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Merge pull request #534 from ArthurKetels/coe_ca

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Allow CoE SDOwrite to send expedited CA
This commit is contained in:
ArthurKetels
2021-07-13 14:38:35 +02:00
committed by GitHub
parent 219670218b df784ff70b
commit 4bd8c34b2e
2 changed files with 16 additions and 2 deletions
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17
soem/ethercatcoe.c
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@@ -336,6 +336,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
uint8 cnt, toggle;
boolean NotLast;
uint8 *hp;
uint8 command;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
@@ -345,7 +346,7 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
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)
if (psize <= 4)
{
SDOp->MbxHeader.length = htoes(0x000a);
SDOp->MbxHeader.address = htoes(0x0000);
@@ -355,9 +356,21 @@ int ecx_SDOwrite(ecx_contextt *context, uint16 Slave, uint16 Index, uint8 SubInd
context->slavelist[Slave].mbx_cnt = cnt;
SDOp->MbxHeader.mbxtype = ECT_MBXT_COE + MBX_HDR_SET_CNT(cnt); /* 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 */
if(CA)
{
command = ECT_SDO_DOWN_EXP_CA; /* set SDO command as expedited complete access */
}
else
{
command = ECT_SDO_DOWN_EXP; /* set SDO command as expedited */
}
SDOp->Command = command | (((4 - psize) << 2) & 0x0c); /* expedited SDO download transfer */
SDOp->Index = htoes(Index);
SDOp->SubIndex = SubIndex;
if (CA && (SubIndex > 1))
{
SDOp->SubIndex = 1;
}
hp = p;
/* copy parameter data to mailbox */
memcpy(&SDOp->ldata[0], hp, psize);

1
soem/ethercattype.h
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@@ -347,6 +347,7 @@ enum
ECT_SDO_DOWN_INIT = 0x21,
ECT_SDO_DOWN_EXP = 0x23,
ECT_SDO_DOWN_INIT_CA = 0x31,
ECT_SDO_DOWN_EXP_CA = 0x33,
ECT_SDO_UP_REQ = 0x40,
ECT_SDO_UP_REQ_CA = 0x50,
ECT_SDO_SEG_UP_REQ = 0x60,