AB&T
EasyCAT LAB - EtherCAT master legacy example
Dependencies: SOEM SPI_STMPE610 SPI_TFT_ILI9341 TFT_fonts
The EasyCAT LAB is a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- It 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.
- This repository contains a demo software for the EtherCAT® master, that runs on the Nucleo STM32F767ZI board.
- It uses the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the
ecosystem by AB&T Tecnologie Informatiche.
- The slaves are based on the EasyCAT SHIELD and the Arduino UNO.
Diff: soem_start.cpp
- Revision:
- 0:7077d8f28b3e
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/soem_start.cpp Tue Jun 11 10:19:08 2019 +0000
@@ -0,0 +1,705 @@
+
+#include "soem_start.h"
+#include "ethercat.h"
+#include "string.h"
+#include "oshw.h"
+
+#include "mbed.h"
+
+#include <inttypes.h>
+
+#include "SPI_TFT_ILI9341.h"
+
+extern SPI_TFT_ILI9341 TFT;
+
+boolean printSDO = TRUE;
+boolean printMAP = TRUE;
+
+ec_ODlistt ODlist;
+ec_OElistt OElist;
+char usdo[128];
+char hstr[1024];
+
+char extern IOmap[];
+
+uint32_t error_counter = 0;
+
+
+char* dtype2string(uint16 dtype);
+char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype);
+int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset);
+void si_sdo(int cnt);
+int si_map_sdo(int slave);
+int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset);
+bool network_scanning(void);
+
+
+
+//---- convert Ethercat types to string ----------------------------------------
+
+
+char* dtype2string(uint16 dtype)
+{
+ switch(dtype)
+ {
+ case ECT_BOOLEAN:
+ sprintf(hstr, "BOOLEAN");
+ break;
+ case ECT_INTEGER8:
+ sprintf(hstr, "INTEGER8");
+ break;
+ case ECT_INTEGER16:
+ sprintf(hstr, "INTEGER16");
+ break;
+ case ECT_INTEGER32:
+ sprintf(hstr, "INTEGER32");
+ break;
+ case ECT_INTEGER24:
+ sprintf(hstr, "INTEGER24");
+ break;
+ case ECT_INTEGER64:
+ sprintf(hstr, "INTEGER64");
+ break;
+ case ECT_UNSIGNED8:
+ sprintf(hstr, "UNSIGNED8");
+ break;
+ case ECT_UNSIGNED16:
+ sprintf(hstr, "UNSIGNED16");
+ break;
+ case ECT_UNSIGNED32:
+ sprintf(hstr, "UNSIGNED32");
+ break;
+ case ECT_UNSIGNED24:
+ sprintf(hstr, "UNSIGNED24");
+ break;
+ case ECT_UNSIGNED64:
+ sprintf(hstr, "UNSIGNED64");
+ break;
+ case ECT_REAL32:
+ sprintf(hstr, "REAL32");
+ break;
+ case ECT_REAL64:
+ sprintf(hstr, "REAL64");
+ break;
+ case ECT_BIT1:
+ sprintf(hstr, "BIT1");
+ break;
+ case ECT_BIT2:
+ sprintf(hstr, "BIT2");
+ break;
+ case ECT_BIT3:
+ sprintf(hstr, "BIT3");
+ break;
+ case ECT_BIT4:
+ sprintf(hstr, "BIT4");
+ break;
+ case ECT_BIT5:
+ sprintf(hstr, "BIT5");
+ break;
+ case ECT_BIT6:
+ sprintf(hstr, "BIT6");
+ break;
+ case ECT_BIT7:
+ sprintf(hstr, "BIT7");
+ break;
+ case ECT_BIT8:
+ sprintf(hstr, "BIT8");
+ break;
+ case ECT_VISIBLE_STRING:
+ sprintf(hstr, "VISIBLE_STRING");
+ break;
+ case ECT_OCTET_STRING:
