Added slaveinfo sample for circle.
Davide Pippa
parent
a448749ff7
commit
7e2ad64b33
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@ -0,0 +1,2 @@
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*.o
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kernel8*
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#
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# Makefile
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#
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CIRCLEHOME = ../../../libs/circle-stdlib/libs/circle
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NEWLIBDIR = ../../../libs/circle-stdlib/install/arm-none-circle
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SOEMBUILDDIR = ../../../build
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SOEMSRCDIR = ../../../
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OBJS = main.o kernel.o
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include $(CIRCLEHOME)/Rules.mk
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CFLAGS += -I "$(NEWLIBDIR)/include" -I $(STDDEF_INCPATH) \
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-I $(SOEMSRCDIR)/soem \
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-I $(SOEMSRCDIR)/osal -I $(SOEMSRCDIR)/osal/circle \
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-I $(SOEMSRCDIR)/oshw -I $(SOEMSRCDIR)/oshw/circle
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LIBS := $(SOEMBUILDDIR)/libsoem.a \
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"$(NEWLIBDIR)/lib/libm.a" "$(NEWLIBDIR)/lib/libc.a" "$(NEWLIBDIR)/lib/libcirclenewlib.a" \
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$(CIRCLEHOME)/addon/SDCard/libsdcard.a \
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$(CIRCLEHOME)/lib/usb/libusb.a \
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$(CIRCLEHOME)/lib/input/libinput.a \
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$(CIRCLEHOME)/lib/fs/fat/libfatfs.a \
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$(CIRCLEHOME)/lib/fs/libfs.a \
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$(CIRCLEHOME)/lib/net/libnet.a \
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$(CIRCLEHOME)/lib/sched/libsched.a \
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$(CIRCLEHOME)/lib/libcircle.a
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//
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// kernel.cpp
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//
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// This program is free software: you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation, either version 3 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program. If not, see <http://www.gnu.org/licenses/>.
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//
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#include "kernel.h"
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#include <circle/usb/usb.h>
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#include <circle/usb/netdevice.h>
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#include <circle/usb/macaddress.h>
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#include <circle/string.h>
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#include <circle/macros.h>
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#include <circle/debug.h>
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#include <assert.h>
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#include <stdio.h>
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#include <math.h>
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#include <stdlib.h>
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#include <errno.h>
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#include <stdio.h>
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#include <string.h>
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#include <inttypes.h>
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#include "ethercat.h"
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char IOmap[4096];
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ec_ODlistt ODlist;
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ec_OElistt OElist;
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boolean printSDO = FALSE;
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boolean printMAP = FALSE;
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char usdo[128];
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char hstr[1024];
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char* dtype2string(uint16 dtype)
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{
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switch(dtype)
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{
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case ECT_BOOLEAN:
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sprintf(hstr, "BOOLEAN");
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break;
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case ECT_INTEGER8:
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sprintf(hstr, "INTEGER8");
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break;
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case ECT_INTEGER16:
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sprintf(hstr, "INTEGER16");
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break;
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case ECT_INTEGER32:
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sprintf(hstr, "INTEGER32");
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break;
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case ECT_INTEGER24:
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sprintf(hstr, "INTEGER24");
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break;
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case ECT_INTEGER64:
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sprintf(hstr, "INTEGER64");
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break;
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case ECT_UNSIGNED8:
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sprintf(hstr, "UNSIGNED8");
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break;
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case ECT_UNSIGNED16:
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sprintf(hstr, "UNSIGNED16");
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break;
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case ECT_UNSIGNED32:
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sprintf(hstr, "UNSIGNED32");
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break;
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case ECT_UNSIGNED24:
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sprintf(hstr, "UNSIGNED24");
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break;
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case ECT_UNSIGNED64:
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sprintf(hstr, "UNSIGNED64");
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break;
