EasyCAT LAB - EtherCAT master legacy example

Dependencies:   SPI_STMPE610 TFT_fonts SPI_TFT_ILI9341 SOEM

The EasyCAT LAB is a complete educational and experimental EtherCAT® system, composed of one master and two slaves .

/media/uploads/EasyCAT/easycat_lab.jpg

/media/uploads/EasyCAT/components.jpg

Committer:
sulymarco
Date:
Fri May 28 09:40:12 2021 +0000
Revision:
6:4b39b4dee215
Parent:
0:7077d8f28b3e
Added clarification about the TFT

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:7077d8f28b3e 1
sulymarco 0:7077d8f28b3e 2 #include "soem_start.h"
sulymarco 0:7077d8f28b3e 3 #include "ethercat.h"
sulymarco 0:7077d8f28b3e 4 #include "string.h"
sulymarco 0:7077d8f28b3e 5 #include "oshw.h"
sulymarco 0:7077d8f28b3e 6
sulymarco 0:7077d8f28b3e 7 #include "mbed.h"
sulymarco 0:7077d8f28b3e 8
sulymarco 0:7077d8f28b3e 9 #include <inttypes.h>
sulymarco 0:7077d8f28b3e 10
sulymarco 0:7077d8f28b3e 11 #include "SPI_TFT_ILI9341.h"
sulymarco 0:7077d8f28b3e 12
sulymarco 0:7077d8f28b3e 13 extern SPI_TFT_ILI9341 TFT;
sulymarco 0:7077d8f28b3e 14
sulymarco 0:7077d8f28b3e 15 boolean printSDO = TRUE;
sulymarco 0:7077d8f28b3e 16 boolean printMAP = TRUE;
sulymarco 0:7077d8f28b3e 17
sulymarco 0:7077d8f28b3e 18 ec_ODlistt ODlist;
sulymarco 0:7077d8f28b3e 19 ec_OElistt OElist;
sulymarco 0:7077d8f28b3e 20 char usdo[128];
sulymarco 0:7077d8f28b3e 21 char hstr[1024];
sulymarco 0:7077d8f28b3e 22
sulymarco 0:7077d8f28b3e 23 char extern IOmap[];
sulymarco 0:7077d8f28b3e 24
sulymarco 0:7077d8f28b3e 25 uint32_t error_counter = 0;
sulymarco 0:7077d8f28b3e 26
sulymarco 0:7077d8f28b3e 27
sulymarco 0:7077d8f28b3e 28 char* dtype2string(uint16 dtype);
sulymarco 0:7077d8f28b3e 29 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype);
sulymarco 0:7077d8f28b3e 30 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset);
sulymarco 0:7077d8f28b3e 31 void si_sdo(int cnt);
sulymarco 0:7077d8f28b3e 32 int si_map_sdo(int slave);
sulymarco 0:7077d8f28b3e 33 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset);
sulymarco 0:7077d8f28b3e 34 bool network_scanning(void);
sulymarco 0:7077d8f28b3e 35
sulymarco 0:7077d8f28b3e 36
sulymarco 0:7077d8f28b3e 37
sulymarco 0:7077d8f28b3e 38 //---- convert Ethercat types to string ----------------------------------------
sulymarco 0:7077d8f28b3e 39
sulymarco 0:7077d8f28b3e 40
sulymarco 0:7077d8f28b3e 41 char* dtype2string(uint16 dtype)
sulymarco 0:7077d8f28b3e 42 {
sulymarco 0:7077d8f28b3e 43 switch(dtype)
sulymarco 0:7077d8f28b3e 44 {
sulymarco 0:7077d8f28b3e 45 case ECT_BOOLEAN:
sulymarco 0:7077d8f28b3e 46 sprintf(hstr, "BOOLEAN");
sulymarco 0:7077d8f28b3e 47 break;
sulymarco 0:7077d8f28b3e 48 case ECT_INTEGER8:
sulymarco 0:7077d8f28b3e 49 sprintf(hstr, "INTEGER8");
sulymarco 0:7077d8f28b3e 50 break;
sulymarco 0:7077d8f28b3e 51 case ECT_INTEGER16:
sulymarco 0:7077d8f28b3e 52 sprintf(hstr, "INTEGER16");
sulymarco 0:7077d8f28b3e 53 break;
sulymarco 0:7077d8f28b3e 54 case ECT_INTEGER32:
sulymarco 0:7077d8f28b3e 55 sprintf(hstr, "INTEGER32");
sulymarco 0:7077d8f28b3e 56 break;
sulymarco 0:7077d8f28b3e 57 case ECT_INTEGER24:
sulymarco 0:7077d8f28b3e 58 sprintf(hstr, "INTEGER24");
sulymarco 0:7077d8f28b3e 59 break;
sulymarco 0:7077d8f28b3e 60 case ECT_INTEGER64:
sulymarco 0:7077d8f28b3e 61 sprintf(hstr, "INTEGER64");
sulymarco 0:7077d8f28b3e 62 break;
sulymarco 0:7077d8f28b3e 63 case ECT_UNSIGNED8:
sulymarco 0:7077d8f28b3e 64 sprintf(hstr, "UNSIGNED8");
sulymarco 0:7077d8f28b3e 65 break;
sulymarco 0:7077d8f28b3e 66 case ECT_UNSIGNED16:
sulymarco 0:7077d8f28b3e 67 sprintf(hstr, "UNSIGNED16");
sulymarco 0:7077d8f28b3e 68 break;
sulymarco 0:7077d8f28b3e 69 case ECT_UNSIGNED32:
sulymarco 0:7077d8f28b3e 70 sprintf(hstr, "UNSIGNED32");
sulymarco 0:7077d8f28b3e 71 break;
sulymarco 0:7077d8f28b3e 72 case ECT_UNSIGNED24:
sulymarco 0:7077d8f28b3e 73 sprintf(hstr, "UNSIGNED24");
sulymarco 0:7077d8f28b3e 74 break;
sulymarco 0:7077d8f28b3e 75 case ECT_UNSIGNED64:
sulymarco 0:7077d8f28b3e 76 sprintf(hstr, "UNSIGNED64");
sulymarco 0:7077d8f28b3e 77 break;
sulymarco 0:7077d8f28b3e 78 case ECT_REAL32:
sulymarco 0:7077d8f28b3e 79 sprintf(hstr, "REAL32");
sulymarco 0:7077d8f28b3e 80 break;
sulymarco 0:7077d8f28b3e 81 case ECT_REAL64:
sulymarco 0:7077d8f28b3e 82 sprintf(hstr, "REAL64");
sulymarco 0:7077d8f28b3e 83 break;
sulymarco 0:7077d8f28b3e 84 case ECT_BIT1:
sulymarco 0:7077d8f28b3e 85 sprintf(hstr, "BIT1");
sulymarco 0:7077d8f28b3e 86 break;
sulymarco 0:7077d8f28b3e 87 case ECT_BIT2:
sulymarco 0:7077d8f28b3e 88 sprintf(hstr, "BIT2");
sulymarco 0:7077d8f28b3e 89 break;
sulymarco 0:7077d8f28b3e 90 case ECT_BIT3:
sulymarco 0:7077d8f28b3e 91 sprintf(hstr, "BIT3");
sulymarco 0:7077d8f28b3e 92 break;
sulymarco 0:7077d8f28b3e 93 case ECT_BIT4:
sulymarco 0:7077d8f28b3e 94 sprintf(hstr, "BIT4");
sulymarco 0:7077d8f28b3e 95 break;
sulymarco 0:7077d8f28b3e 96 case ECT_BIT5:
sulymarco 0:7077d8f28b3e 97 sprintf(hstr, "BIT5");
sulymarco 0:7077d8f28b3e 98 break;
sulymarco 0:7077d8f28b3e 99 case ECT_BIT6:
sulymarco 0:7077d8f28b3e 100 sprintf(hstr, "BIT6");
sulymarco 0:7077d8f28b3e 101 break;
sulymarco 0:7077d8f28b3e 102 case ECT_BIT7:
sulymarco 0:7077d8f28b3e 103 sprintf(hstr, "BIT7");
sulymarco 0:7077d8f28b3e 104 break;
sulymarco 0:7077d8f28b3e 105 case ECT_BIT8:
sulymarco 0:7077d8f28b3e 106 sprintf(hstr, "BIT8");
sulymarco 0:7077d8f28b3e 107 break;
sulymarco 0:7077d8f28b3e 108 case ECT_VISIBLE_STRING:
sulymarco 0:7077d8f28b3e 109 sprintf(hstr, "VISIBLE_STRING");
sulymarco 0:7077d8f28b3e 110 break;
sulymarco 0:7077d8f28b3e 111 case ECT_OCTET_STRING:
sulymarco 0:7077d8f28b3e 112 sprintf(hstr, "OCTET_STRING");
sulymarco 0:7077d8f28b3e 113 break;
sulymarco 0:7077d8f28b3e 114 default:
sulymarco 0:7077d8f28b3e 115 sprintf(hstr, "Type 0x%4.4X", dtype);
sulymarco 0:7077d8f28b3e 116 }
sulymarco 0:7077d8f28b3e 117 return hstr;
sulymarco 0:7077d8f28b3e 118 }
sulymarco 0:7077d8f28b3e 119
sulymarco 0:7077d8f28b3e 120
sulymarco 0:7077d8f28b3e 121 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 122
sulymarco 0:7077d8f28b3e 123 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
sulymarco 0:7077d8f28b3e 124 {
sulymarco 0:7077d8f28b3e 125 int l = sizeof(usdo) - 1, i;
sulymarco 0:7077d8f28b3e 126 uint8 *u8;
sulymarco 0:7077d8f28b3e 127 int8 *i8;
sulymarco 0:7077d8f28b3e 128 uint16 *u16;
sulymarco 0:7077d8f28b3e 129 int16 *i16;
sulymarco 0:7077d8f28b3e 130 uint32 *u32;
sulymarco 0:7077d8f28b3e 131 int32 *i32;
sulymarco 0:7077d8f28b3e 132 uint64 *u64;
sulymarco 0:7077d8f28b3e 133 int64 *i64;
sulymarco 0:7077d8f28b3e 134 float *sr;
sulymarco 0:7077d8f28b3e 135 double *dr;
sulymarco 0:7077d8f28b3e 136 char es[32];
sulymarco 0:7077d8f28b3e 137
sulymarco 0:7077d8f28b3e 138 memset(&usdo, 0, 128);
sulymarco 0:7077d8f28b3e 139 ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 140 if (EcatError)
sulymarco 0:7077d8f28b3e 141 {
sulymarco 0:7077d8f28b3e 142 return ec_elist2string();
sulymarco 0:7077d8f28b3e 143 }
sulymarco 0:7077d8f28b3e 144 else
sulymarco 0:7077d8f28b3e 145 {
sulymarco 0:7077d8f28b3e 146 switch(dtype)
sulymarco 0:7077d8f28b3e 147 {
sulymarco 0:7077d8f28b3e 148 case ECT_BOOLEAN:
sulymarco 0:7077d8f28b3e 149 u8 = (uint8*) &usdo[0];
sulymarco 0:7077d8f28b3e 150 if (*u8) sprintf(hstr, "TRUE");
sulymarco 0:7077d8f28b3e 151 else sprintf(hstr, "FALSE");
sulymarco 0:7077d8f28b3e 152 break;
sulymarco 0:7077d8f28b3e 153 case ECT_INTEGER8:
sulymarco 0:7077d8f28b3e 154 i8 = (int8*) &usdo[0];
sulymarco 0:7077d8f28b3e 155 sprintf(hstr, "0x%2.2x %d", *i8, *i8);
sulymarco 0:7077d8f28b3e 156 break;
sulymarco 0:7077d8f28b3e 157 case ECT_INTEGER16:
sulymarco 0:7077d8f28b3e 158 i16 = (int16*) &usdo[0];
sulymarco 0:7077d8f28b3e 159 sprintf(hstr, "0x%4.4x %d", *i16, *i16);
sulymarco 0:7077d8f28b3e 160 break;
sulymarco 0:7077d8f28b3e 161 case ECT_INTEGER32:
sulymarco 0:7077d8f28b3e 162 case ECT_INTEGER24:
sulymarco 0:7077d8f28b3e 163 i32 = (int32*) &usdo[0];