+ sprintf(hstr, "OCTET_STRING");
+ break;
+ default:
+ sprintf(hstr, "Type 0x%4.4X", dtype);
+ }
+ return hstr;
+}
+
+
+//------------------------------------------------------------------------------
+
+char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
+{
+ int l = sizeof(usdo) - 1, i;
+ uint8 *u8;
+ int8 *i8;
+ uint16 *u16;
+ int16 *i16;
+ uint32 *u32;
+ int32 *i32;
+ uint64 *u64;
+ int64 *i64;
+ float *sr;
+ double *dr;
+ char es[32];
+
+ memset(&usdo, 0, 128);
+ ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
+ if (EcatError)
+ {
+ return ec_elist2string();
+ }
+ else
+ {
+ switch(dtype)
+ {
+ case ECT_BOOLEAN:
+ u8 = (uint8*) &usdo[0];
+ if (*u8) sprintf(hstr, "TRUE");
+ else sprintf(hstr, "FALSE");
+ break;
+ case ECT_INTEGER8:
+ i8 = (int8*) &usdo[0];
+ sprintf(hstr, "0x%2.2x %d", *i8, *i8);
+ break;
+ case ECT_INTEGER16:
+ i16 = (int16*) &usdo[0];
+ sprintf(hstr, "0x%4.4x %d", *i16, *i16);
+ break;
+ case ECT_INTEGER32:
+ case ECT_INTEGER24:
+ i32 = (int32*) &usdo[0];
+ sprintf(hstr, "0x%8.8x %d", *i32, *i32);
+ break;
+ case ECT_INTEGER64:
+ i64 = (int64*) &usdo[0];
+ sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
+ break;
+ case ECT_UNSIGNED8:
+ u8 = (uint8*) &usdo[0];
+ sprintf(hstr, "0x%2.2x %u", *u8, *u8);
+ break;
+ case ECT_UNSIGNED16:
+ u16 = (uint16*) &usdo[0];
+ sprintf(hstr, "0x%4.4x %u", *u16, *u16);
+ break;
+ case ECT_UNSIGNED32:
+ case ECT_UNSIGNED24:
+ u32 = (uint32*) &usdo[0];
+ sprintf(hstr, "0x%8.8x %u", *u32, *u32);
+ break;
+ case ECT_UNSIGNED64:
+ u64 = (uint64*) &usdo[0];
+ sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
+ break;
+ case ECT_REAL32:
+ sr = (float*) &usdo[0];
+ sprintf(hstr, "%f", *sr);
+ break;
+ case ECT_REAL64:
+ dr = (double*) &usdo[0];
+ sprintf(hstr, "%f", *dr);
+ break;
+ case ECT_BIT1:
+ case ECT_BIT2:
+ case ECT_BIT3:
+ case ECT_BIT4:
+ case ECT_BIT5:
+ case ECT_BIT6:
+ case ECT_BIT7:
+ case ECT_BIT8:
+ u8 = (uint8*) &usdo[0];
+ sprintf(hstr, "0x%x", *u8);
+ break;
+ case ECT_VISIBLE_STRING:
+ strcpy(hstr, usdo);
+ break;
+ case ECT_OCTET_STRING:
+ hstr[0] = 0x00;
+ for (i = 0 ; i < l ; i++)
+ {
+ sprintf(es, "0x%2.2x ", usdo[i]);
+ strcat( hstr, es);
+ }
+ break;
+ default:
+ sprintf(hstr, "Unknown type");
+ }
+ return hstr;
+ }
+}
+
+
+//----- read PDO assign structure ----------------------------------------------
+
+int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
+{
+ uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
+ uint8 subcnt;
+ int wkc, bsize = 0, rdl;
+ int32 rdat2;
+ uint8 bitlen, obj_subidx;
+ uint16 obj_idx;
+ int abs_offset, abs_bit;
+
+ rdl = sizeof(rdat); rdat = 0;
+ // read PDO assign subindex 0 (= number of PDO's)
+ wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
+ rdat = etohs(rdat);
+
+ if ((wkc > 0) && (rdat > 0)) // positive result from slave?
