From a85cbcf58670b65e5aefd0bdf53777562d0aab6f Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Tue, 28 Mar 2006 17:40:57 +0000
Subject: [PATCH] SDO-Zugriff aufgeteilt in Expedited und Normal. Noch nicht
fertig...
---
include/ecrt.h | 37 ++++++----
master/canopen.c | 180 ++++++++++++++++++++++++++++++++++++-----------
rt/msr_module.c | 45 +++++++-----
3 files changed, 189 insertions(+), 73 deletions(-)
diff --git a/include/ecrt.h b/include/ecrt.h
index d44db17e..b0540e5d 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -59,17 +59,23 @@ void ecrt_master_async_receive(ec_master_t *master);
void ecrt_master_prepare_async_io(ec_master_t *master);
void ecrt_master_debug(ec_master_t *master, int level);
void ecrt_master_print(const ec_master_t *master);
-int ecrt_master_sdo_write(ec_master_t *master,
- const char *slave_addr,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t value,
- size_t size);
+int ecrt_master_sdo_exp_write(ec_master_t *master,
+ const char *slave_addr,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value,
+ size_t size);
+int ecrt_master_sdo_exp_read(ec_master_t *master,
+ const char *slave_addr,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t *value);
int ecrt_master_sdo_read(ec_master_t *master,
const char *slave_addr,
uint16_t sdo_index,
uint8_t sdo_subindex,
- uint32_t *value);
+ uint8_t *data,
+ size_t *size);
int ecrt_master_write_slave_alias(ec_master_t *master,
const char *slave_address, uint16_t alias);
@@ -93,15 +99,20 @@ int ecrt_domain_state(ec_domain_t *domain);
/*****************************************************************************/
// Slave Methods
-int ecrt_slave_sdo_write(ec_slave_t *slave,
- uint16_t sdo_index,
- uint8_t sdo_subindex,
- uint32_t value,
- size_t size);
+int ecrt_slave_sdo_exp_write(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t value,
+ size_t size);
+int ecrt_slave_sdo_exp_read(ec_slave_t *slave,
+ uint16_t sdo_index,
+ uint8_t sdo_subindex,
+ uint32_t *value);
int ecrt_slave_sdo_read(ec_slave_t *slave,
uint16_t sdo_index,
uint8_t sdo_subindex,
- uint32_t *value);
+ uint8_t *data,
+ size_t *size);
/*****************************************************************************/
// Bitwise read/write macros
diff --git a/master/canopen.c b/master/canopen.c
index fa89f1e0..108c5fb5 100644
--- a/master/canopen.c
+++ b/master/canopen.c
@@ -35,15 +35,15 @@ int ec_slave_fetch_sdo_descriptions(ec_slave_t *);
/*****************************************************************************/
/**
- Schreibt ein CANopen-SDO (service data object).
+ Schreibt ein CANopen-SDO (service data object), expedited.
*/
-int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
- uint16_t sdo_index, /**< SDO-Index */
- uint8_t sdo_subindex, /**< SDO-Subindex */
- uint32_t value, /**< Neuer Wert */
- size_t size /**< Größe des Datenfeldes */
- )
+int ecrt_slave_sdo_exp_write(ec_slave_t *slave, /**< EtherCAT-Slave */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint32_t value, /**< Neuer Wert */
+ size_t size /**< Größe des Datenfeldes */
+ )
{
uint8_t data[0x0A];
unsigned int i;
@@ -94,6 +94,52 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
/*****************************************************************************/
+/**
+ Liest ein CANopen-SDO (service data object), expedited.
+ */
+
+int ecrt_slave_sdo_exp_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 */
+ )
+{
+ uint8_t data[0x20];
+ size_t rec_size;
+
+ EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request
+ EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload request
+ EC_WRITE_U16(data + 3, sdo_index);
+ EC_WRITE_U8 (data + 5, sdo_subindex);
+
+ if (ec_slave_mailbox_send(slave, 0x03, data, 6)) return -1;
+
+ rec_size = 0x20;
+ if (ec_slave_mailbox_receive(slave, 0x03, data, &rec_size)) return -1;
+
+ if (EC_READ_U16(data) >> 12 == 0x02 && // SDO request
+ EC_READ_U8 (data + 2) >> 5 == 0x04) { // Abort SDO transfer request
+ EC_ERR("SDO upload of 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 != 0x03 || // SDO response
+ EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
+ EC_READ_U16(data + 3) != sdo_index || // Index
+ EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
+ EC_ERR("Invalid SDO upload response at slave %i!\n",
+ slave->ring_position);
+ return -1;
+ }
+
+ *value = EC_READ_U32(data + 6);
+ return 0;
+}
+
+/*****************************************************************************/
+
/**
Liest ein CANopen-SDO (service data object).
*/
@@ -101,14 +147,16 @@ int ecrt_slave_sdo_write(ec_slave_t *slave, /**< EtherCAT-Slave */
int ecrt_slave_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 */
+ uint8_t *target, /**< Speicher für gel. Wert */
+ size_t *size /**< Größe des Speichers */
)
{
uint8_t data[0x20];
- size_t rec_size;
+ size_t rec_size, data_size;
+ uint32_t complete_size;
EC_WRITE_U16(data, 0x2000); // Number (0), Service = SDO request
- EC_WRITE_U8 (data + 2, 0x1 << 1 | 0x2 << 5); // Expedited upload 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);
@@ -126,7 +174,7 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
}
if (EC_READ_U16(data) >> 12 != 0x03 || // SDO response
- EC_READ_U8 (data + 2) >> 5 != 0x02 || // Upload response
+ EC_READ_U8 (data + 2) >> 5 != 0x02 || // Initiate upload response
EC_READ_U16(data + 3) != sdo_index || // Index
EC_READ_U8 (data + 5) != sdo_subindex) { // Subindex
EC_ERR("Invalid SDO upload response at slave %i!\n",
@@ -134,64 +182,108 @@ int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT-Slave */
return -1;
}
- *value = EC_READ_U32(data + 6);
+ if (rec_size < 10) {
+ EC_ERR("Received currupted SDO upload response!\n");
+ 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) {
+ memcpy(target, data + 10, data_size);
+ }
+ else {
+ EC_ERR("SDO data incomplete.\n");
+ return -1;
+ }
+
return 0;
}
/*****************************************************************************/
/**
- Schweibt ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
+ Schreibt ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
+
+ Siehe ecrt_slave_sdo_exp_write()
+
+ \return 0 wenn alles ok, < 0 bei Fehler
+ */
+
+int ecrt_master_sdo_exp_write(ec_master_t *master,
+ /**< EtherCAT-Master */
+ const char *addr,
+ /**< Addresse, siehe ec_master_slave_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_master_slave_address(master, addr))) return -1;
+ return ecrt_slave_sdo_exp_write(slave, index, subindex, value, size);
+}
+
+/*****************************************************************************/
+
+/**
+ Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
- Siehe ecrt_slave_sdo_write()
+ Siehe ecrt_slave_sdo_exp_read()
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int ecrt_master_sdo_write(ec_master_t *master,
- /**< EtherCAT-Master */
- const char *addr,
- /**< Addresse, siehe ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t value,
- /**< Neuer Wert */
- size_t size
- /**< Größe des Datenfeldes */
- )
+int ecrt_master_sdo_exp_read(ec_master_t *master,
+ /**< EtherCAT-Slave */
+ const char *addr,
+ /**< Addresse, siehe ec_master_slave_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_master_slave_address(master, addr))) return -1;
- return ecrt_slave_sdo_write(slave, index, subindex, value, size);
+ return ecrt_slave_sdo_exp_read(slave, index, subindex, value);
}
/*****************************************************************************/
/**
- Liest ein CANopen-SDO (Variante mit Angabe des Masters und der Adresse).
+ Liest ein CANopen-SDO (Angabe des Masters und der Adresse), expedited.