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case ECT_REAL32:
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sprintf(hstr, "REAL32");
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break;
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case ECT_REAL64:
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sprintf(hstr, "REAL64");
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break;
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case ECT_BIT1:
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sprintf(hstr, "BIT1");
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break;
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case ECT_BIT2:
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sprintf(hstr, "BIT2");
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break;
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case ECT_BIT3:
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sprintf(hstr, "BIT3");
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break;
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case ECT_BIT4:
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sprintf(hstr, "BIT4");
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break;
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case ECT_BIT5:
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sprintf(hstr, "BIT5");
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break;
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case ECT_BIT6:
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sprintf(hstr, "BIT6");
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break;
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case ECT_BIT7:
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sprintf(hstr, "BIT7");
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break;
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case ECT_BIT8:
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sprintf(hstr, "BIT8");
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break;
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case ECT_VISIBLE_STRING:
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sprintf(hstr, "VISIBLE_STRING");
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break;
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case ECT_OCTET_STRING:
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sprintf(hstr, "OCTET_STRING");
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break;
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default:
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sprintf(hstr, "Type 0x%4.4X", dtype);
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}
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return hstr;
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}
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char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
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{
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int l = sizeof(usdo) - 1, i;
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uint8 *u8;
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int8 *i8;
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uint16 *u16;
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int16 *i16;
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uint32 *u32;
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int32 *i32;
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uint64 *u64;
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int64 *i64;
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float *sr;
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double *dr;
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char es[32];
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memset(&usdo, 0, 128);
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ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
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if (EcatError)
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{
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return ec_elist2string();
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}
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else
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{
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switch(dtype)
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{
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case ECT_BOOLEAN:
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u8 = (uint8*) &usdo[0];
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if (*u8) sprintf(hstr, "TRUE");
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else sprintf(hstr, "FALSE");
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break;
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case ECT_INTEGER8:
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i8 = (int8*) &usdo[0];
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sprintf(hstr, "0x%2.2x %d", *i8, *i8);
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break;
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case ECT_INTEGER16:
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i16 = (int16*) &usdo[0];
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sprintf(hstr, "0x%4.4x %d", *i16, *i16);
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break;
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case ECT_INTEGER32:
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case ECT_INTEGER24:
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i32 = (int32*) &usdo[0];
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sprintf(hstr, "0x%8.8x %d", *i32, *i32);
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break;
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case ECT_INTEGER64:
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i64 = (int64*) &usdo[0];
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sprintf(hstr, "0x%16.16" PRIx64 " %" PRId64, *i64, *i64);
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break;
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case ECT_UNSIGNED8:
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u8 = (uint8*) &usdo[0];
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sprintf(hstr, "0x%2.2x %u", *u8, *u8);
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break;
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case ECT_UNSIGNED16:
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u16 = (uint16*) &usdo[0];
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sprintf(hstr, "0x%4.4x %u", *u16, *u16);
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break;
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case ECT_UNSIGNED32:
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case ECT_UNSIGNED24:
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u32 = (uint32*) &usdo[0];
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sprintf(hstr, "0x%8.8x %u", *u32, *u32);
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break;