+ {
+ nidx = rdat; // number of available sub indexes
+ bsize = 0;
+
+ for (idxloop = 1; idxloop <= nidx; idxloop++) // read all PDO's
+ {
+ rdl = sizeof(rdat); rdat = 0;
+ // read PDO assign
+ wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
+
+ idx = etohl(rdat); // result is index of PDO
+ if (idx > 0)
+ {
+ rdl = sizeof(subcnt); subcnt = 0;
+ // read number of subindexes of PDO
+ wkc = ec_SDOread(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 = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
+ rdat2 = etohl(rdat2);
+
+ bitlen = LO_BYTE(rdat2); // extract bitlength of SDO
+ bsize += bitlen;
+ obj_idx = (uint16)(rdat2 >> 16);
+ obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
+ abs_offset = mapoffset + (bitoffset / 8);
+ abs_bit = bitoffset % 8;
+ ODlist.Slave = slave;
+ ODlist.Index[0] = obj_idx;
+ OElist.Entries = 0;
+ wkc = 0;
+
+ if(obj_idx || obj_subidx) // read object entry from dictionary if not a filler (0x0000:0x00)
+ wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
+ printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
+
+ if((wkc > 0) && OElist.Entries)
+ {
+ printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
+ }
+ else
+ printf("\n");
+ bitoffset += bitlen;
+ };
+ };
+ };
+ };
+
+ return bsize; // return total found bitlength (PDO)
+}
+
+
+//---- PDO mapping according to CoE --------------------------------------------
+
+int si_map_sdo(int slave)
+{
+ int wkc, rdl;
+ int retVal = 0;
+ uint8 nSM, iSM, tSM;
+ int Tsize, outputs_bo, inputs_bo;
+ uint8 SMt_bug_add;
+
+ printf("PDO mapping according to CoE :\n\n");
+ SMt_bug_add = 0;
+ outputs_bo = 0;
+ inputs_bo = 0;
+ rdl = sizeof(nSM); nSM = 0;
+ // read SyncManager Communication Type object count
+ wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
+
+ if ((wkc > 0) && (nSM > 2)) // positive result from slave ?
+ {
+ nSM--; // make nSM equal to number of defined SM
+
+ if (nSM > EC_MAXSM) // limit to maximum number of SM defined,
+ nSM = EC_MAXSM; // if true the slave can't be configured
+
+ for (iSM = 2 ; iSM <= nSM ; iSM++) // iterate for every SM type defined
+ {
+ rdl = sizeof(tSM); tSM = 0;
+ // read SyncManager Communication Type
+ wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
+ if (wkc > 0)
+ {
+ 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
+ printf("Activated SM type workaround, possible incorrect mapping.\n");
+ }
+
+ if(tSM) // only add if SMt > 0
+ tSM += SMt_bug_add;
+
+ if (tSM == 3) // outputs
+ { // read the assign RXPDO
+
+ printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
+ Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
+ outputs_bo += Tsize;
+ }
+
+ if (tSM == 4) // inputs
+ { // read the assign TXPDO
+
+ printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
+ Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
+ inputs_bo += Tsize;
+ }
+ }
+ }
+ }
+
+ if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits?
+ retVal = 1;
+ return retVal;
+}
+
+
+//---- CoE objects description -------------------------------------------------
+
+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());
+ }
+}
+
+
+//---- PDO mapping according to SII --------------------------------------------
+
+int si_map_sii(int slave)
+{
+ int retVal = 0;
+ int Tsize, outputs_bo, inputs_bo;
+
+ printf("\nPDO mapping according to SII :\n\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;
+
+ if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits ?
+ retVal = 1;
+ return retVal;
+}
+
+
+//------------------------------------------------------------------------------
+
+int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
+{
+ uint16 a , w, c, e, er, Size;
+ uint8 eectl;
+ uint16 obj_idx;
+ uint8 obj_subidx;
+ uint8 obj_name;
+ uint8 obj_datatype;
+ uint8 bitlen;
+ int totalsize;
+ ec_eepromPDOt eepPDO;
+ ec_eepromPDOt *PDO;
+ int abs_offset, abs_bit;
+ char str_name[EC_MAXNAME + 1];
+
+ eectl = ec_slave[slave].eep_pdi;
+ Size = 0;
+ totalsize = 0;
+ PDO = &eepPDO;
+ PDO->nPDO = 0;
+ PDO->Length = 0;
+ PDO->Index[1] = 0;
+
+ for (c = 0 ; c < EC_MAXSM ; c++)
+ PDO->SMbitsize[c] = 0;
+
+ if (t > 1)
+ t = 1;
+
+ PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
+
+ if (PDO->Startpos > 0)
+ {
+ a = PDO->Startpos;
+ w = ec_siigetbyte(slave, a++);
+ w += (ec_siigetbyte(slave, a++) << 8);
+ PDO->Length = w;
+ c = 1;
+
+ do // traverse through all PDOs
+ {
+ PDO->nPDO++;
+ PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
+ PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
+ PDO->BitSize[PDO->nPDO] = 0;
+ c++;
+
+ e = ec_siigetbyte(slave, a++); // number of entries in PDO
+ PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
+ a++;
+ obj_name = ec_siigetbyte(slave, a++);
+ a += 2;
+ c += 2;
+
+ if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) // active and in range SM?