- Siehe ecrt_slave_sdo_read()
+ Siehe ecrt_slave_sdo_exp_read()
\return 0 wenn alles ok, < 0 bei Fehler
*/
-int ecrt_master_sdo_read(ec_master_t *master,
- /**< EtherCAT-Slave */
- const char *addr,
- /**< Addresse, siehe ec_master_slave_address() */
- uint16_t index,
- /**< SDO-Index */
- uint8_t subindex,
- /**< SDO-Subindex */
- uint32_t *value
- /**< Speicher für gel. Wert */
+int ecrt_master_sdo_read(ec_master_t *master, /**< EtherCAT-Master */
+ const char *addr, /**< Addresse, siehe
+ ec_master_slave_address() */
+ uint16_t sdo_index, /**< SDO-Index */
+ uint8_t sdo_subindex, /**< SDO-Subindex */
+ uint8_t *target, /**< Speicher für gel. Wert */
+ size_t *size /**< Größe des Speichers */
)
{
ec_slave_t *slave;
if (!(slave = ec_master_slave_address(master, addr))) return -1;
- return ecrt_slave_sdo_read(slave, index, subindex, value);
+ return ecrt_slave_sdo_read(slave, sdo_index, sdo_subindex, target, size);
}
/*****************************************************************************/
@@ -398,9 +490,11 @@ const ec_sdo_abort_message_t sdo_abort_messages[] = {
/*****************************************************************************/
-EXPORT_SYMBOL(ecrt_slave_sdo_write);
+EXPORT_SYMBOL(ecrt_slave_sdo_exp_write);
+EXPORT_SYMBOL(ecrt_slave_sdo_exp_read);
EXPORT_SYMBOL(ecrt_slave_sdo_read);
-EXPORT_SYMBOL(ecrt_master_sdo_write);
+EXPORT_SYMBOL(ecrt_master_sdo_exp_write);
+EXPORT_SYMBOL(ecrt_master_sdo_exp_read);
EXPORT_SYMBOL(ecrt_master_sdo_read);
/*****************************************************************************/
diff --git a/rt/msr_module.c b/rt/msr_module.c
index 8fc51c13..42eadc05 100644
--- a/rt/msr_module.c
+++ b/rt/msr_module.c
@@ -38,7 +38,7 @@
#include "../include/ecrt.h"
#define ASYNC
-//#define BLOCK1
+#define BLOCK1
// Defines/Makros
#define HZREDUCTION (MSR_ABTASTFREQUENZ / HZ)
@@ -70,8 +70,8 @@ uint32_t k_finished;
#ifdef BLOCK1
ec_field_init_t domain1_fields[] = {
- {&r_ssi, "1", "Beckhoff", "EL5001", "InputValue", 0},
- {&r_ssi_st, "1", "Beckhoff", "EL5001", "Status", 0},
+ {&r_ssi, "5", "Beckhoff", "EL5001", "InputValue", 0},
+ {&r_ssi_st, "5", "Beckhoff", "EL5001", "Status", 0},
{}
};
#else
@@ -184,9 +184,10 @@ void domain_entry(void)
int __init init_rt_module(void)
{
struct ipipe_domain_attr attr; //ipipe
- uint32_t version;
+ uint8_t string[10];
+ size_t size;
- // Als allererstes die RT-lib initialisieren
+ // Als allererstes die RT-Lib initialisieren
if (msr_rtlib_init(1, MSR_ABTASTFREQUENZ, 10, &msr_globals_register) < 0) {
msr_print_warn("msr_modul: can't initialize rtlib!");
goto out_return;
@@ -230,21 +231,31 @@ int __init init_rt_module(void)
ecrt_master_print(master);
#ifdef BLOCK1
- if (ecrt_master_sdo_read(master, "1", 0x100A, 1, &version)) {
+ size = 10;
+ if (ecrt_master_sdo_read(master, "1", 0x100A, 0, string, &size)) {
printk(KERN_ERR "Could not read SSI version!\n");
goto out_deactivate;
}
- printk(KERN_INFO "Software-version: %u\n", version);
-
- if (ecrt_master_sdo_write(master, "1", 0x4061, 1, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4061, 2, 1, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4061, 3, 1, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4066, 0, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4067, 0, 4, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4068, 0, 0, 1) ||
- ecrt_master_sdo_write(master, "1", 0x4069, 0, 25, 1) ||
- ecrt_master_sdo_write(master, "1", 0x406A, 0, 25, 1) ||
- ecrt_master_sdo_write(master, "1", 0x406B, 0, 50, 1)) {
+ string[size] = 0;
+ printk(KERN_INFO "Software-version 1: %s\n", string);
+
+ size = 10;
+ if (ecrt_master_sdo_read(master, "5", 0x100A, 0, string, &size)) {
+ printk(KERN_ERR "Could not read SSI version!\n");
+ goto out_deactivate;
+ }
+ string[size] = 0;
+ printk(KERN_INFO "Software-version 5: %s\n", string);
+
+ if (ecrt_master_sdo_exp_write(master, "5", 0x4061, 1, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4061, 2, 1, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4061, 3, 1, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4066, 0, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4067, 0, 4, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4068, 0, 0, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x4069, 0, 25, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x406A, 0, 25, 1) ||
+ ecrt_master_sdo_exp_write(master, "5", 0x406B, 0, 50, 1)) {
printk(KERN_ERR "Failed to configure SSI slave!\n");
goto out_deactivate;
}
--
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