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case ECT_UNSIGNED64:
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u64 = (uint64*) &usdo[0];
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sprintf(hstr, "0x%16.16" PRIx64 " %" PRIu64, *u64, *u64);
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break;
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case ECT_REAL32:
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sr = (float*) &usdo[0];
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sprintf(hstr, "%f", *sr);
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break;
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case ECT_REAL64:
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dr = (double*) &usdo[0];
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sprintf(hstr, "%f", *dr);
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break;
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case ECT_BIT1:
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case ECT_BIT2:
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case ECT_BIT3:
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case ECT_BIT4:
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case ECT_BIT5:
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case ECT_BIT6:
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case ECT_BIT7:
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case ECT_BIT8:
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u8 = (uint8*) &usdo[0];
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sprintf(hstr, "0x%x", *u8);
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break;
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case ECT_VISIBLE_STRING:
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strcpy(hstr, usdo);
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break;
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case ECT_OCTET_STRING:
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hstr[0] = 0x00;
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for (i = 0 ; i < l ; i++)
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{
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sprintf(es, "0x%2.2x ", usdo[i]);
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strcat( hstr, es);
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}
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break;
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default:
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sprintf(hstr, "Unknown type");
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}
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return hstr;
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}
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}
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/** Read PDO assign structure */
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int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
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{
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uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
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uint8 subcnt;
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int wkc, bsize = 0, rdl;
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int32 rdat2;
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uint8 bitlen, obj_subidx;
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uint16 obj_idx;
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int abs_offset, abs_bit;
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rdl = sizeof(rdat); rdat = 0;
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/* read PDO assign subindex 0 ( = number of PDO's) */
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wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
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rdat = etohs(rdat);
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/* positive result from slave ? */
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if ((wkc > 0) && (rdat > 0))
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{
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/* number of available sub indexes */
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nidx = rdat;
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bsize = 0;
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/* read all PDO's */
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for (idxloop = 1; idxloop <= nidx; idxloop++)
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{
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rdl = sizeof(rdat); rdat = 0;
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/* read PDO assign */
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wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
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/* result is index of PDO */
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idx = etohl(rdat);
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if (idx > 0)
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{
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rdl = sizeof(subcnt); subcnt = 0;
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/* read number of subindexes of PDO */
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wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
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subidx = subcnt;
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/* for each subindex */
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for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
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{
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rdl = sizeof(rdat2); rdat2 = 0;
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/* read SDO that is mapped in PDO */
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wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
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rdat2 = etohl(rdat2);
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/* extract bitlength of SDO */
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bitlen = LO_BYTE(rdat2);
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bsize += bitlen;
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obj_idx = (uint16)(rdat2 >> 16);
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obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
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abs_offset = mapoffset + (bitoffset / 8);
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abs_bit = bitoffset % 8;
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ODlist.Slave = slave;
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ODlist.Index[0] = obj_idx;
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OElist.Entries = 0;
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wkc = 0;
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/* read object entry from dictionary if not a filler (0x0000:0x00) */
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if(obj_idx || obj_subidx)