+ {
+ str_name[0] = 0;
+ if(obj_name)
+ ec_siistring(str_name, slave, obj_name);
+
+ 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");
+
+ for (er = 1; er <= e; er++) // read all entries defined in PDO
+ {
+ 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;
+
+ if(obj_idx || obj_subidx) // skip entry if filler (0x0000:0x00)
+ {
+ 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++;
+ }
+ // limit number of PDO entries in buffer
+ if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length;
+ }
+ while (c < PDO->Length);
+ }
+
+ if (eectl)
+ ec_eeprom2pdi(slave); // if eeprom control was previously pdi then restore
+
+ return totalsize;
+}
+
+
+//------------------------------------------------------------------------------
+
+bool network_scanning(void)
+
+{
+ int expectedWKC;
+ int cnt, i, j, nSM;
+ uint16 ssigen;
+
+ if ( ec_config(FALSE, &IOmap) > 0 ) // find and configure the slaves
+ {
+ ec_configdc();
+ while(EcatError) printf("%s", ec_elist2string());
+
+ printf("%d slaves found and configured.\n",ec_slavecount);
+ TFT.printf("%d slaves found and configured.\n\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 -------------------------------------------------\nName:%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);
+
+ int Line = cnt-1;
+
+ TFT.foreground(Green); // print Name, Manufacturer, ID and Revision
+ TFT.locate(0, 12*(((Line % 6)*3)+3)); // of the slaves found on the TFT
+ TFT.printf("Slave %d ", cnt); //
+ TFT.foreground(Yellow); //
+ //
+ TFT.foreground(Magenta); //
+ TFT.locate(60, 12*(((Line % 6)*3)+3)); //
+ TFT.printf("Name"); //
+ TFT.foreground(Yellow); //
+ TFT.locate(104, 12*(((Line % 6)*3)+3)); //
+ TFT.printf("%.14s", ec_slave[cnt].name); //
+ //
+ TFT.foreground(Magenta); //
+ TFT.locate(220, 12*(((Line % 6)*3)+3)); //
+ TFT.printf("Man"); //
+ TFT.foreground(Yellow); //
+ TFT.locate(250, 12*(((Line % 6)*3)+3)); //
+ TFT.printf("%8.8X", (int)ec_slave[cnt].eep_man);//
+ //
+ TFT.foreground(Magenta); //
+ TFT.locate(60, 12*(((Line % 6)*3)+4)); //
+ TFT.printf("ID"); //
+ TFT.foreground(Yellow); //
+ TFT.locate(104, 12*(((Line % 6)*3)+4)); //
+ TFT.printf("%8.8X", (int)ec_slave[cnt].eep_id); //
+ //
+ TFT.foreground(Magenta); //
+ TFT.locate(220, 12*(((Line % 6)*3)+4)); //
+ TFT.printf("Rev "); //
+ TFT.foreground(Yellow); //
+ TFT.locate(250, 12*(((Line % 6)*3)+4)); //
+ TFT.printf("%8.8X", (int)ec_slave[cnt].eep_rev);//
+
+
+ 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(" Outputs address: %X\n", ec_slave[cnt].outputs);
+ printf(" Inputs address: %X\n", ec_slave[cnt].inputs);
+
+ 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);
+
+ if (ssigen) // SII general section
+ {
+ 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);
+ }
+ }
+ return 1;
+ }
+
+ else
+ {
+ // ec_close(); //******//
+
+ return 0; // no slaves found
+ }
+}
+
+
+
+
+
+
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Repository details
| Type: | Program |
|---|---|
| Mbed OS support: | Mbed OS |
| Created: | 11 Jun 2019 |
| Imports: | 107 |
| Forks: | 0 |
| Commits: | 10 |
| Dependents: | 0 |
| Dependencies: | 4 |
| Followers: | 12 |
The code in this repository is Apache licensed.