/*****************************************************************************/
/**
Writes a 16-bit SDO in expedited mode.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint16_t value /**< new value */
)
{
uint8_t data[2];
EC_WRITE_U16(data, value);
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 2);
}
/*****************************************************************************/
/**
Writes a 32-bit SDO in expedited mode.
\return 0 in case of success, else < 0
\ingroup RealtimeInterface
*/
int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
uint32_t value /**< new value */
)
{
uint8_t data[4];
EC_WRITE_U32(data, value);
return ec_slave_sdo_write_exp(slave, sdo_index, sdo_subindex, data, 4);
}
/*****************************************************************************/
/** \cond */
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp8);
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp16);
EXPORT_SYMBOL(ecrt_slave_sdo_read_exp32);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp8);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp16);
EXPORT_SYMBOL(ecrt_slave_sdo_write_exp32);
EXPORT_SYMBOL(ecrt_slave_sdo_read);
/** \endcond */
/*****************************************************************************/
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