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wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
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printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
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if((wkc > 0) && OElist.Entries)
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{
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printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
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}
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else
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printf("\n");
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bitoffset += bitlen;
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};
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};
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};
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};
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/* return total found bitlength (PDO) */
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return bsize;
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}
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int si_map_sdo(int slave)
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{
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int wkc, rdl;
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int retVal = 0;
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uint8 nSM, iSM, tSM;
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int Tsize, outputs_bo, inputs_bo;
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uint8 SMt_bug_add;
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printf("PDO mapping according to CoE :\n");
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SMt_bug_add = 0;
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outputs_bo = 0;
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inputs_bo = 0;
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rdl = sizeof(nSM); nSM = 0;
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/* read SyncManager Communication Type object count */
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wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
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/* positive result from slave ? */
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if ((wkc > 0) && (nSM > 2))
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{
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/* make nSM equal to number of defined SM */
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nSM--;
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/* limit to maximum number of SM defined, if true the slave can't be configured */
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if (nSM > EC_MAXSM)
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nSM = EC_MAXSM;
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/* iterate for every SM type defined */
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for (iSM = 2 ; iSM <= nSM ; iSM++)
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{
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rdl = sizeof(tSM); tSM = 0;
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/* read SyncManager Communication Type */
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wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
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if (wkc > 0)
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{
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if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
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{
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SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
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printf("Activated SM type workaround, possible incorrect mapping.\n");
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}
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if(tSM)
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tSM += SMt_bug_add; // only add if SMt > 0
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if (tSM == 3) // outputs
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{
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/* read the assign RXPDO */
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printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
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Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
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outputs_bo += Tsize;
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}
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if (tSM == 4) // inputs
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{
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/* read the assign TXPDO */
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printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
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Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
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inputs_bo += Tsize;
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}
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}
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}
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}
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/* found some I/O bits ? */
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if ((outputs_bo > 0) || (inputs_bo > 0))
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retVal = 1;
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return retVal;
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}
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int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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{
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uint16 a , w, c, e, er, Size;
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uint8 eectl;
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uint16 obj_idx;
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uint8 obj_subidx;
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uint8 obj_name;
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uint8 obj_datatype;
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uint8 bitlen;
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int totalsize;
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ec_eepromPDOt eepPDO;
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ec_eepromPDOt *PDO;
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int abs_offset, abs_bit;
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char str_name[EC_MAXNAME + 1];
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eectl = ec_slave[slave].eep_pdi;
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Size = 0;
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totalsize = 0;
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PDO = &eepPDO;