sulymarco 0:7077d8f28b3e 164 sprintf(hstr, "0x%8.8x %d", *i32, *i32);
sulymarco 0:7077d8f28b3e 165 break;
sulymarco 0:7077d8f28b3e 166 case ECT_INTEGER64:
sulymarco 0:7077d8f28b3e 167 i64 = (int64*) &usdo[0];
sulymarco 0:7077d8f28b3e 168 sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
sulymarco 0:7077d8f28b3e 169 break;
sulymarco 0:7077d8f28b3e 170 case ECT_UNSIGNED8:
sulymarco 0:7077d8f28b3e 171 u8 = (uint8*) &usdo[0];
sulymarco 0:7077d8f28b3e 172 sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sulymarco 0:7077d8f28b3e 173 break;
sulymarco 0:7077d8f28b3e 174 case ECT_UNSIGNED16:
sulymarco 0:7077d8f28b3e 175 u16 = (uint16*) &usdo[0];
sulymarco 0:7077d8f28b3e 176 sprintf(hstr, "0x%4.4x %u", *u16, *u16);
sulymarco 0:7077d8f28b3e 177 break;
sulymarco 0:7077d8f28b3e 178 case ECT_UNSIGNED32:
sulymarco 0:7077d8f28b3e 179 case ECT_UNSIGNED24:
sulymarco 0:7077d8f28b3e 180 u32 = (uint32*) &usdo[0];
sulymarco 0:7077d8f28b3e 181 sprintf(hstr, "0x%8.8x %u", *u32, *u32);
sulymarco 0:7077d8f28b3e 182 break;
sulymarco 0:7077d8f28b3e 183 case ECT_UNSIGNED64:
sulymarco 0:7077d8f28b3e 184 u64 = (uint64*) &usdo[0];
sulymarco 0:7077d8f28b3e 185 sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
sulymarco 0:7077d8f28b3e 186 break;
sulymarco 0:7077d8f28b3e 187 case ECT_REAL32:
sulymarco 0:7077d8f28b3e 188 sr = (float*) &usdo[0];
sulymarco 0:7077d8f28b3e 189 sprintf(hstr, "%f", *sr);
sulymarco 0:7077d8f28b3e 190 break;
sulymarco 0:7077d8f28b3e 191 case ECT_REAL64:
sulymarco 0:7077d8f28b3e 192 dr = (double*) &usdo[0];
sulymarco 0:7077d8f28b3e 193 sprintf(hstr, "%f", *dr);
sulymarco 0:7077d8f28b3e 194 break;
sulymarco 0:7077d8f28b3e 195 case ECT_BIT1:
sulymarco 0:7077d8f28b3e 196 case ECT_BIT2:
sulymarco 0:7077d8f28b3e 197 case ECT_BIT3:
sulymarco 0:7077d8f28b3e 198 case ECT_BIT4:
sulymarco 0:7077d8f28b3e 199 case ECT_BIT5:
sulymarco 0:7077d8f28b3e 200 case ECT_BIT6:
sulymarco 0:7077d8f28b3e 201 case ECT_BIT7:
sulymarco 0:7077d8f28b3e 202 case ECT_BIT8:
sulymarco 0:7077d8f28b3e 203 u8 = (uint8*) &usdo[0];
sulymarco 0:7077d8f28b3e 204 sprintf(hstr, "0x%x", *u8);
sulymarco 0:7077d8f28b3e 205 break;
sulymarco 0:7077d8f28b3e 206 case ECT_VISIBLE_STRING:
sulymarco 0:7077d8f28b3e 207 strcpy(hstr, usdo);
sulymarco 0:7077d8f28b3e 208 break;
sulymarco 0:7077d8f28b3e 209 case ECT_OCTET_STRING:
sulymarco 0:7077d8f28b3e 210 hstr[0] = 0x00;
sulymarco 0:7077d8f28b3e 211 for (i = 0 ; i < l ; i++)
sulymarco 0:7077d8f28b3e 212 {
sulymarco 0:7077d8f28b3e 213 sprintf(es, "0x%2.2x ", usdo[i]);
sulymarco 0:7077d8f28b3e 214 strcat( hstr, es);
sulymarco 0:7077d8f28b3e 215 }
sulymarco 0:7077d8f28b3e 216 break;
sulymarco 0:7077d8f28b3e 217 default:
sulymarco 0:7077d8f28b3e 218 sprintf(hstr, "Unknown type");
sulymarco 0:7077d8f28b3e 219 }
sulymarco 0:7077d8f28b3e 220 return hstr;
sulymarco 0:7077d8f28b3e 221 }
sulymarco 0:7077d8f28b3e 222 }
sulymarco 0:7077d8f28b3e 223
sulymarco 0:7077d8f28b3e 224
sulymarco 0:7077d8f28b3e 225 //----- read PDO assign structure ----------------------------------------------
sulymarco 0:7077d8f28b3e 226
sulymarco 0:7077d8f28b3e 227 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
sulymarco 0:7077d8f28b3e 228 {
sulymarco 0:7077d8f28b3e 229 uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
sulymarco 0:7077d8f28b3e 230 uint8 subcnt;
sulymarco 0:7077d8f28b3e 231 int wkc, bsize = 0, rdl;
sulymarco 0:7077d8f28b3e 232 int32 rdat2;
sulymarco 0:7077d8f28b3e 233 uint8 bitlen, obj_subidx;
sulymarco 0:7077d8f28b3e 234 uint16 obj_idx;
sulymarco 0:7077d8f28b3e 235 int abs_offset, abs_bit;
sulymarco 0:7077d8f28b3e 236
sulymarco 0:7077d8f28b3e 237 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:7077d8f28b3e 238 // read PDO assign subindex 0 (= number of PDO's)
sulymarco 0:7077d8f28b3e 239 wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 240 rdat = etohs(rdat);
sulymarco 0:7077d8f28b3e 241
sulymarco 0:7077d8f28b3e 242 if ((wkc > 0) && (rdat > 0)) // positive result from slave?
sulymarco 0:7077d8f28b3e 243 {
sulymarco 0:7077d8f28b3e 244 nidx = rdat; // number of available sub indexes
sulymarco 0:7077d8f28b3e 245 bsize = 0;
sulymarco 0:7077d8f28b3e 246
sulymarco 0:7077d8f28b3e 247 for (idxloop = 1; idxloop <= nidx; idxloop++) // read all PDO's
sulymarco 0:7077d8f28b3e 248 {
sulymarco 0:7077d8f28b3e 249 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:7077d8f28b3e 250 // read PDO assign
sulymarco 0:7077d8f28b3e 251 wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 252
sulymarco 0:7077d8f28b3e 253 idx = etohl(rdat); // result is index of PDO
sulymarco 0:7077d8f28b3e 254 if (idx > 0)
sulymarco 0:7077d8f28b3e 255 {
sulymarco 0:7077d8f28b3e 256 rdl = sizeof(subcnt); subcnt = 0;
sulymarco 0:7077d8f28b3e 257 // read number of subindexes of PDO
sulymarco 0:7077d8f28b3e 258 wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 259 subidx = subcnt;
sulymarco 0:7077d8f28b3e 260 // for each subindex
sulymarco 0:7077d8f28b3e 261 for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
sulymarco 0:7077d8f28b3e 262 {
sulymarco 0:7077d8f28b3e 263 rdl = sizeof(rdat2); rdat2 = 0;
sulymarco 0:7077d8f28b3e 264 // read SDO that is mapped in PDO
sulymarco 0:7077d8f28b3e 265 wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 266 rdat2 = etohl(rdat2);
sulymarco 0:7077d8f28b3e 267
sulymarco 0:7077d8f28b3e 268 bitlen = LO_BYTE(rdat2); // extract bitlength of SDO
sulymarco 0:7077d8f28b3e 269 bsize += bitlen;
sulymarco 0:7077d8f28b3e 270 obj_idx = (uint16)(rdat2 >> 16);
sulymarco 0:7077d8f28b3e 271 obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
sulymarco 0:7077d8f28b3e 272 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:7077d8f28b3e 273 abs_bit = bitoffset % 8;
sulymarco 0:7077d8f28b3e 274 ODlist.Slave = slave;
sulymarco 0:7077d8f28b3e 275 ODlist.Index[0] = obj_idx;
sulymarco 0:7077d8f28b3e 276 OElist.Entries = 0;
sulymarco 0:7077d8f28b3e 277 wkc = 0;
sulymarco 0:7077d8f28b3e 278
sulymarco 0:7077d8f28b3e 279 if(obj_idx || obj_subidx) // read object entry from dictionary if not a filler (0x0000:0x00)
sulymarco 0:7077d8f28b3e 280 wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
sulymarco 0:7077d8f28b3e 281 printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
sulymarco 0:7077d8f28b3e 282
sulymarco 0:7077d8f28b3e 283 if((wkc > 0) && OElist.Entries)
sulymarco 0:7077d8f28b3e 284 {
sulymarco 0:7077d8f28b3e 285 printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
sulymarco 0:7077d8f28b3e 286 }
sulymarco 0:7077d8f28b3e 287 else
sulymarco 0:7077d8f28b3e 288 printf("\n");
sulymarco 0:7077d8f28b3e 289 bitoffset += bitlen;
sulymarco 0:7077d8f28b3e 290 };
sulymarco 0:7077d8f28b3e 291 };
sulymarco 0:7077d8f28b3e 292 };
sulymarco 0:7077d8f28b3e 293 };
sulymarco 0:7077d8f28b3e 294
sulymarco 0:7077d8f28b3e 295 return bsize; // return total found bitlength (PDO)
sulymarco 0:7077d8f28b3e 296 }
sulymarco 0:7077d8f28b3e 297
sulymarco 0:7077d8f28b3e 298
sulymarco 0:7077d8f28b3e 299 //---- PDO mapping according to CoE --------------------------------------------
sulymarco 0:7077d8f28b3e 300
sulymarco 0:7077d8f28b3e 301 int si_map_sdo(int slave)
sulymarco 0:7077d8f28b3e 302 {
sulymarco 0:7077d8f28b3e 303 int wkc, rdl;
sulymarco 0:7077d8f28b3e 304 int retVal = 0;
sulymarco 0:7077d8f28b3e 305 uint8 nSM, iSM, tSM;
sulymarco 0:7077d8f28b3e 306 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:7077d8f28b3e 307 uint8 SMt_bug_add;
sulymarco 0:7077d8f28b3e 308
sulymarco 0:7077d8f28b3e 309 printf("PDO mapping according to CoE :\n\n");
sulymarco 0:7077d8f28b3e 310 SMt_bug_add = 0;
sulymarco 0:7077d8f28b3e 311 outputs_bo = 0;
sulymarco 0:7077d8f28b3e 312 inputs_bo = 0;
sulymarco 0:7077d8f28b3e 313 rdl = sizeof(nSM); nSM = 0;
sulymarco 0:7077d8f28b3e 314 // read SyncManager Communication Type object count
sulymarco 0:7077d8f28b3e 315 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 316
sulymarco 0:7077d8f28b3e 317 if ((wkc > 0) && (nSM > 2)) // positive result from slave ?
sulymarco 0:7077d8f28b3e 318 {
sulymarco 0:7077d8f28b3e 319 nSM--; // make nSM equal to number of defined SM
sulymarco 0:7077d8f28b3e 320
sulymarco 0:7077d8f28b3e 321 if (nSM > EC_MAXSM) // limit to maximum number of SM defined,
sulymarco 0:7077d8f28b3e 322 nSM = EC_MAXSM; // if true the slave can't be configured
sulymarco 0:7077d8f28b3e 323
sulymarco 0:7077d8f28b3e 324 for (iSM = 2 ; iSM <= nSM ; iSM++) // iterate for every SM type defined
sulymarco 0:7077d8f28b3e 325 {
sulymarco 0:7077d8f28b3e 326 rdl = sizeof(tSM); tSM = 0;
sulymarco 0:7077d8f28b3e 327 // read SyncManager Communication Type
sulymarco 0:7077d8f28b3e 328 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
sulymarco 0:7077d8f28b3e 329 if (wkc > 0)
sulymarco 0:7077d8f28b3e 330 {
sulymarco 0:7077d8f28b3e 331 if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
sulymarco 0:7077d8f28b3e 332 {
sulymarco 0:7077d8f28b3e 333 SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4
sulymarco 0:7077d8f28b3e 334 printf("Activated SM type workaround, possible incorrect mapping.\n");
sulymarco 0:7077d8f28b3e 335 }
sulymarco 0:7077d8f28b3e 336
sulymarco 0:7077d8f28b3e 337 if(tSM) // only add if SMt > 0
sulymarco 0:7077d8f28b3e 338 tSM += SMt_bug_add;
sulymarco 0:7077d8f28b3e 339
sulymarco 0:7077d8f28b3e 340 if (tSM == 3) // outputs
sulymarco 0:7077d8f28b3e 341 { // read the assign RXPDO
sulymarco 0:7077d8f28b3e 342
sulymarco 0:7077d8f28b3e 343 printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:7077d8f28b3e 344 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
sulymarco 0:7077d8f28b3e 345 outputs_bo += Tsize;
sulymarco 0:7077d8f28b3e 346 }
sulymarco 0:7077d8f28b3e 347
sulymarco 0:7077d8f28b3e 348 if (tSM == 4) // inputs
sulymarco 0:7077d8f28b3e 349 { // read the assign TXPDO
sulymarco 0:7077d8f28b3e 350
sulymarco 0:7077d8f28b3e 351 printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:7077d8f28b3e 352 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
sulymarco 0:7077d8f28b3e 353 inputs_bo += Tsize;
sulymarco 0:7077d8f28b3e 354 }
sulymarco 0:7077d8f28b3e 355 }
sulymarco 0:7077d8f28b3e 356 }
sulymarco 0:7077d8f28b3e 357 }
sulymarco 0:7077d8f28b3e 358
sulymarco 0:7077d8f28b3e 359 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits?
sulymarco 0:7077d8f28b3e 360 retVal = 1;
sulymarco 0:7077d8f28b3e 361 return retVal;
sulymarco 0:7077d8f28b3e 362 }
sulymarco 0:7077d8f28b3e 363
sulymarco 0:7077d8f28b3e 364
sulymarco 0:7077d8f28b3e 365 //---- CoE objects description -------------------------------------------------
sulymarco 0:7077d8f28b3e 366
sulymarco 0:7077d8f28b3e 367 void si_sdo(int cnt)
sulymarco 0:7077d8f28b3e 368 {
sulymarco 0:7077d8f28b3e 369 int i, j;
sulymarco 0:7077d8f28b3e 370
sulymarco 0:7077d8f28b3e 371 ODlist.Entries = 0;
sulymarco 0:7077d8f28b3e 372 memset(&ODlist, 0, sizeof(ODlist));
sulymarco 0:7077d8f28b3e 373 if( ec_readODlist(cnt, &ODlist))
sulymarco 0:7077d8f28b3e 374 {
sulymarco 0:7077d8f28b3e 375 printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
sulymarco 0:7077d8f28b3e 376 for( i = 0 ; i < ODlist.Entries ; i++)
sulymarco 0:7077d8f28b3e 377 {
sulymarco 0:7077d8f28b3e 378 ec_readODdescription(i, &ODlist);
sulymarco 0:7077d8f28b3e 379 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:7077d8f28b3e 380 printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
sulymarco 0:7077d8f28b3e 381 ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
sulymarco 0:7077d8f28b3e 382 memset(&OElist, 0, sizeof(OElist));
sulymarco 0:7077d8f28b3e 383 ec_readOE(i, &ODlist, &OElist);
sulymarco 0:7077d8f28b3e 384 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:7077d8f28b3e 385 for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
sulymarco 0:7077d8f28b3e 386 {
sulymarco 0:7077d8f28b3e 387 if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
sulymarco 0:7077d8f28b3e 388 {
sulymarco 0:7077d8f28b3e 389 printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
sulymarco 0:7077d8f28b3e 390 j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
sulymarco 0:7077d8f28b3e 391 if ((OElist.ObjAccess[j] & 0x0007))
sulymarco 0:7077d8f28b3e 392 {
sulymarco 0:7077d8f28b3e 393 printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
sulymarco 0:7077d8f28b3e 394 }
sulymarco 0:7077d8f28b3e 395 }
sulymarco 0:7077d8f28b3e 396 }
sulymarco 0:7077d8f28b3e 397 }
sulymarco 0:7077d8f28b3e 398 }
sulymarco 0:7077d8f28b3e 399 else
sulymarco 0:7077d8f28b3e 400 {
sulymarco 0:7077d8f28b3e 401 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:7077d8f28b3e 402 }
sulymarco 0:7077d8f28b3e 403 }
sulymarco 0:7077d8f28b3e 404
sulymarco 0:7077d8f28b3e 405
sulymarco 0:7077d8f28b3e 406 //---- PDO mapping according to SII --------------------------------------------
sulymarco 0:7077d8f28b3e 407
sulymarco 0:7077d8f28b3e 408 int si_map_sii(int slave)
sulymarco 0:7077d8f28b3e 409 {
sulymarco 0:7077d8f28b3e 410 int retVal = 0;
sulymarco 0:7077d8f28b3e 411 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:7077d8f28b3e 412
sulymarco 0:7077d8f28b3e 413 printf("\nPDO mapping according to SII :\n\n");
sulymarco 0:7077d8f28b3e 414
sulymarco 0:7077d8f28b3e 415 outputs_bo = 0;
sulymarco 0:7077d8f28b3e 416 inputs_bo = 0;
sulymarco 0:7077d8f28b3e 417 // read the assign RXPDOs
sulymarco 0:7077d8f28b3e 418 Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
sulymarco 0:7077d8f28b3e 419 outputs_bo += Tsize;
sulymarco 0:7077d8f28b3e 420 // read the assign TXPDOs
sulymarco 0:7077d8f28b3e 421 Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
sulymarco 0:7077d8f28b3e 422 inputs_bo += Tsize;
sulymarco 0:7077d8f28b3e 423
sulymarco 0:7077d8f28b3e 424 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits ?
sulymarco 0:7077d8f28b3e 425 retVal = 1;
sulymarco 0:7077d8f28b3e 426 return retVal;
sulymarco 0:7077d8f28b3e 427 }
sulymarco 0:7077d8f28b3e 428
sulymarco 0:7077d8f28b3e 429
sulymarco 0:7077d8f28b3e 430 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 431
sulymarco 0:7077d8f28b3e 432 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
sulymarco 0:7077d8f28b3e 433 {
sulymarco 0:7077d8f28b3e 434 uint16 a , w, c, e, er, Size;
sulymarco 0:7077d8f28b3e 435 uint8 eectl;
sulymarco 0:7077d8f28b3e 436 uint16 obj_idx;
sulymarco 0:7077d8f28b3e 437 uint8 obj_subidx;
sulymarco 0:7077d8f28b3e 438 uint8 obj_name;
sulymarco 0:7077d8f28b3e 439 uint8 obj_datatype;
sulymarco 0:7077d8f28b3e 440 uint8 bitlen;
sulymarco 0:7077d8f28b3e 441 int totalsize;
sulymarco 0:7077d8f28b3e 442 ec_eepromPDOt eepPDO;
sulymarco 0:7077d8f28b3e 443 ec_eepromPDOt *PDO;
sulymarco 0:7077d8f28b3e 444 int abs_offset, abs_bit;
sulymarco 0:7077d8f28b3e 445 char str_name[EC_MAXNAME + 1];
sulymarco 0:7077d8f28b3e 446
sulymarco 0:7077d8f28b3e 447 eectl = ec_slave[slave].eep_pdi;
sulymarco 0:7077d8f28b3e 448 Size = 0;
sulymarco 0:7077d8f28b3e 449 totalsize = 0;
sulymarco 0:7077d8f28b3e 450 PDO = &eepPDO;
sulymarco 0:7077d8f28b3e 451 PDO->nPDO = 0;
sulymarco 0:7077d8f28b3e 452 PDO->Length = 0;
sulymarco 0:7077d8f28b3e 453 PDO->Index[1] = 0;
sulymarco 0:7077d8f28b3e 454
sulymarco 0:7077d8f28b3e 455 for (c = 0 ; c < EC_MAXSM ; c++)
sulymarco 0:7077d8f28b3e 456 PDO->SMbitsize[c] = 0;
sulymarco 0:7077d8f28b3e 457
sulymarco 0:7077d8f28b3e 458 if (t > 1)
sulymarco 0:7077d8f28b3e 459 t = 1;
sulymarco 0:7077d8f28b3e 460
sulymarco 0:7077d8f28b3e 461 PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
sulymarco 0:7077d8f28b3e 462
sulymarco 0:7077d8f28b3e 463 if (PDO->Startpos > 0)
sulymarco 0:7077d8f28b3e 464 {
sulymarco 0:7077d8f28b3e 465 a = PDO->Startpos;
sulymarco 0:7077d8f28b3e 466 w = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 467 w += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:7077d8f28b3e 468 PDO->Length = w;
sulymarco 0:7077d8f28b3e 469 c = 1;
sulymarco 0:7077d8f28b3e 470
sulymarco 0:7077d8f28b3e 471 do // traverse through all PDOs
sulymarco 0:7077d8f28b3e 472 {
sulymarco 0:7077d8f28b3e 473 PDO->nPDO++;
sulymarco 0:7077d8f28b3e 474 PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 475 PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:7077d8f28b3e 476 PDO->BitSize[PDO->nPDO] = 0;
sulymarco 0:7077d8f28b3e 477 c++;
sulymarco 0:7077d8f28b3e 478
sulymarco 0:7077d8f28b3e 479 e = ec_siigetbyte(slave, a++); // number of entries in PDO
sulymarco 0:7077d8f28b3e 480 PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 481 a++;
sulymarco 0:7077d8f28b3e 482 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 483 a += 2;
sulymarco 0:7077d8f28b3e 484 c += 2;
sulymarco 0:7077d8f28b3e 485
sulymarco 0:7077d8f28b3e 486 if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) // active and in range SM?
sulymarco 0:7077d8f28b3e 487 {
sulymarco 0:7077d8f28b3e 488 str_name[0] = 0;
sulymarco 0:7077d8f28b3e 489 if(obj_name)
sulymarco 0:7077d8f28b3e 490 ec_siistring(str_name, slave, obj_name);
sulymarco 0:7077d8f28b3e 491
sulymarco 0:7077d8f28b3e 492 if (t)
sulymarco 0:7077d8f28b3e 493 printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:7077d8f28b3e 494 else
sulymarco 0:7077d8f28b3e 495 printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:7077d8f28b3e 496
sulymarco 0:7077d8f28b3e 497 printf(" addr b index: sub bitl data_type name\n");
sulymarco 0:7077d8f28b3e 498
sulymarco 0:7077d8f28b3e 499 for (er = 1; er <= e; er++) // read all entries defined in PDO
sulymarco 0:7077d8f28b3e 500 {
sulymarco 0:7077d8f28b3e 501 c += 4;
sulymarco 0:7077d8f28b3e 502 obj_idx = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 503 obj_idx += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:7077d8f28b3e 504 obj_subidx = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 505 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 506 obj_datatype = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 507 bitlen = ec_siigetbyte(slave, a++);
sulymarco 0:7077d8f28b3e 508 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:7077d8f28b3e 509 abs_bit = bitoffset % 8;
sulymarco 0:7077d8f28b3e 510
sulymarco 0:7077d8f28b3e 511 PDO->BitSize[PDO->nPDO] += bitlen;
sulymarco 0:7077d8f28b3e 512 a += 2;
sulymarco 0:7077d8f28b3e 513
sulymarco 0:7077d8f28b3e 514 if(obj_idx || obj_subidx) // skip entry if filler (0x0000:0x00)
sulymarco 0:7077d8f28b3e 515 {
sulymarco 0:7077d8f28b3e 516 str_name[0] = 0;
sulymarco 0:7077d8f28b3e 517 if(obj_name)
sulymarco 0:7077d8f28b3e 518 ec_siistring(str_name, slave, obj_name);
sulymarco 0:7077d8f28b3e 519
sulymarco 0:7077d8f28b3e 520 printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
sulymarco 0:7077d8f28b3e 521 printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
sulymarco 0:7077d8f28b3e 522 }
sulymarco 0:7077d8f28b3e 523 bitoffset += bitlen;
sulymarco 0:7077d8f28b3e 524 totalsize += bitlen;
sulymarco 0:7077d8f28b3e 525 }
sulymarco 0:7077d8f28b3e 526 PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
sulymarco 0:7077d8f28b3e 527 Size += PDO->BitSize[PDO->nPDO];
sulymarco 0:7077d8f28b3e 528 c++;
sulymarco 0:7077d8f28b3e 529 }
sulymarco 0:7077d8f28b3e 530
sulymarco 0:7077d8f28b3e 531 else // PDO deactivated because SM is 0xff or > EC_MAXSM
sulymarco 0:7077d8f28b3e 532 {
sulymarco 0:7077d8f28b3e 533 c += 4 * e;
sulymarco 0:7077d8f28b3e 534 a += 8 * e;
sulymarco 0:7077d8f28b3e 535 c++;
sulymarco 0:7077d8f28b3e 536 }
sulymarco 0:7077d8f28b3e 537 // limit number of PDO entries in buffer
sulymarco 0:7077d8f28b3e 538 if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length;
sulymarco 0:7077d8f28b3e 539 }
sulymarco 0:7077d8f28b3e 540 while (c < PDO->Length);
sulymarco 0:7077d8f28b3e 541 }
sulymarco 0:7077d8f28b3e 542
sulymarco 0:7077d8f28b3e 543 if (eectl)
sulymarco 0:7077d8f28b3e 544 ec_eeprom2pdi(slave); // if eeprom control was previously pdi then restore
sulymarco 0:7077d8f28b3e 545
sulymarco 0:7077d8f28b3e 546 return totalsize;
sulymarco 0:7077d8f28b3e 547 }
sulymarco 0:7077d8f28b3e 548
sulymarco 0:7077d8f28b3e 549
sulymarco 0:7077d8f28b3e 550 //------------------------------------------------------------------------------
sulymarco 0:7077d8f28b3e 551
sulymarco 0:7077d8f28b3e 552 bool network_scanning(void)
sulymarco 0:7077d8f28b3e 553
sulymarco 0:7077d8f28b3e 554 {
sulymarco 0:7077d8f28b3e 555 int expectedWKC;
sulymarco 0:7077d8f28b3e 556 int cnt, i, j, nSM;
sulymarco 0:7077d8f28b3e 557 uint16 ssigen;
sulymarco 0:7077d8f28b3e 558
sulymarco 0:7077d8f28b3e 559 if ( ec_config(FALSE, &IOmap) > 0 ) // find and configure the slaves
sulymarco 0:7077d8f28b3e 560 {
sulymarco 0:7077d8f28b3e 561 ec_configdc();
sulymarco 0:7077d8f28b3e 562 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:7077d8f28b3e 563
sulymarco 0:7077d8f28b3e 564 printf("%d slaves found and configured.\n",ec_slavecount);
sulymarco 0:7077d8f28b3e 565 TFT.printf("%d slaves found and configured.\n\n",ec_slavecount);
sulymarco 0:7077d8f28b3e 566
sulymarco 0:7077d8f28b3e 567 expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
sulymarco 0:7077d8f28b3e 568 printf("Calculated workcounter %d\n", expectedWKC);
sulymarco 0:7077d8f28b3e 569 // wait for all slaves to reach SAFE_OP state
sulymarco 0:7077d8f28b3e 570 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
sulymarco 0:7077d8f28b3e 571
sulymarco 0:7077d8f28b3e 572 if (ec_slave[0].state != EC_STATE_SAFE_OP )
sulymarco 0:7077d8f28b3e 573 {
sulymarco 0:7077d8f28b3e 574 printf("Not all slaves reached safe operational state.\n");
sulymarco 0:7077d8f28b3e 575 ec_readstate();
sulymarco 0:7077d8f28b3e 576 for(i = 1; i<=ec_slavecount ; i++)
sulymarco 0:7077d8f28b3e 577 {
sulymarco 0:7077d8f28b3e 578 if(ec_slave[i].state != EC_STATE_SAFE_OP)
sulymarco 0:7077d8f28b3e 579 {
sulymarco 0:7077d8f28b3e 580 printf("Slave %d State=%2x StatusCode=%4x : %s\n",
sulymarco 0:7077d8f28b3e 581 i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
sulymarco 0:7077d8f28b3e 582 }
sulymarco 0:7077d8f28b3e 583 }
sulymarco 0:7077d8f28b3e 584 }
sulymarco 0:7077d8f28b3e 585
sulymarco 0:7077d8f28b3e 586 ec_readstate();
sulymarco 0:7077d8f28b3e 587
sulymarco 0:7077d8f28b3e 588 for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
sulymarco 0:7077d8f28b3e 589 {
sulymarco 0:7077d8f28b3e 590 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",
sulymarco 0:7077d8f28b3e 591 cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
sulymarco 0:7077d8f28b3e 592 ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
sulymarco 0:7077d8f28b3e 593
sulymarco 0:7077d8f28b3e 594 int Line = cnt-1;
sulymarco 0:7077d8f28b3e 595
sulymarco 0:7077d8f28b3e 596 TFT.foreground(Green); // print Name, Manufacturer, ID and Revision
sulymarco 0:7077d8f28b3e 597 TFT.locate(0, 12*(((Line % 6)*3)+3)); // of the slaves found on the TFT
sulymarco 0:7077d8f28b3e 598 TFT.printf("Slave %d ", cnt); //
sulymarco 0:7077d8f28b3e 599 TFT.foreground(Yellow); //
sulymarco 0:7077d8f28b3e 600 //
sulymarco 0:7077d8f28b3e 601 TFT.foreground(Magenta); //
sulymarco 0:7077d8f28b3e 602 TFT.locate(60, 12*(((Line % 6)*3)+3)); //
sulymarco 0:7077d8f28b3e 603 TFT.printf("Name"); //
sulymarco 0:7077d8f28b3e 604 TFT.foreground(Yellow); //
sulymarco 0:7077d8f28b3e 605 TFT.locate(104, 12*(((Line % 6)*3)+3)); //
sulymarco 0:7077d8f28b3e 606 TFT.printf("%.14s", ec_slave[cnt].name); //
sulymarco 0:7077d8f28b3e 607 //
sulymarco 0:7077d8f28b3e 608 TFT.foreground(Magenta); //
sulymarco 0:7077d8f28b3e 609 TFT.locate(220, 12*(((Line % 6)*3)+3)); //
sulymarco 0:7077d8f28b3e 610 TFT.printf("Man"); //
sulymarco 0:7077d8f28b3e 611 TFT.foreground(Yellow); //
sulymarco 0:7077d8f28b3e 612 TFT.locate(250, 12*(((Line % 6)*3)+3)); //
sulymarco 0:7077d8f28b3e 613 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_man);//
sulymarco 0:7077d8f28b3e 614 //
sulymarco 0:7077d8f28b3e 615 TFT.foreground(Magenta); //
sulymarco 0:7077d8f28b3e 616 TFT.locate(60, 12*(((Line % 6)*3)+4)); //
sulymarco 0:7077d8f28b3e 617 TFT.printf("ID"); //
sulymarco 0:7077d8f28b3e 618 TFT.foreground(Yellow); //
sulymarco 0:7077d8f28b3e 619 TFT.locate(104, 12*(((Line % 6)*3)+4)); //
sulymarco 0:7077d8f28b3e 620 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_id); //
sulymarco 0:7077d8f28b3e 621 //
sulymarco 0:7077d8f28b3e 622 TFT.foreground(Magenta); //
sulymarco 0:7077d8f28b3e 623 TFT.locate(220, 12*(((Line % 6)*3)+4)); //
sulymarco 0:7077d8f28b3e 624 TFT.printf("Rev "); //
sulymarco 0:7077d8f28b3e 625 TFT.foreground(Yellow); //
sulymarco 0:7077d8f28b3e 626 TFT.locate(250, 12*(((Line % 6)*3)+4)); //
sulymarco 0:7077d8f28b3e 627 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_rev);//
sulymarco 0:7077d8f28b3e 628
sulymarco 0:7077d8f28b3e 629
sulymarco 0:7077d8f28b3e 630 if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
sulymarco 0:7077d8f28b3e 631 printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
sulymarco 0:7077d8f28b3e 632 (ec_slave[cnt].activeports & 0x02) > 0 ,
sulymarco 0:7077d8f28b3e 633 (ec_slave[cnt].activeports & 0x04) > 0 ,
sulymarco 0:7077d8f28b3e 634 (ec_slave[cnt].activeports & 0x08) > 0 );
sulymarco 0:7077d8f28b3e 635
sulymarco 0:7077d8f28b3e 636 printf(" Configured address: %4.4X\n", ec_slave[cnt].configadr);
sulymarco 0:7077d8f28b3e 637 printf(" Outputs address: %X\n", ec_slave[cnt].outputs);
sulymarco 0:7077d8f28b3e 638 printf(" Inputs address: %X\n", ec_slave[cnt].inputs);
sulymarco 0:7077d8f28b3e 639
sulymarco 0:7077d8f28b3e 640 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);
sulymarco 0:7077d8f28b3e 641 for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
sulymarco 0:7077d8f28b3e 642 {
sulymarco 0:7077d8f28b3e 643 if(ec_slave[cnt].SM[nSM].StartAddr > 0)
sulymarco 0:7077d8f28b3e 644 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,
sulymarco 0:7077d8f28b3e 645 (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
sulymarco 0:7077d8f28b3e 646 }
sulymarco 0:7077d8f28b3e 647 for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
sulymarco 0:7077d8f28b3e 648 {
sulymarco 0:7077d8f28b3e 649 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,
sulymarco 0:7077d8f28b3e 650 (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
sulymarco 0:7077d8f28b3e 651 ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
sulymarco 0:7077d8f28b3e 652 ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
sulymarco 0:7077d8f28b3e 653 }
sulymarco 0:7077d8f28b3e 654 printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
sulymarco 0:7077d8f28b3e 655 ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
sulymarco 0:7077d8f28b3e 656 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);
sulymarco 0:7077d8f28b3e 657 ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
sulymarco 0:7077d8f28b3e 658
sulymarco 0:7077d8f28b3e 659 if (ssigen) // SII general section
sulymarco 0:7077d8f28b3e 660 {
sulymarco 0:7077d8f28b3e 661 ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
sulymarco 0:7077d8f28b3e 662 ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
sulymarco 0:7077d8f28b3e 663 ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
sulymarco 0:7077d8f28b3e 664 ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
sulymarco 0:7077d8f28b3e 665 if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
sulymarco 0:7077d8f28b3e 666 {
sulymarco 0:7077d8f28b3e 667 ec_slave[cnt].blockLRW = 1;
sulymarco 0:7077d8f28b3e 668 ec_slave[0].blockLRW++;
sulymarco 0:7077d8f28b3e 669 }
sulymarco 0:7077d8f28b3e 670 ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
sulymarco 0:7077d8f28b3e 671 ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
sulymarco 0:7077d8f28b3e 672 ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
sulymarco 0:7077d8f28b3e 673 }
sulymarco 0:7077d8f28b3e 674 printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
sulymarco 0:7077d8f28b3e 675 ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
sulymarco 0:7077d8f28b3e 676 printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
sulymarco 0:7077d8f28b3e 677 ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
sulymarco 0:7077d8f28b3e 678
sulymarco 0:7077d8f28b3e 679 if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
sulymarco 0:7077d8f28b3e 680 si_sdo(cnt);
sulymarco 0:7077d8f28b3e 681
sulymarco 0:7077d8f28b3e 682 if(printMAP)
sulymarco 0:7077d8f28b3e 683 {
sulymarco 0:7077d8f28b3e 684 if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
sulymarco 0:7077d8f28b3e 685 si_map_sdo(cnt);
sulymarco 0:7077d8f28b3e 686 else
sulymarco 0:7077d8f28b3e 687 si_map_sii(cnt);
sulymarco 0:7077d8f28b3e 688 }
sulymarco 0:7077d8f28b3e 689 }
sulymarco 0:7077d8f28b3e 690 return 1;
sulymarco 0:7077d8f28b3e 691 }
sulymarco 0:7077d8f28b3e 692
sulymarco 0:7077d8f28b3e 693 else
sulymarco 0:7077d8f28b3e 694 {
sulymarco 0:7077d8f28b3e 695 // ec_close(); //******//
sulymarco 0:7077d8f28b3e 696
sulymarco 0:7077d8f28b3e 697 return 0; // no slaves found
sulymarco 0:7077d8f28b3e 698 }
sulymarco 0:7077d8f28b3e 699 }
sulymarco 0:7077d8f28b3e 700
sulymarco 0:7077d8f28b3e 701
sulymarco 0:7077d8f28b3e 702
sulymarco 0:7077d8f28b3e 703
sulymarco 0:7077d8f28b3e 704
sulymarco 0:7077d8f28b3e 705