Alex
9661838676
Работает. Есть CiA402, OD из SSC Tool. Автономный со своим main(). Проверялся тестами на SOEM.
192 lines
6.4 KiB
C
192 lines
6.4 KiB
C
/*
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* This source file is part of the EtherCAT Slave Stack Code licensed by Beckhoff Automation GmbH & Co KG, 33415 Verl, Germany.
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* The corresponding license agreement applies. This hint shall not be removed.
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* https://www.beckhoff.com/media/downloads/slave-stack-code/ethercat_ssc_license.pdf
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*/
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/**
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\addtogroup CoE CAN Application Profile over EtherCAT
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@{
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*/
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/**
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\file ecatcoe.c
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\author EthercatSSC@beckhoff.com
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\brief Implementation
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This file contains the CoE mailbox interface
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\version 5.13
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<br>Changes to version V5.11:<br>
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V5.13 COE8: handle failure on continue indication<br>
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V5.13 TEST4: memory leak on SDO response receive<br>
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<br>Changes to version V5.0:<br>
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V5.11 COE4: "change prototype of ""COE_ContinueInd()"" return <> 0 if a failure occurred"<br>
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V5.11 ECAT10: change PROTO handling to prevent compiler errors<br>
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V5.11 TEST6: add test object to trigger Slave-to-Slave communication<br>
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V5.11 TEST7: add test behaviour to send an emergency on every SDO request (in SafeOP)<br>
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<br>Changes to version V4.40:<br>
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V5.0 SDO7: "SDOS_SdoInfoInd()" never return pending SDO Info service. Delete "NOERROR_INWORK" handling.<br>
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<br>Changes to version V4.08:<br>
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V4.40 SDO1: add initial value for "nSdoInfoFragmentsLeft"<br>
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V4.40 MBX6: change return value if no mailbox buffer is available<br>
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V4.08 MBX 1: If the switch MAILBOX_QUEUE was set, we have to put all SDO Info Responses in the Send Queue
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*/
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/*---------------------------------------------------------------------------------------
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------
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------ Includes
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------
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---------------------------------------------------------------------------------------*/
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#include "ecat_def.h"
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#include "sdoserv.h"
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#define _ECATCOE_ 1
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#include "ecatcoe.h"
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#undef _ECATCOE_
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/*remove definition of _ECATCOE_ (#ifdef is used in ecatcoe.h)*/
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/*ET9300 Project Handler :(#if TEST_APPLICATION) lines 52 to 60 deleted*/
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/*---------------------------------------------------------------------------------------
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------
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------ internal Types and Defines
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------
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---------------------------------------------------------------------------------------*/
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#define ECATCOE 0x4300
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#define ECATCOEMAX 0x02
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/*---------------------------------------------------------------------------------------
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------
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------ static variables
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------
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---------------------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------------------
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------
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------ static functions
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------
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---------------------------------------------------------------------------------------*/
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/*---------------------------------------------------------------------------------------
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------
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------ functions
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------
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---------------------------------------------------------------------------------------*/
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\brief This function intialize the CoE Interface.
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*////////////////////////////////////////////////////////////////////////////////////////
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void COE_Init(void)
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{
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pCoeSendStored = 0;
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/*ET9300 Project Handler :(#if SEGMENTED_SDO_SUPPORTED) lines 99 to 101 deleted*/
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param pCoeMbx Pointer to the received mailbox data from the master.
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\return result of the operation (0 (success) or mailbox error code (MBXERR_.... defined in
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mailbox.h))
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\brief This function is called when a CoE (CAN application layer over EtherCAT) service is received from
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the master.
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*////////////////////////////////////////////////////////////////////////////////////////
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UINT8 COE_ServiceInd(TCOEMBX MBXMEM *pCoeMbx)
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{
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UINT8 result = 0;
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switch ((pCoeMbx->CoeHeader & COEHEADER_COESERVICEMASK) >> COEHEADER_COESERVICESHIFT)
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{
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case COESERVICE_SDOREQUEST:
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/* SDO-Request received, call SDOS_SdoInd to process the SDO-Request
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if an existing SDO-Stack shall be used, the corresponding function
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should be called */
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/*ET9300 Project Handler :(#if TEST_APPLICATION && EMERGENCY_SUPPORTED) lines 125 to 152 deleted*/
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result = SDOS_SdoInd( (TINITSDOMBX MBXMEM *) pCoeMbx );
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break;
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case COESERVICE_SDOINFO:
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/* SDO-Information Request received, call SDOS_SdoInfoInd to process the SDO-Request */
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result = SDOS_SdoInfoInd( (TSDOINFORMATION MBXMEM *) pCoeMbx );
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/*NOERROR_INWORK is never returned by SDOS_SdoInfoInd() => delete return code handling*/
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break;
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case COESERVICE_SDORESPONSE:
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/*ET9300 Project Handler :(#if TEST_APPLICATION) lines 164 to 178 deleted*/
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case COESERVICE_EMERGENCY:
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case COESERVICE_TXPDO:
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case COESERVICE_RXPDO:
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case COESERVICE_TXPDOREMREQ:
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case COESERVICE_RXPDOREMREQ:
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/* these CoE services are not supported yet */
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result = MBXERR_SERVICENOTSUPPORTED;
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break;
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default:
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result = MBXERR_INVALIDHEADER;
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break;
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}
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return result;
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}
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/////////////////////////////////////////////////////////////////////////////////////////
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/**
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\param pMbx Pointer to the free mailbox to sent.
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\return result of the operation (0 (success)
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\brief This function is called when a CoE service to be sent is stored and can
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\brief be put in the send mailbox.
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*////////////////////////////////////////////////////////////////////////////////////////
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UINT8 COE_ContinueInd(TMBX MBXMEM * pMbx)
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{
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if (pCoeSendStored)
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{
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/* send the stored CoE service which could not be sent before */
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/*ECATCHANGE_START(V5.13) COE8*/
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if (MBX_MailboxSendReq(pCoeSendStored, COE_SERVICE) == 0)
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{
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pCoeSendStored = 0;
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}
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/*ECATCHANGE_END(V5.13) COE8*/
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}
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else
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{
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/* send the next fragment of the last CoE service (only for SDO-Information possible) */
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/* in mailbox queue mode pMbx is always 0, so a mailbox buffer shall be get */
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pMbx = (TMBX MBXMEM *) APPL_AllocMailboxBuffer(SIZEOF(TMBX));
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/* it shall be checked if a valid pointer was returned */
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if (pMbx == NULL)
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{
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return MBXERR_NOMOREMEMORY;
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}
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else
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{
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/* copy the stored SDO-Info-Header in the request */
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MBXMEMCPY(pMbx, aSdoInfoHeader, SDO_INFO_HEADER_BYTE_SIZE);
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/* call SDOS_SdoInfoInd to generate and send the next fragment */
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SDOS_SdoInfoInd( (TSDOINFORMATION MBXMEM *) pMbx );
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}
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}
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return 0;
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}
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/** @} */
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