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PDO->nPDO = 0;
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PDO->Length = 0;
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PDO->Index[1] = 0;
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for (c = 0 ; c < EC_MAXSM ; c++) PDO->SMbitsize[c] = 0;
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if (t > 1)
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t = 1;
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PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
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if (PDO->Startpos > 0)
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{
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a = PDO->Startpos;
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w = ec_siigetbyte(slave, a++);
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w += (ec_siigetbyte(slave, a++) << 8);
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PDO->Length = w;
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c = 1;
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/* traverse through all PDOs */
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do
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{
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PDO->nPDO++;
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PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
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PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
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PDO->BitSize[PDO->nPDO] = 0;
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c++;
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/* number of entries in PDO */
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e = ec_siigetbyte(slave, a++);
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PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
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a++;
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obj_name = ec_siigetbyte(slave, a++);
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a += 2;
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c += 2;
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if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) /* active and in range SM? */
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{
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str_name[0] = 0;
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if(obj_name)
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ec_siistring(str_name, slave, obj_name);
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if (t)
|
||||
printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
else
|
||||
printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
|
||||
printf(" addr b index: sub bitl data_type name\n");
|
||||
/* read all entries defined in PDO */
|
||||
for (er = 1; er <= e; er++)
|
||||
{
|
||||
c += 4;
|
||||
obj_idx = ec_siigetbyte(slave, a++);
|
||||
obj_idx += (ec_siigetbyte(slave, a++) << 8);
|
||||
obj_subidx = ec_siigetbyte(slave, a++);
|
||||
obj_name = ec_siigetbyte(slave, a++);
|
||||
obj_datatype = ec_siigetbyte(slave, a++);
|
||||
bitlen = ec_siigetbyte(slave, a++);
|
||||
abs_offset = mapoffset + (bitoffset / 8);
|
||||
abs_bit = bitoffset % 8;
|
||||
|
||||
PDO->BitSize[PDO->nPDO] += bitlen;
|
||||
a += 2;
|
||||
|
||||
/* skip entry if filler (0x0000:0x00) */
|
||||
if(obj_idx || obj_subidx)
|
||||
{
|
||||
str_name[0] = 0;
|
||||
if(obj_name)
|
||||
ec_siistring(str_name, slave, obj_name);
|
||||
|
||||
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
|
||||
printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
|
||||
}
|
||||
bitoffset += bitlen;
|
||||
totalsize += bitlen;
|
||||
}
|
||||
PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
|
||||
Size += PDO->BitSize[PDO->nPDO];
|
||||
c++;
|
||||
}
|
||||
else /* PDO deactivated because SM is 0xff or > EC_MAXSM */
|
||||
{
|
||||
c += 4 * e;
|
||||
a += 8 * e;
|
||||
c++;
|
||||
}
|
||||
if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; /* limit number of PDO entries in buffer */
|
||||
}
|
||||
while (c < PDO->Length);
|
||||
}
|
||||
if (eectl) ec_eeprom2pdi(slave); /* if eeprom control was previously pdi then restore */
|
||||
return totalsize;
|
||||
}
|
||||
|
||||
|
||||
int si_map_sii(int slave)
|
||||
{
|
||||
int retVal = 0;
|
||||
int Tsize, outputs_bo, inputs_bo;
|
||||
|
||||
printf("PDO mapping according to SII :\n");
|
||||
|
||||
outputs_bo = 0;
|
||||
inputs_bo = 0;
|
||||
/* read the assign RXPDOs */
|
||||
Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
|
||||
outputs_bo += Tsize;
|
||||
/* read the assign TXPDOs */
|
||||
Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
|
||||
inputs_bo += Tsize;
|
||||
/* found some I/O bits ? */
|
||||
if ((outputs_bo > 0) || (inputs_bo > 0))
|
||||
retVal = 1;
|
||||
return retVal;
|
||||
}
|
||||
|
||||
void si_sdo(int cnt)
|
||||
{
|
||||
int i, j;
|
||||
|
||||
ODlist.Entries = 0;
|
||||
memset(&ODlist, 0, sizeof(ODlist));
|
||||
if( ec_readODlist(cnt, &ODlist))
|
||||
{
|
||||
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
|
||||
for( i = 0 ; i < ODlist.Entries ; i++)
|
||||
{
|
||||
ec_readODdescription(i, &ODlist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
|
||||
ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
|
||||
memset(&OElist, 0, sizeof(OElist));
|
||||
ec_readOE(i, &ODlist, &OElist);
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
|
||||
{
|
||||
if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
|
||||
{
|
||||
printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
|
||||
j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
|
||||
if ((OElist.ObjAccess[j] & 0x0007))
|
||||
{
|
||||
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
}
|
||||
}
|
||||
|
||||
void slaveinfo(const char *ifname)
|
||||
{
|
||||
int cnt, i, j, nSM;
|
||||
uint16 ssigen;
|
||||
int expectedWKC;
|
||||
|
||||
printf("Starting slaveinfo\n");
|
||||
|
||||
/* initialise SOEM, bind socket to ifname */
|
||||
if (ec_init(ifname))
|
||||
{
|
||||
printf("ec_init on %s succeeded.\n",ifname);
|
||||
/* find and auto-config slaves */
|
||||
if ( ec_config(FALSE, &IOmap) > 0 )
|
||||
{
|
||||
ec_configdc();
|
||||
while(EcatError) printf("%s", ec_elist2string());
|
||||
printf("%d slaves found and configured.\n",ec_slavecount);
|
||||
expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
|
||||
printf("Calculated workcounter %d\n", expectedWKC);
|
||||
/* wait for all slaves to reach SAFE_OP state */
|
||||
ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
|
||||
if (ec_slave[0].state != EC_STATE_SAFE_OP )
|
||||
{
|
||||
printf("Not all slaves reached safe operational state.\n");
|
||||
ec_readstate();
|
||||
for(i = 1; i<=ec_slavecount ; i++)
|
||||
{
|
||||
if(ec_slave[i].state != EC_STATE_SAFE_OP)
|
||||
{
|
||||
printf("Slave %d State=%2x StatusCode=%4x : %s\n",
|
||||
i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
ec_readstate();
|
||||
for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
