AB&T
SOEM EtherCAT Master library for STM Nucleo F767ZI
Dependents: EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB
- This repository contains the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the
ecosystem by AB&T Tecnologie Informatiche.
- It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- The EasyCAT LAB is provided as a kit by AB&T Tecnologie Informatiche, to allow everybody to have an educational EtherCAT® system up and running in a matter of minutes.
Warning
- Currently only the Nucleo STM32F767ZI board is supported.
SOEM/ethercatcoe.c
- Committer:
- EasyCAT
- Date:
- 2019-06-11
- Revision:
- 0:543d6784d4cc
File content as of revision 0:543d6784d4cc:
/*
* Licensed under the GNU General Public License version 2 with exceptions. See
* LICENSE file in the project root for full license information
*/
/** \file
* \brief
* CAN over EtherCAT (CoE) module.
*
* SDO read / write and SDO service functions
*/
#include <stdio.h>
#include <string.h>
#include "osal.h"
#include "oshw.h"
#include "ethercattype.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatcoe.h"
/** SDO structure, not to be confused with EcSDOserviceT */
PACKED_BEGIN
typedef struct PACKED
{
ec_mbxheadert MbxHeader;
uint16 CANOpen;
uint8 Command;
uint16 Index;
uint8 SubIndex;
union
{
uint8 bdata[0x200]; /* variants for easy data access */
uint16 wdata[0x100];
uint32 ldata[0x80];
};
} ec_SDOt;
PACKED_END
/** SDO service structure */
PACKED_BEGIN
typedef struct PACKED
{
ec_mbxheadert MbxHeader;
uint16 CANOpen;
uint8 Opcode;
uint8 Reserved;
uint16 Fragments;
union
{
uint8 bdata[0x200]; /* variants for easy data access */
uint16 wdata[0x100];
uint32 ldata[0x80];
};
} ec_SDOservicet;
PACKED_END
/** Report SDO error.
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] Index = Index that generated error
* @param[in] SubIdx = Subindex that generated error
* @param[in] AbortCode = Abortcode, see EtherCAT documentation for list
*/
void ecx_SDOerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
{
ec_errort Ec;
memset(&Ec, 0, sizeof(Ec));
Ec.Time = osal_current_time();
Ec.Slave = Slave;
Ec.Index = Index;
Ec.SubIdx = SubIdx;
*(context->ecaterror) = TRUE;
Ec.Etype = EC_ERR_TYPE_SDO_ERROR;
Ec.AbortCode = AbortCode;
ecx_pusherror(context, &Ec);
}
/** Report SDO info error
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] Index = Index that generated error
* @param[in] SubIdx = Subindex that generated error
* @param[in] AbortCode = Abortcode, see EtherCAT documentation for list
*/
static void ecx_SDOinfoerror(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
{
ec_errort Ec;
memset(&Ec, 0, sizeof(Ec));
Ec.Slave = Slave;
Ec.Index = Index;
Ec.SubIdx = SubIdx;
*(context->ecaterror) = TRUE;
Ec.Etype = EC_ERR_TYPE_SDOINFO_ERROR;
Ec.AbortCode = AbortCode;
ecx_pusherror(context, &Ec);
}
/** CoE SDO read, blocking. Single subindex or Complete Access.
*
* Only a "normal" upload request is issued. If the requested parameter is <= 4bytes
* then a "expedited" response is returned, otherwise a "normal" response. If a "normal"
* response is larger than the mailbox size then the response is segmented. The function
* will combine all segments and copy them to the parameter buffer.
*
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] index = Index to read
* @param[in] subindex = Subindex to read, must be 0 or 1 if CA is used.
* @param[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes read.
* @param[in,out] psize = Size in bytes of parameter buffer, returns bytes read from SDO.
* @param[out] p = Pointer to parameter buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ecx_SDOread(ecx_contextt *context, uint16 slave, uint16 index, uint8 subindex,
boolean CA, int *psize, void *p, int timeout)
{
ec_SDOt *SDOp, *aSDOp;
uint16 bytesize, Framedatasize;
int wkc;
int32 SDOlen;
uint8 *bp;
uint8 *hp;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt, toggle;
boolean NotLast;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
SDOp = (ec_SDOt *)&MbxOut;
SDOp->MbxHeader.length = htoes(0x000a);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
if (CA)
{
SDOp->Command = ECT_SDO_UP_REQ_CA; /* upload request complete access */
}
else
{
SDOp->Command = ECT_SDO_UP_REQ; /* upload request normal */
}
SDOp->Index = htoes(index);
if (CA && (subindex > 1))
{
subindex = 1;
}
SDOp->SubIndex = subindex;
SDOp->ldata[0] = 0;
/* send CoE request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be CoE, SDO response and the correct index */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
(aSDOp->Index == SDOp->Index))
{
if ((aSDOp->Command & 0x02) > 0)
{
/* expedited frame response */
bytesize = 4 - ((aSDOp->Command >> 2) & 0x03);
if (*psize >= bytesize) /* parameter buffer big enough ? */
{
/* copy parameter in parameter buffer */
memcpy(p, &aSDOp->ldata[0], bytesize);
/* return the real parameter size */
*psize = bytesize;
}
else
{
wkc = 0;
ecx_packeterror(context, slave, index, subindex, 3); /* data container too small for type */
}
}
else
{ /* normal frame response */
SDOlen = etohl(aSDOp->ldata[0]);
/* Does parameter fit in parameter buffer ? */
if (SDOlen <= *psize)
{
bp = p;
hp = p;
/* calculate mailbox transfer size */
Framedatasize = (etohs(aSDOp->MbxHeader.length) - 10);
if (Framedatasize < SDOlen) /* transfer in segments? */
{
/* copy parameter data in parameter buffer */
memcpy(hp, &aSDOp->ldata[1], Framedatasize);
/* increment buffer pointer */
hp += Framedatasize;
*psize = Framedatasize;
NotLast = TRUE;
toggle= 0x00;
while (NotLast) /* segmented transfer */
{
SDOp = (ec_SDOt *)&MbxOut;
SDOp->MbxHeader.length = htoes(0x000a);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
SDOp->Command = ECT_SDO_SEG_UP_REQ + toggle; /* segment upload request */
SDOp->Index = htoes(index);
SDOp->SubIndex = subindex;
SDOp->ldata[0] = 0;
/* send segmented upload request to slave */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
/* is mailbox transferred to slave ? */
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
/* has slave responded ? */
if (wkc > 0)
{
/* slave response should be CoE, SDO response */
if ((((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
((aSDOp->Command & 0xe0) == 0x00)))
{
/* calculate mailbox transfer size */
Framedatasize = etohs(aSDOp->MbxHeader.length) - 3;
if ((aSDOp->Command & 0x01) > 0)
{ /* last segment */
NotLast = FALSE;
if (Framedatasize == 7)
/* subtract unused bytes from frame */
Framedatasize = Framedatasize - ((aSDOp->Command & 0x0e) >> 1);
/* copy to parameter buffer */
memcpy(hp, &(aSDOp->Index), Framedatasize);
}
else /* segments follow */
{
/* copy to parameter buffer */
memcpy(hp, &(aSDOp->Index), Framedatasize);
/* increment buffer pointer */
hp += Framedatasize;
}
/* update parameter size */
*psize += Framedatasize;
}
/* unexpected frame returned from slave */
else
{
NotLast = FALSE;
if ((aSDOp->Command) == ECT_SDO_ABORT) /* SDO abort frame received */
ecx_SDOerror(context, slave, index, subindex, etohl(aSDOp->ldata[0]));
else
ecx_packeterror(context, slave, index, subindex, 1); /* Unexpected frame returned */
wkc = 0;
}
}
}
toggle = toggle ^ 0x10; /* toggle bit for segment request */
}
}
/* non segmented transfer */
else
{
/* copy to parameter buffer */
memcpy(bp, &aSDOp->ldata[1], SDOlen);
*psize = SDOlen;
}
}
/* parameter buffer too small */
else
{
wkc = 0;
ecx_packeterror(context, slave, index, subindex, 3); /* data container too small for type */
}
}
}
/* other slave response */
else
{
if ((aSDOp->Command) == ECT_SDO_ABORT) /* SDO abort frame received */
{
ecx_SDOerror(context, slave, index, subindex, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, slave, index, subindex, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
return wkc;
}
/** CoE SDO write, blocking. Single subindex or Complete Access.
*
* A "normal" download request is issued, unless we have
* small data, then a "expedited" transfer is used. If the parameter is larger than
* the mailbox size then the download is segmented. The function will split the
* parameter data in segments and send them to the slave one by one.
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] Index = Index to write
* @param[in] SubIndex = Subindex to write, must be 0 or 1 if CA is used.
* @param[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes written.
* @param[in] psize = Size in bytes of parameter buffer.
* @param[out] p = Pointer to parameter buffer
* @param[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubIndex,
boolean CA, int psize, void *p, int Timeout)
{
ec_SDOt *SDOp, *aSDOp;
int wkc, maxdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt, toggle;
uint16 framedatasize;
boolean NotLast;
uint8 *hp;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
SDOp = (ec_SDOt *)&MbxOut;
maxdata = context->slavelist[Slave].mbx_l - 0x10; /* data section=mailbox size - 6 mbx - 2 CoE - 8 sdo req */
/* if small data use expedited transfer */
if ((psize <= 4) && !CA)
{
SDOp->MbxHeader.length = htoes(0x000a);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits */
SDOp->Command = ECT_SDO_DOWN_EXP | (((4 - psize) << 2) & 0x0c); /* expedited SDO download transfer */
SDOp->Index = htoes(Index);
SDOp->SubIndex = SubIndex;
hp = p;
/* copy parameter data to mailbox */
memcpy(&SDOp->ldata[0], hp, psize);
/* send mailbox SDO download request to slave */
wkc = ecx_mbxsend(context, Slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, Timeout);
if (wkc > 0)
{
/* response should be CoE, SDO response, correct index and subindex */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
(aSDOp->Index == SDOp->Index) &&
(aSDOp->SubIndex == SDOp->SubIndex))
{
/* all OK */
}
/* unexpected response from slave */
else
{
if (aSDOp->Command == ECT_SDO_ABORT) /* SDO abort frame received */
{
ecx_SDOerror(context, Slave, Index, SubIndex, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, Slave, Index, SubIndex, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
}
else
{
framedatasize = psize;
NotLast = FALSE;
if (framedatasize > maxdata)
{
framedatasize = maxdata; /* segmented transfer needed */
NotLast = TRUE;
}
SDOp->MbxHeader.length = htoes(0x0a + framedatasize);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits */
if (CA)
{
SDOp->Command = ECT_SDO_DOWN_INIT_CA; /* Complete Access, normal SDO init download transfer */
}
else
{
SDOp->Command = ECT_SDO_DOWN_INIT; /* normal SDO init download transfer */
}
SDOp->Index = htoes(Index);
SDOp->SubIndex = SubIndex;
if (CA && (SubIndex > 1))
{
SDOp->SubIndex = 1;
}
SDOp->ldata[0] = htoel(psize);
hp = p;
/* copy parameter data to mailbox */
memcpy(&SDOp->ldata[1], hp, framedatasize);
hp += framedatasize;
psize -= framedatasize;
/* send mailbox SDO download request to slave */
wkc = ecx_mbxsend(context, Slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, Timeout);
if (wkc > 0)
{
/* response should be CoE, SDO response, correct index and subindex */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
(aSDOp->Index == SDOp->Index) &&
(aSDOp->SubIndex == SDOp->SubIndex))
{
/* all ok */
maxdata += 7;
toggle = 0;
/* repeat while segments left */
while (NotLast)
{
SDOp = (ec_SDOt *)&MbxOut;
framedatasize = psize;
NotLast = FALSE;
SDOp->Command = 0x01; /* last segment */
if (framedatasize > maxdata)
{
framedatasize = maxdata; /* more segments needed */
NotLast = TRUE;
SDOp->Command = 0x00; /* segments follow */
}
if (!NotLast && (framedatasize < 7))
{
SDOp->MbxHeader.length = htoes(0x0a); /* minimum size */
SDOp->Command = 0x01 + ((7 - framedatasize) << 1); /* last segment reduced octets */
}
else
{
SDOp->MbxHeader.length = htoes(framedatasize + 3); /* data + 2 CoE + 1 SDO */
}
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOREQ << 12)); /* number 9bits service upper 4 bits (SDO request) */
SDOp->Command = SDOp->Command + toggle; /* add toggle bit to command byte */
/* copy parameter data to mailbox */
memcpy(&SDOp->Index, hp, framedatasize);
/* update parameter buffer pointer */
hp += framedatasize;
psize -= framedatasize;
/* send SDO download request */
wkc = ecx_mbxsend(context, Slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, Timeout);
if (wkc > 0)
{
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_SDORES) &&
((aSDOp->Command & 0xe0) == 0x20))
{
/* all OK, nothing to do */
}
else
{
if (aSDOp->Command == ECT_SDO_ABORT) /* SDO abort frame received */
{
ecx_SDOerror(context, Slave, Index, SubIndex, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, Slave, Index, SubIndex, 1); /* Unexpected frame returned */
}
wkc = 0;
NotLast = FALSE;
}
}
}
toggle = toggle ^ 0x10; /* toggle bit for segment request */
}
}
/* unexpected response from slave */
else
{
if (aSDOp->Command == ECT_SDO_ABORT) /* SDO abort frame received */
{
ecx_SDOerror(context, Slave, Index, SubIndex, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, Slave, Index, SubIndex, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
}
return wkc;
}
/** CoE RxPDO write, blocking.
*
* A RxPDO download request is issued.
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] RxPDOnumber = Related RxPDO number
* @param[in] psize = Size in bytes of PDO buffer.
* @param[out] p = Pointer to PDO buffer
* @return Workcounter from last slave response
*/
int ecx_RxPDO(ecx_contextt *context, uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
{
ec_SDOt *SDOp;
int wkc, maxdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
uint16 framedatasize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, Slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
SDOp = (ec_SDOt *)&MbxOut;
maxdata = context->slavelist[Slave].mbx_l - 0x08; /* data section=mailbox size - 6 mbx - 2 CoE */
framedatasize = psize;
if (framedatasize > maxdata)
{
framedatasize = maxdata; /* limit transfer */
}
SDOp->MbxHeader.length = htoes(0x02 + framedatasize);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes((RxPDOnumber & 0x01ff) + (ECT_COES_RXPDO << 12)); /* number 9bits service upper 4 bits */
/* copy PDO data to mailbox */
memcpy(&SDOp->Command, p, framedatasize);
/* send mailbox RxPDO request to slave */
wkc = ecx_mbxsend(context, Slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
return wkc;
}
/** CoE TxPDO read remote request, blocking.
*
* A RxPDO download request is issued.
*
* @param[in] context = context struct
* @param[in] slave = Slave number
* @param[in] TxPDOnumber = Related TxPDO number
* @param[in,out] psize = Size in bytes of PDO buffer, returns bytes read from PDO.
* @param[out] p = Pointer to PDO buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ecx_TxPDO(ecx_contextt *context, uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout)
{
ec_SDOt *SDOp, *aSDOp;
int wkc;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
uint16 framedatasize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOt *)&MbxIn;
SDOp = (ec_SDOt *)&MbxOut;
SDOp->MbxHeader.length = htoes(0x02);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(context->slavelist[slave].mbx_cnt);
context->slavelist[slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes((TxPDOnumber & 0x01ff) + (ECT_COES_TXPDO_RR << 12)); /* number 9bits service upper 4 bits */
wkc = ecx_mbxsend(context, slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0)
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be CoE, TxPDO */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((etohs(aSDOp->CANOpen) >> 12) == ECT_COES_TXPDO))
{
/* TxPDO response */
framedatasize = (aSDOp->MbxHeader.length - 2);
if (*psize >= framedatasize) /* parameter buffer big enough ? */
{
/* copy parameter in parameter buffer */
memcpy(p, &aSDOp->Command, framedatasize);
/* return the real parameter size */
*psize = framedatasize;
}
/* parameter buffer too small */
else
{
wkc = 0;
ecx_packeterror(context, slave, 0, 0, 3); /* data container too small for type */
}
}
/* other slave response */
else
{
if ((aSDOp->Command) == ECT_SDO_ABORT) /* SDO abort frame received */
{
ecx_SDOerror(context, slave, 0, 0, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, slave, 0, 0, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
return wkc;
}
/** Read PDO assign structure
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
int ecx_readPDOassign(ecx_contextt *context, uint16 Slave, uint16 PDOassign)
{
uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
uint8 subcnt;
int wkc, bsize = 0, rdl;
int32 rdat2;
rdl = sizeof(rdat); rdat = 0;
/* read PDO assign subindex 0 ( = number of PDO's) */
wkc = ecx_SDOread(context, Slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
rdat = etohs(rdat);
/* positive result from slave ? */
if ((wkc > 0) && (rdat > 0))
{
/* number of available sub indexes */
nidx = rdat;
bsize = 0;
/* read all PDO's */
for (idxloop = 1; idxloop <= nidx; idxloop++)
{
rdl = sizeof(rdat); rdat = 0;
/* read PDO assign */
wkc = ecx_SDOread(context, Slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
/* result is index of PDO */
idx = etohs(rdat);
if (idx > 0)
{
rdl = sizeof(subcnt); subcnt = 0;
/* read number of subindexes of PDO */
wkc = ecx_SDOread(context, Slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
subidx = subcnt;
/* for each subindex */
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
{
rdl = sizeof(rdat2); rdat2 = 0;
/* read SDO that is mapped in PDO */
wkc = ecx_SDOread(context, Slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
rdat2 = etohl(rdat2);
/* extract bitlength of SDO */
if (LO_BYTE(rdat2) < 0xff)
{
bsize += LO_BYTE(rdat2);
}
else
{
rdl = sizeof(rdat); rdat = htoes(0xff);
/* read Object Entry in Object database */
// wkc = ec_readOEsingle(idx, (uint8)SubCount, pODlist, pOElist);
bsize += etohs(rdat);
}
}
}
}
}
/* return total found bitlength (PDO) */
return bsize;
}
/** Read PDO assign structure in Complete Access mode
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] Thread_n = Calling thread index
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
int ecx_readPDOassignCA(ecx_contextt *context, uint16 Slave, int Thread_n,
uint16 PDOassign)
{
uint16 idxloop, nidx, subidxloop, idx, subidx;
int wkc, bsize = 0, rdl;
/* find maximum size of PDOassign buffer */
rdl = sizeof(ec_PDOassignt);
context->PDOassign[Thread_n].n=0;
/* read rxPDOassign in CA mode, all subindexes are read in one struct */
wkc = ecx_SDOread(context, Slave, PDOassign, 0x00, TRUE, &rdl,
&(context->PDOassign[Thread_n]), EC_TIMEOUTRXM);
/* positive result from slave ? */
if ((wkc > 0) && (context->PDOassign[Thread_n].n > 0))
{
nidx = context->PDOassign[Thread_n].n;
bsize = 0;
/* for each PDO do */
for (idxloop = 1; idxloop <= nidx; idxloop++)
{
/* get index from PDOassign struct */
idx = etohs(context->PDOassign[Thread_n].index[idxloop - 1]);
if (idx > 0)
{
rdl = sizeof(ec_PDOdesct); context->PDOdesc[Thread_n].n = 0;
/* read SDO's that are mapped in PDO, CA mode */
wkc = ecx_SDOread(context, Slave,idx, 0x00, TRUE, &rdl,
&(context->PDOdesc[Thread_n]), EC_TIMEOUTRXM);
subidx = context->PDOdesc[Thread_n].n;
/* extract all bitlengths of SDO's */
for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
{
bsize += LO_BYTE(etohl(context->PDOdesc[Thread_n].PDO[subidxloop -1]));
}
}
}
}
/* return total found bitlength (PDO) */
return bsize;
}
/** CoE read PDO mapping.
*
* CANopen has standard indexes defined for PDO mapping. This function
* tries to read them and collect a full input and output mapping size
* of designated slave.
*
* Principal structure in slave:\n
* 1C00:00 is number of SM defined\n
* 1C00:01 SM0 type -> 1C10\n
* 1C00:02 SM1 type -> 1C11\n
* 1C00:03 SM2 type -> 1C12\n
* 1C00:04 SM3 type -> 1C13\n
* Type 0 = unused, 1 = mailbox in, 2 = mailbox out,
* 3 = outputs (RxPDO), 4 = inputs (TxPDO).
*
* 1C12:00 is number of PDO's defined for SM2\n
* 1C12:01 PDO assign SDO #1 -> f.e. 1A00\n
* 1C12:02 PDO assign SDO #2 -> f.e. 1A04\
*
* 1A00:00 is number of object defined for this PDO\n
* 1A00:01 object mapping #1, f.e. 60100710 (SDO 6010 SI 07 bitlength 0x10)
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping successful.
*/
int ecx_readPDOmap(ecx_contextt *context, uint16 Slave, int *Osize, int *Isize)
{
int wkc, rdl;
int retVal = 0;
uint8 nSM, iSM, tSM;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
*Osize = 0;
SMt_bug_add = 0;
rdl = sizeof(nSM); nSM = 0;
/* read SyncManager Communication Type object count */
wkc = ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
/* positive result from slave ? */
if ((wkc > 0) && (nSM > 2))
{
/* limit to maximum number of SM defined, if true the slave can't be configured */
if (nSM > EC_MAXSM)
nSM = EC_MAXSM;
/* iterate for every SM type defined */
for (iSM = 2 ; iSM < nSM ; iSM++)
{
rdl = sizeof(tSM); tSM = 0;
/* read SyncManager Communication Type */
wkc = ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
if (wkc > 0)
{
// start slave bug prevention code, remove if possible
if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
{
SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
}
if(tSM)
{
tSM += SMt_bug_add; // only add if SMt > 0
}
if((iSM == 2) && (tSM == 0)) // SM2 has type 0, this is a bug in the slave!
{
tSM = 3;
}
if((iSM == 3) && (tSM == 0)) // SM3 has type 0, this is a bug in the slave!
{
tSM = 4;
}
// end slave bug prevention code
context->slavelist[Slave].SMtype[iSM] = tSM;
/* check if SM is unused -> clear enable flag */
if (tSM == 0)
{
context->slavelist[Slave].SM[iSM].SMflags =
htoel( etohl(context->slavelist[Slave].SM[iSM].SMflags) & EC_SMENABLEMASK);
}
if ((tSM == 3) || (tSM == 4))
{
/* read the assign PDO */
Tsize = ecx_readPDOassign(context, Slave, ECT_SDO_PDOASSIGN + iSM );
/* if a mapping is found */
if (Tsize)
{
context->slavelist[Slave].SM[iSM].SMlength = htoes((Tsize + 7) / 8);
if (tSM == 3)
{
/* we are doing outputs */
*Osize += Tsize;
}
else
{
/* we are doing inputs */
*Isize += Tsize;
}
}
}
}
}
}
/* found some I/O bits ? */
if ((*Isize > 0) || (*Osize > 0))
{
retVal = 1;
}
return retVal;
}
/** CoE read PDO mapping in Complete Access mode (CA).
*
* CANopen has standard indexes defined for PDO mapping. This function
* tries to read them and collect a full input and output mapping size
* of designated slave. Slave has to support CA, otherwise use ec_readPDOmap().
*
* @param[in] context = context struct
* @param[in] Slave = Slave number
* @param[in] Thread_n = Calling thread index
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping successful.
*/
int ecx_readPDOmapCA(ecx_contextt *context, uint16 Slave, int Thread_n, int *Osize, int *Isize)
{
int wkc, rdl;
int retVal = 0;
uint8 nSM, iSM, tSM;
int Tsize;
uint8 SMt_bug_add;
*Isize = 0;
*Osize = 0;
SMt_bug_add = 0;
rdl = sizeof(ec_SMcommtypet);
context->SMcommtype[Thread_n].n = 0;
/* read SyncManager Communication Type object count Complete Access*/
wkc = ecx_SDOread(context, Slave, ECT_SDO_SMCOMMTYPE, 0x00, TRUE, &rdl,
&(context->SMcommtype[Thread_n]), EC_TIMEOUTRXM);
/* positive result from slave ? */
if ((wkc > 0) && (context->SMcommtype[Thread_n].n > 2))
{
nSM = context->SMcommtype[Thread_n].n;
/* limit to maximum number of SM defined, if true the slave can't be configured */
if (nSM > EC_MAXSM)
{
nSM = EC_MAXSM;
ecx_packeterror(context, Slave, 0, 0, 10); /* #SM larger than EC_MAXSM */
}
/* iterate for every SM type defined */
for (iSM = 2 ; iSM < nSM ; iSM++)
{
tSM = context->SMcommtype[Thread_n].SMtype[iSM];
// start slave bug prevention code, remove if possible
if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
{
SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
}
if(tSM)
{
tSM += SMt_bug_add; // only add if SMt > 0
}
// end slave bug prevention code
context->slavelist[Slave].SMtype[iSM] = tSM;
/* check if SM is unused -> clear enable flag */
if (tSM == 0)
{
context->slavelist[Slave].SM[iSM].SMflags =
htoel( etohl(context->slavelist[Slave].SM[iSM].SMflags) & EC_SMENABLEMASK);
}
if ((tSM == 3) || (tSM == 4))
{
/* read the assign PDO */
Tsize = ecx_readPDOassignCA(context, Slave, Thread_n,
ECT_SDO_PDOASSIGN + iSM );
/* if a mapping is found */
if (Tsize)
{
context->slavelist[Slave].SM[iSM].SMlength = htoes((Tsize + 7) / 8);
if (tSM == 3)
{
/* we are doing outputs */
*Osize += Tsize;
}
else
{
/* we are doing inputs */
*Isize += Tsize;
}
}
}
}
}
/* found some I/O bits ? */
if ((*Isize > 0) || (*Osize > 0))
{
retVal = 1;
}
return retVal;
}
/** CoE read Object Description List.
*
* @param[in] context = context struct
* @param[in] Slave = Slave number.
* @param[out] pODlist = resulting Object Description list.
* @return Workcounter of slave response.
*/
int ecx_readODlist(ecx_contextt *context, uint16 Slave, ec_ODlistt *pODlist)
{
ec_SDOservicet *SDOp, *aSDOp;
ec_mbxbuft MbxIn, MbxOut;
int wkc;
uint16 x, n, i, sp, offset;
boolean stop;
uint8 cnt;
boolean First;
pODlist->Slave = Slave;
pODlist->Entries = 0;
ec_clearmbx(&MbxIn);
/* clear pending out mailbox in slave if available. Timeout is set to 0 */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOservicet*)&MbxIn;
SDOp = (ec_SDOservicet*)&MbxOut;
SDOp->MbxHeader.length = htoes(0x0008);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_ODLIST_REQ; /* get object description list request */
SDOp->Reserved = 0;
SDOp->Fragments = 0; /* fragments left */
SDOp->wdata[0] = htoes(0x01); /* all objects */
/* send get object description list request to slave */
wkc = ecx_mbxsend(context, Slave, &MbxOut, EC_TIMEOUTTXM);
/* mailbox placed in slave ? */
if (wkc > 0)
{
x = 0;
sp = 0;
First = TRUE;
offset = 1; /* offset to skip info header in first frame, otherwise set to 0 */
do
{
stop = TRUE; /* assume this is last iteration */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, EC_TIMEOUTRXM);
/* got response ? */
if (wkc > 0)
{
/* response should be CoE and "get object description list response" */
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((aSDOp->Opcode & 0x7f) == ECT_GET_ODLIST_RES))
{
if (First)
{
/* extract number of indexes from mailbox data size */
n = (etohs(aSDOp->MbxHeader.length) - (6 + 2)) / 2;
}
else
{
/* extract number of indexes from mailbox data size */
n = (etohs(aSDOp->MbxHeader.length) - 6) / 2;
}
/* check if indexes fit in buffer structure */
if ((sp + n) > EC_MAXODLIST)
{
n = EC_MAXODLIST + 1 - sp;
ecx_SDOinfoerror(context, Slave, 0, 0, 0xf000000); /* Too many entries for master buffer */
stop = TRUE;
}
/* trim to maximum number of ODlist entries defined */
if ((pODlist->Entries + n) > EC_MAXODLIST)
{
n = EC_MAXODLIST - pODlist->Entries;
}
pODlist->Entries += n;
/* extract indexes one by one */
for (i = 0; i < n; i++)
{
pODlist->Index[sp + i] = etohs(aSDOp->wdata[i + offset]);
}
sp += n;
/* check if more fragments will follow */
if (aSDOp->Fragments > 0)
{
stop = FALSE;
}
First = FALSE;
offset = 0;
}
/* got unexpected response from slave */
else
{
if ((aSDOp->Opcode & 0x7f) == ECT_SDOINFO_ERROR) /* SDO info error received */
{
ecx_SDOinfoerror(context, Slave, 0, 0, etohl(aSDOp->ldata[0]));
stop = TRUE;
}
else
{
ecx_packeterror(context, Slave, 0, 0, 1); /* Unexpected frame returned */
}
wkc = 0;
x += 20;
}
}
x++;
}
while ((x <= 128) && !stop);
}
return wkc;
}
/** CoE read Object Description. Adds textual description to object indexes.
*
* @param[in] context = context struct
* @param[in] Item = Item number in ODlist.
* @param[in,out] pODlist = referencing Object Description list.
* @return Workcounter of slave response.
*/
int ecx_readODdescription(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist)
{
ec_SDOservicet *SDOp, *aSDOp;
int wkc;
uint16 n, Slave;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
Slave = pODlist->Slave;
pODlist->DataType[Item] = 0;
pODlist->ObjectCode[Item] = 0;
pODlist->MaxSub[Item] = 0;
pODlist->Name[Item][0] = 0;
ec_clearmbx(&MbxIn);
/* clear pending out mailbox in slave if available. Timeout is set to 0 */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOservicet*)&MbxIn;
SDOp = (ec_SDOservicet*)&MbxOut;
SDOp->MbxHeader.length = htoes(0x0008);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_OD_REQ; /* get object description request */
SDOp->Reserved = 0;
SDOp->Fragments = 0; /* fragments left */
SDOp->wdata[0] = htoes(pODlist->Index[Item]); /* Data of Index */
/* send get object description request to slave */
wkc = ecx_mbxsend(context, Slave, &MbxOut, EC_TIMEOUTTXM);
/* mailbox placed in slave ? */
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, EC_TIMEOUTRXM);
/* got response ? */
if (wkc > 0)
{
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((aSDOp->Opcode & 0x7f) == ECT_GET_OD_RES))
{
n = (etohs(aSDOp->MbxHeader.length) - 12); /* length of string(name of object) */
if (n > EC_MAXNAME)
{
n = EC_MAXNAME; /* max chars */
}
pODlist->DataType[Item] = etohs(aSDOp->wdata[1]);
pODlist->ObjectCode[Item] = aSDOp->bdata[5];
pODlist->MaxSub[Item] = aSDOp->bdata[4];
strncpy(pODlist->Name[Item] , (char *)&aSDOp->bdata[6], n);
pODlist->Name[Item][n] = 0x00; /* String terminator */
}
/* got unexpected response from slave */
else
{
if (((aSDOp->Opcode & 0x7f) == ECT_SDOINFO_ERROR)) /* SDO info error received */
{
ecx_SDOinfoerror(context, Slave,pODlist->Index[Item], 0, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, Slave,pODlist->Index[Item], 0, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
return wkc;
}
/** CoE read SDO service object entry, single subindex.
* Used in ec_readOE().
*
* @param[in] context = context struct
* @param[in] Item = Item in ODlist.
* @param[in] SubI = Subindex of item in ODlist.
* @param[in] pODlist = Object description list for reference.
* @param[out] pOElist = resulting object entry structure.
* @return Workcounter of slave response.
*/
int ecx_readOEsingle(ecx_contextt *context, uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist)
{
ec_SDOservicet *SDOp, *aSDOp;
int wkc;
uint16 Index, Slave;
int16 n;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
wkc = 0;
Slave = pODlist->Slave;
Index = pODlist->Index[Item];
ec_clearmbx(&MbxIn);
/* clear pending out mailbox in slave if available. Timeout is set to 0 */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, 0);
ec_clearmbx(&MbxOut);
aSDOp = (ec_SDOservicet*)&MbxIn;
SDOp = (ec_SDOservicet*)&MbxOut;
SDOp->MbxHeader.length = htoes(0x000a);
SDOp->MbxHeader.address = htoes(0x0000);
SDOp->MbxHeader.priority = 0x00;
/* Get new mailbox counter value */
cnt = ec_nextmbxcnt(context->slavelist[Slave].mbx_cnt);
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + (cnt << 4); /* CoE */
SDOp->CANOpen = htoes(0x000 + (ECT_COES_SDOINFO << 12)); /* number 9bits service upper 4 bits */
SDOp->Opcode = ECT_GET_OE_REQ; /* get object entry description request */
SDOp->Reserved = 0;
SDOp->Fragments = 0; /* fragments left */
SDOp->wdata[0] = htoes(Index); /* Index */
SDOp->bdata[2] = SubI; /* SubIndex */
SDOp->bdata[3] = 1 + 2 + 4; /* get access rights, object category, PDO */
/* send get object entry description request to slave */
wkc = ecx_mbxsend(context, Slave, &MbxOut, EC_TIMEOUTTXM);
/* mailbox placed in slave ? */
if (wkc > 0)
{
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ecx_mbxreceive(context, Slave, &MbxIn, EC_TIMEOUTRXM);
/* got response ? */
if (wkc > 0)
{
if (((aSDOp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_COE) &&
((aSDOp->Opcode & 0x7f) == ECT_GET_OE_RES))
{
pOElist->Entries++;
n = (etohs(aSDOp->MbxHeader.length) - 16); /* length of string(name of object) */
if (n > EC_MAXNAME)
{
n = EC_MAXNAME; /* max string length */
}
if (n < 0 )
{
n = 0;
}
pOElist->ValueInfo[SubI] = aSDOp->bdata[3];
pOElist->DataType[SubI] = etohs(aSDOp->wdata[2]);
pOElist->BitLength[SubI] = etohs(aSDOp->wdata[3]);
pOElist->ObjAccess[SubI] = etohs(aSDOp->wdata[4]);
strncpy(pOElist->Name[SubI] , (char *)&aSDOp->wdata[5], n);
pOElist->Name[SubI][n] = 0x00; /* string terminator */
}
/* got unexpected response from slave */
else
{
if (((aSDOp->Opcode & 0x7f) == ECT_SDOINFO_ERROR)) /* SDO info error received */
{
ecx_SDOinfoerror(context, Slave, Index, SubI, etohl(aSDOp->ldata[0]));
}
else
{
ecx_packeterror(context, Slave, Index, SubI, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
}
return wkc;
}
/** CoE read SDO service object entry.
*
* @param[in] context = context struct
* @param[in] Item = Item in ODlist.
* @param[in] pODlist = Object description list for reference.
* @param[out] pOElist = resulting object entry structure.
* @return Workcounter of slave response.
*/
int ecx_readOE(ecx_contextt *context, uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist)
{
uint16 SubCount;
int wkc;
uint8 SubI;
wkc = 0;
pOElist->Entries = 0;
SubI = pODlist->MaxSub[Item];
/* for each entry found in ODlist */
for (SubCount = 0; SubCount <= SubI; SubCount++)
{
/* read subindex of entry */
wkc = ecx_readOEsingle(context, Item, (uint8)SubCount, pODlist, pOElist);
}
return wkc;
}
#ifdef EC_VER1
/** Report SDO error.
*
* @param[in] Slave = Slave number
* @param[in] Index = Index that generated error
* @param[in] SubIdx = Subindex that generated error
* @param[in] AbortCode = Abortcode, see EtherCAT documentation for list
* @see ecx_SDOerror
*/
void ec_SDOerror(uint16 Slave, uint16 Index, uint8 SubIdx, int32 AbortCode)
{
ecx_SDOerror(&ecx_context, Slave, Index, SubIdx, AbortCode);
}
/** CoE SDO read, blocking. Single subindex or Complete Access.
*
* Only a "normal" upload request is issued. If the requested parameter is <= 4bytes
* then a "expedited" response is returned, otherwise a "normal" response. If a "normal"
* response is larger than the mailbox size then the response is segmented. The function
* will combine all segments and copy them to the parameter buffer.
*
* @param[in] slave = Slave number
* @param[in] index = Index to read
* @param[in] subindex = Subindex to read, must be 0 or 1 if CA is used.
* @param[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes read.
* @param[in,out] psize = Size in bytes of parameter buffer, returns bytes read from SDO.
* @param[out] p = Pointer to parameter buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
* @see ecx_SDOread
*/
int ec_SDOread(uint16 slave, uint16 index, uint8 subindex,
boolean CA, int *psize, void *p, int timeout)
{
return ecx_SDOread(&ecx_context, slave, index, subindex, CA, psize, p, timeout);
}
/** CoE SDO write, blocking. Single subindex or Complete Access.
*
* A "normal" download request is issued, unless we have
* small data, then a "expedited" transfer is used. If the parameter is larger than
* the mailbox size then the download is segmented. The function will split the
* parameter data in segments and send them to the slave one by one.
*
* @param[in] Slave = Slave number
* @param[in] Index = Index to write
* @param[in] SubIndex = Subindex to write, must be 0 or 1 if CA is used.
* @param[in] CA = FALSE = single subindex. TRUE = Complete Access, all subindexes written.
* @param[in] psize = Size in bytes of parameter buffer.
* @param[out] p = Pointer to parameter buffer
* @param[in] Timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
* @see ecx_SDOwrite
*/
int ec_SDOwrite(uint16 Slave, uint16 Index, uint8 SubIndex,
boolean CA, int psize, void *p, int Timeout)
{
return ecx_SDOwrite(&ecx_context, Slave, Index, SubIndex, CA, psize, p, Timeout);
}
/** CoE RxPDO write, blocking.
*
* A RxPDO download request is issued.
*
* @param[in] Slave = Slave number
* @param[in] RxPDOnumber = Related RxPDO number
* @param[in] psize = Size in bytes of PDO buffer.
* @param[out] p = Pointer to PDO buffer
* @return Workcounter from last slave response
* @see ecx_RxPDO
*/
int ec_RxPDO(uint16 Slave, uint16 RxPDOnumber, int psize, void *p)
{
return ecx_RxPDO(&ecx_context, Slave, RxPDOnumber, psize, p);
}
/** CoE TxPDO read remote request, blocking.
*
* A RxPDO download request is issued.
*
* @param[in] slave = Slave number
* @param[in] TxPDOnumber = Related TxPDO number
* @param[in,out] psize = Size in bytes of PDO buffer, returns bytes read from PDO.
* @param[out] p = Pointer to PDO buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
* @see ecx_TxPDO
*/
int ec_TxPDO(uint16 slave, uint16 TxPDOnumber , int *psize, void *p, int timeout)
{
return ecx_TxPDO(&ecx_context, slave, TxPDOnumber, psize, p, timeout);
}
/** Read PDO assign structure
* @param[in] Slave = Slave number
* @param[in] PDOassign = PDO assign object
* @return total bitlength of PDO assign
*/
int ec_readPDOassign(uint16 Slave, uint16 PDOassign)
{
return ecx_readPDOassign(&ecx_context, Slave, PDOassign);
}
/** Read PDO assign structure in Complete Access mode
* @param[in] Slave = Slave number
* @param[in] PDOassign = PDO assign object
* @param[in] Thread_n = Calling thread index
* @return total bitlength of PDO assign
* @see ecx_readPDOmap
*/
int ec_readPDOassignCA(uint16 Slave, uint16 PDOassign, int Thread_n)
{
return ecx_readPDOassignCA(&ecx_context, Slave, Thread_n, PDOassign);
}
/** CoE read PDO mapping.
*
* CANopen has standard indexes defined for PDO mapping. This function
* tries to read them and collect a full input and output mapping size
* of designated slave.
*
* For details, see #ecx_readPDOmap
*
* @param[in] Slave = Slave number
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping succesful.
*/
int ec_readPDOmap(uint16 Slave, int *Osize, int *Isize)
{
return ecx_readPDOmap(&ecx_context, Slave, Osize, Isize);
}
/** CoE read PDO mapping in Complete Access mode (CA).
*
* CANopen has standard indexes defined for PDO mapping. This function
* tries to read them and collect a full input and output mapping size
* of designated slave. Slave has to support CA, otherwise use ec_readPDOmap().
*
* @param[in] Slave = Slave number
* @param[in] Thread_n = Calling thread index
* @param[out] Osize = Size in bits of output mapping (rxPDO) found
* @param[out] Isize = Size in bits of input mapping (txPDO) found
* @return >0 if mapping succesful.
* @see ecx_readPDOmap ec_readPDOmapCA
*/
int ec_readPDOmapCA(uint16 Slave, int Thread_n, int *Osize, int *Isize)
{
return ecx_readPDOmapCA(&ecx_context, Slave, Thread_n, Osize, Isize);
}
/** CoE read Object Description List.
*
* @param[in] Slave = Slave number.
* @param[out] pODlist = resulting Object Description list.
* @return Workcounter of slave response.
* @see ecx_readODlist
*/
int ec_readODlist(uint16 Slave, ec_ODlistt *pODlist)
{
return ecx_readODlist(&ecx_context, Slave, pODlist);
}
/** CoE read Object Description. Adds textual description to object indexes.
*
* @param[in] Item = Item number in ODlist.
* @param[in,out] pODlist = referencing Object Description list.
* @return Workcounter of slave response.
* @see ecx_readODdescription
*/
int ec_readODdescription(uint16 Item, ec_ODlistt *pODlist)
{
return ecx_readODdescription(&ecx_context, Item, pODlist);
}
int ec_readOEsingle(uint16 Item, uint8 SubI, ec_ODlistt *pODlist, ec_OElistt *pOElist)
{
return ecx_readOEsingle(&ecx_context, Item, SubI, pODlist, pOElist);
}
/** CoE read SDO service object entry.
*
* @param[in] Item = Item in ODlist.
* @param[in] pODlist = Object description list for reference.
* @param[out] pOElist = resulting object entry structure.
* @return Workcounter of slave response.
* @see ecx_readOE
*/
int ec_readOE(uint16 Item, ec_ODlistt *pODlist, ec_OElistt *pOElist)
{
return ecx_readOE(&ecx_context, Item, pODlist, pOElist);
}
#endif