|
||||
{
|
||||
printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
|
||||
cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
|
||||
ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
|
||||
if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
|
||||
printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x02) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x04) > 0 ,
|
||||
(ec_slave[cnt].activeports & 0x08) > 0 );
|
||||
printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
|
||||
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
|
||||
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
|
||||
{
|
||||
if(ec_slave[cnt].SM[nSM].StartAddr > 0)
|
||||
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,
|
||||
(int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
|
||||
}
|
||||
for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
|
||||
{
|
||||
printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
|
||||
(int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
|
||||
ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
|
||||
ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
|
||||
}
|
||||
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
|
||||
ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
|
||||
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
|
||||
ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
|
||||
/* SII general section */
|
||||
if (ssigen)
|
||||
{
|
||||
ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
|
||||
ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
|
||||
ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
|
||||
ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
|
||||
if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
|
||||
{
|
||||
ec_slave[cnt].blockLRW = 1;
|
||||
ec_slave[0].blockLRW++;
|
||||
}
|
||||
ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
|
||||
ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
|
||||
ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
|
||||
}
|
||||
printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
|
||||
ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
|
||||
printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
|
||||
ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
|
||||
if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
|
||||
si_sdo(cnt);
|
||||
if(printMAP)
|
||||
{
|
||||
if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
|
||||
si_map_sdo(cnt);
|
||||
else
|
||||
si_map_sii(cnt);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No slaves found!\n");
|
||||
}
|
||||
printf("End slaveinfo, close socket\n");
|
||||
/* stop SOEM, close socket */
|
||||
ec_close();
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("No socket connection on %s\nExcecute as root\n",ifname);
|
||||
}
|
||||
}
|
||||
|
||||
char ifbuf[1024];
|
||||
|
||||
namespace
|
||||
{
|
||||
char const FromKernel[] = "kernel";
|
||||
}
|
||||
|
||||
CKernel::CKernel (void)
|
||||
: m_Screen (m_Options.GetWidth (), m_Options.GetHeight ()),
|
||||
m_Timer (&m_Interrupt),
|
||||
m_Logger (m_Options.GetLogLevel (), &m_Timer),
|
||||
m_DWHCI (&m_Interrupt, &m_Timer)
|
||||
{
|
||||
m_ActLED.Blink (5); // show we are alive
|
||||
}
|
||||
|
||||
CKernel::~CKernel (void)
|
||||
{
|
||||
}
|
||||
|
||||
boolean CKernel::Initialize (void)
|
||||
{
|
||||
boolean bOK = TRUE;
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Screen.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Serial.Initialize (115200);
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
CDevice *pTarget = m_DeviceNameService.GetDevice (m_Options.GetLogDevice (), FALSE);
|
||||
if (pTarget == 0)
|
||||
{
|
||||
pTarget = &m_Screen;
|
||||
}
|
||||
|
||||
bOK = m_Logger.Initialize (pTarget);
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Interrupt.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_Timer.Initialize ();
|
||||
}
|
||||
|
||||
if (bOK)
|
||||
{
|
||||
bOK = m_DWHCI.Initialize ();
|
||||
}
|
||||
|
||||
return bOK;
|
||||
}
|
||||
|
||||
TShutdownMode CKernel::Run (void)
|
||||
{
|
||||
m_Logger.Write (FromKernel, LogNotice, "Compile time: " __DATE__ " " __TIME__);
|
||||
|
||||
CNetDevice *pEth0 = (CNetDevice *) m_DeviceNameService.GetDevice ("eth0", FALSE);
|
||||
if (pEth0 == 0)
|
||||
{
|
||||
m_Logger.Write (FromKernel, LogError, "Net device not found");
|
||||
|
||||
return ShutdownHalt;
|
||||
}
|
||||
|
||||
// wait for Ethernet PHY to come up
|
||||
m_Timer.MsDelay (2000);
|
||||
|
||||
m_Logger.Write (FromKernel, LogNotice, "EtherCAT Master Demo");
|
||||
|
||||
printSDO = TRUE;
|
||||
printMAP = TRUE;
|
||||
slaveinfo("eth0");
|
||||
|
||||
m_Logger.Write (FromKernel, LogNotice, "EtherCAT Master Demo finished");
|
||||
|
||||
return ShutdownHalt;
|
||||
}
|
||||
|
|
@ -0,0 +1,67 @@
|
|||
//
|
||||
// kernel.h
|
||||
//
|
||||
// This program 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 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
#ifndef _kernel_h
|
||||
#define _kernel_h
|
||||
|
||||
#include <circle/memory.h>
|
||||
#include <circle/actled.h>
|
||||
#include <circle/koptions.h>
|
||||
#include <circle/devicenameservice.h>
|
||||
#include <circle/screen.h>
|
||||
#include <circle/serial.h>
|
||||
#include <circle/exceptionhandler.h>
|
||||
#include <circle/interrupt.h>
|
||||
#include <circle/timer.h>
|
||||
#include <circle/logger.h>
|
||||
#include <circle/usb/dwhcidevice.h>
|
||||
#include <circle/types.h>
|
||||
|
||||
enum TShutdownMode
|
||||
{
|
||||
ShutdownNone,
|
||||
ShutdownHalt,
|
||||
ShutdownReboot
|
||||
};
|
||||
|
||||
class CKernel
|
||||
{
|
||||
public:
|
||||
CKernel (void);
|
||||
~CKernel (void);
|
||||
|
||||
boolean Initialize (void);
|
||||
|
||||
TShutdownMode Run (void);
|
||||
|
||||
private:
|
||||
// do not change this order
|
||||
CMemorySystem m_Memory;
|
||||
CActLED m_ActLED;
|
||||
CKernelOptions m_Options;
|
||||
CDeviceNameService m_DeviceNameService;
|
||||
CScreenDevice m_Screen;
|
||||
CSerialDevice m_Serial;
|
||||
CExceptionHandler m_ExceptionHandler;
|
||||
CInterruptSystem m_Interrupt;
|
||||
CTimer m_Timer;
|
||||
CLogger m_Logger;
|
||||
CDWHCIDevice m_DWHCI;
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
//
|
||||
// main.c
|
||||
//
|
||||
// This program 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 3 of the License, or
|
||||
// (at your option) any later version.
|
||||
//
|
||||
// This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
//
|
||||
#include "kernel.h"
|
||||
#include <circle/startup.h>
|
||||
|
||||
int main (void)
|
||||
{
|
||||
// cannot return here because some destructors used in CKernel are not implemented
|
||||
|
||||
CKernel Kernel;
|
||||
if (!Kernel.Initialize ())
|
||||
{
|
||||
halt ();
|
||||
return EXIT_HALT;
|
||||
}
|
||||
|
||||
TShutdownMode ShutdownMode = Kernel.Run ();
|
||||
|
||||
switch (ShutdownMode)
|
||||
{
|
||||
case ShutdownReboot:
|
||||
reboot ();
|
||||
return EXIT_REBOOT;
|
||||
|
||||
case ShutdownHalt:
|
||||
default:
|
||||
halt ();
|
||||
return EXIT_HALT;
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue