AB&T
EasyCAT LAB - EtherCAT master legacy example
Dependencies: SOEM SPI_STMPE610 SPI_TFT_ILI9341 TFT_fonts
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soem_start.cpp
00001 00002 #include "soem_start.h" 00003 #include "ethercat.h" 00004 #include "string.h" 00005 #include "oshw.h" 00006 00007 #include "mbed.h" 00008 00009 #include <inttypes.h> 00010 00011 #include "SPI_TFT_ILI9341.h" 00012 00013 extern SPI_TFT_ILI9341 TFT; 00014 00015 boolean printSDO = TRUE; 00016 boolean printMAP = TRUE; 00017 00018 ec_ODlistt ODlist; 00019 ec_OElistt OElist; 00020 char usdo[128]; 00021 char hstr[1024]; 00022 00023 char extern IOmap[]; 00024 00025 uint32_t error_counter = 0; 00026 00027 00028 char* dtype2string(uint16 dtype); 00029 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype); 00030 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset); 00031 void si_sdo(int cnt); 00032 int si_map_sdo(int slave); 00033 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset); 00034 bool network_scanning(void); 00035 00036 00037 00038 //---- convert Ethercat types to string ---------------------------------------- 00039 00040 00041 char* dtype2string(uint16 dtype) 00042 { 00043 switch(dtype) 00044 { 00045 case ECT_BOOLEAN: 00046 sprintf(hstr, "BOOLEAN"); 00047 break; 00048 case ECT_INTEGER8: 00049 sprintf(hstr, "INTEGER8"); 00050 break; 00051 case ECT_INTEGER16: 00052 sprintf(hstr, "INTEGER16"); 00053 break; 00054 case ECT_INTEGER32: 00055 sprintf(hstr, "INTEGER32"); 00056 break; 00057 case ECT_INTEGER24: 00058 sprintf(hstr, "INTEGER24"); 00059 break; 00060 case ECT_INTEGER64: 00061 sprintf(hstr, "INTEGER64"); 00062 break; 00063 case ECT_UNSIGNED8: 00064 sprintf(hstr, "UNSIGNED8"); 00065 break; 00066 case ECT_UNSIGNED16: 00067 sprintf(hstr, "UNSIGNED16"); 00068 break; 00069 case ECT_UNSIGNED32: 00070 sprintf(hstr, "UNSIGNED32"); 00071 break; 00072 case ECT_UNSIGNED24: 00073 sprintf(hstr, "UNSIGNED24"); 00074 break; 00075 case ECT_UNSIGNED64: 00076 sprintf(hstr, "UNSIGNED64"); 00077 break; 00078 case ECT_REAL32: 00079 sprintf(hstr, "REAL32"); 00080 break; 00081 case ECT_REAL64: 00082 sprintf(hstr, "REAL64"); 00083 break; 00084 case ECT_BIT1: 00085 sprintf(hstr, "BIT1"); 00086 break; 00087 case ECT_BIT2: 00088 sprintf(hstr, "BIT2"); 00089 break; 00090 case ECT_BIT3: 00091 sprintf(hstr, "BIT3"); 00092 break; 00093 case ECT_BIT4: 00094 sprintf(hstr, "BIT4"); 00095 break; 00096 case ECT_BIT5: 00097 sprintf(hstr, "BIT5"); 00098 break; 00099 case ECT_BIT6: 00100 sprintf(hstr, "BIT6"); 00101 break; 00102 case ECT_BIT7: 00103 sprintf(hstr, "BIT7"); 00104 break; 00105 case ECT_BIT8: 00106 sprintf(hstr, "BIT8"); 00107 break; 00108 case ECT_VISIBLE_STRING: 00109 sprintf(hstr, "VISIBLE_STRING"); 00110 break; 00111 case ECT_OCTET_STRING: 00112 sprintf(hstr, "OCTET_STRING"); 00113 break; 00114 default: 00115 sprintf(hstr, "Type 0x%4.4X", dtype); 00116 } 00117 return hstr; 00118 } 00119 00120 00121 //------------------------------------------------------------------------------ 00122 00123 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype) 00124 { 00125 int l = sizeof(usdo) - 1, i; 00126 uint8 *u8; 00127 int8 *i8; 00128 uint16 *u16; 00129 int16 *i16; 00130 uint32 *u32; 00131 int32 *i32; 00132 uint64 *u64; 00133 int64 *i64; 00134 float *sr; 00135 double *dr; 00136 char es[32]; 00137 00138 memset(&usdo, 0, 128); 00139 ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM); 00140 if (EcatError) 00141 { 00142 return ec_elist2string(); 00143 } 00144 else 00145 { 00146 switch(dtype) 00147 { 00148 case ECT_BOOLEAN: 00149 u8 = (uint8*) &usdo[0]; 00150 if (*u8) sprintf(hstr, "TRUE"); 00151 else sprintf(hstr, "FALSE"); 00152 break; 00153 case ECT_INTEGER8: 00154 i8 = (int8*) &usdo[0]; 00155 sprintf(hstr, "0x%2.2x %d", *i8, *i8); 00156 break; 00157 case ECT_INTEGER16: 00158 i16 = (int16*) &usdo[0]; 00159 sprintf(hstr, "0x%4.4x %d", *i16, *i16); 00160 break; 00161 case ECT_INTEGER32: 00162 case ECT_INTEGER24: 00163 i32 = (int32*) &usdo[0]; 00164 sprintf(hstr, "0x%8.8x %d", *i32, *i32); 00165 break; 00166 case ECT_INTEGER64: 00167 i64 = (int64*) &usdo[0]; 00168 sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64); 00169 break; 00170 case ECT_UNSIGNED8: 00171 u8 = (uint8*) &usdo[0]; 00172 sprintf(hstr, "0x%2.2x %u", *u8, *u8); 00173 break; 00174 case ECT_UNSIGNED16: 00175 u16 = (uint16*) &usdo[0]; 00176 sprintf(hstr, "0x%4.4x %u", *u16, *u16); 00177 break; 00178 case ECT_UNSIGNED32: 00179 case ECT_UNSIGNED24: 00180 u32 = (uint32*) &usdo[0]; 00181 sprintf(hstr, "0x%8.8x %u", *u32, *u32); 00182 break; 00183 case ECT_UNSIGNED64: 00184 u64 = (uint64*) &usdo[0]; 00185 sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64); 00186 break; 00187 case ECT_REAL32: 00188 sr = (float*) &usdo[0]; 00189 sprintf(hstr, "%f", *sr); 00190 break; 00191 case ECT_REAL64: 00192 dr = (double*) &usdo[0]; 00193 sprintf(hstr, "%f", *dr); 00194 break; 00195 case ECT_BIT1: 00196 case ECT_BIT2: 00197 case ECT_BIT3: 00198 case ECT_BIT4: 00199 case ECT_BIT5: 00200 case ECT_BIT6: 00201 case ECT_BIT7: 00202 case ECT_BIT8: 00203 u8 = (uint8*) &usdo[0]; 00204 sprintf(hstr, "0x%x", *u8); 00205 break; 00206 case ECT_VISIBLE_STRING: 00207 strcpy(hstr, usdo); 00208 break; 00209 case ECT_OCTET_STRING: 00210 hstr[0] = 0x00; 00211 for (i = 0 ; i < l ; i++) 00212 { 00213 sprintf(es, "0x%2.2x ", usdo[i]); 00214 strcat( hstr, es); 00215 } 00216 break; 00217 default: 00218 sprintf(hstr, "Unknown type"); 00219 } 00220 return hstr; 00221 } 00222 } 00223 00224 00225 //----- read PDO assign structure ---------------------------------------------- 00226 00227 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset) 00228 { 00229 uint16 idxloop, nidx, subidxloop, rdat, idx, subidx; 00230 uint8 subcnt; 00231 int wkc, bsize = 0, rdl; 00232 int32 rdat2; 00233 uint8 bitlen, obj_subidx; 00234 uint16 obj_idx; 00235 int abs_offset, abs_bit; 00236 00237 rdl = sizeof(rdat); rdat = 0; 00238 // read PDO assign subindex 0 (= number of PDO's) 00239 wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM); 00240 rdat = etohs(rdat); 00241 00242 if ((wkc > 0) && (rdat > 0)) // positive result from slave? 00243 { 00244 nidx = rdat; // number of available sub indexes 00245 bsize = 0; 00246 00247 for (idxloop = 1; idxloop <= nidx; idxloop++) // read all PDO's 00248 { 00249 rdl = sizeof(rdat); rdat = 0; 00250 // read PDO assign 00251 wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM); 00252 00253 idx = etohl(rdat); // result is index of PDO 00254 if (idx > 0) 00255 { 00256 rdl = sizeof(subcnt); subcnt = 0; 00257 // read number of subindexes of PDO 00258 wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM); 00259 subidx = subcnt; 00260 // for each subindex 00261 for (subidxloop = 1; subidxloop <= subidx; subidxloop++) 00262 { 00263 rdl = sizeof(rdat2); rdat2 = 0; 00264 // read SDO that is mapped in PDO 00265 wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM); 00266 rdat2 = etohl(rdat2); 00267 00268 bitlen = LO_BYTE(rdat2); // extract bitlength of SDO 00269 bsize += bitlen; 00270 obj_idx = (uint16)(rdat2 >> 16); 00271 obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff); 00272 abs_offset = mapoffset + (bitoffset / 8); 00273 abs_bit = bitoffset % 8; 00274 ODlist.Slave = slave; 00275 ODlist.Index[0] = obj_idx; 00276 OElist.Entries = 0; 00277 wkc = 0; 00278 00279 if(obj_idx || obj_subidx) // read object entry from dictionary if not a filler (0x0000:0x00) 00280 wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist); 00281 printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen); 00282 00283 if((wkc > 0) && OElist.Entries) 00284 { 00285 printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]); 00286 } 00287 else 00288 printf("\n"); 00289 bitoffset += bitlen; 00290 }; 00291 }; 00292 }; 00293 }; 00294 00295 return bsize; // return total found bitlength (PDO) 00296 } 00297 00298 00299 //---- PDO mapping according to CoE -------------------------------------------- 00300 00301 int si_map_sdo(int slave) 00302 { 00303 int wkc, rdl; 00304 int retVal = 0; 00305 uint8 nSM, iSM, tSM; 00306 int Tsize, outputs_bo, inputs_bo; 00307 uint8 SMt_bug_add; 00308 00309 printf("PDO mapping according to CoE :\n\n"); 00310 SMt_bug_add = 0; 00311 outputs_bo = 0; 00312 inputs_bo = 0; 00313 rdl = sizeof(nSM); nSM = 0; 00314 // read SyncManager Communication Type object count 00315 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM); 00316 00317 if ((wkc > 0) && (nSM > 2)) // positive result from slave ? 00318 { 00319 nSM--; // make nSM equal to number of defined SM 00320 00321 if (nSM > EC_MAXSM) // limit to maximum number of SM defined, 00322 nSM = EC_MAXSM; // if true the slave can't be configured 00323 00324 for (iSM = 2 ; iSM <= nSM ; iSM++) // iterate for every SM type defined 00325 { 00326 rdl = sizeof(tSM); tSM = 0; 00327 // read SyncManager Communication Type 00328 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM); 00329 if (wkc > 0) 00330 { 00331 if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave! 00332 { 00333 SMt_bug_add = 1; // try to correct, this works if the types are 0 1 2 3 and should be 1 2 3 4 00334 printf("Activated SM type workaround, possible incorrect mapping.\n"); 00335 } 00336 00337 if(tSM) // only add if SMt > 0 00338 tSM += SMt_bug_add; 00339 00340 if (tSM == 3) // outputs 00341 { // read the assign RXPDO 00342 00343 printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM); 00344 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo ); 00345 outputs_bo += Tsize; 00346 } 00347 00348 if (tSM == 4) // inputs 00349 { // read the assign TXPDO 00350 00351 printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM); 00352 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo ); 00353 inputs_bo += Tsize; 00354 } 00355 } 00356 } 00357 } 00358 00359 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits? 00360 retVal = 1; 00361 return retVal; 00362 } 00363 00364 00365 //---- CoE objects description ------------------------------------------------- 00366 00367 void si_sdo(int cnt) 00368 { 00369 int i, j; 00370 00371 ODlist.Entries = 0; 00372 memset(&ODlist, 0, sizeof(ODlist)); 00373 if( ec_readODlist(cnt, &ODlist)) 00374 { 00375 printf(" CoE Object Description found, %d entries.\n",ODlist.Entries); 00376 for( i = 0 ; i < ODlist.Entries ; i++) 00377 { 00378 ec_readODdescription(i, &ODlist); 00379 while(EcatError) printf("%s", ec_elist2string()); 00380 printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n", 00381 ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]); 00382 memset(&OElist, 0, sizeof(OElist)); 00383 ec_readOE(i, &ODlist, &OElist); 00384 while(EcatError) printf("%s", ec_elist2string()); 00385 for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++) 00386 { 00387 if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0)) 00388 { 00389 printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n", 00390 j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]); 00391 if ((OElist.ObjAccess[j] & 0x0007)) 00392 { 00393 printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j])); 00394 } 00395 } 00396 } 00397 } 00398 } 00399 else 00400 { 00401 while(EcatError) printf("%s", ec_elist2string()); 00402 } 00403 } 00404 00405 00406 //---- PDO mapping according to SII -------------------------------------------- 00407 00408 int si_map_sii(int slave) 00409 { 00410 int retVal = 0; 00411 int Tsize, outputs_bo, inputs_bo; 00412 00413 printf("\nPDO mapping according to SII :\n\n"); 00414 00415 outputs_bo = 0; 00416 inputs_bo = 0; 00417 // read the assign RXPDOs 00418 Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo ); 00419 outputs_bo += Tsize; 00420 // read the assign TXPDOs 00421 Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo ); 00422 inputs_bo += Tsize; 00423 00424 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits ? 00425 retVal = 1; 00426 return retVal; 00427 } 00428 00429 00430 //------------------------------------------------------------------------------ 00431 00432 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset) 00433 { 00434 uint16 a , w, c, e, er, Size; 00435 uint8 eectl; 00436 uint16 obj_idx; 00437 uint8 obj_subidx; 00438 uint8 obj_name; 00439 uint8 obj_datatype; 00440 uint8 bitlen; 00441 int totalsize; 00442 ec_eepromPDOt eepPDO; 00443 ec_eepromPDOt *PDO; 00444 int abs_offset, abs_bit; 00445 char str_name[EC_MAXNAME + 1]; 00446 00447 eectl = ec_slave[slave].eep_pdi; 00448 Size = 0; 00449 totalsize = 0; 00450 PDO = &eepPDO; 00451 PDO->nPDO = 0; 00452 PDO->Length = 0; 00453 PDO->Index[1] = 0; 00454 00455 for (c = 0 ; c < EC_MAXSM ; c++) 00456 PDO->SMbitsize[c] = 0; 00457 00458 if (t > 1) 00459 t = 1; 00460 00461 PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t); 00462 00463 if (PDO->Startpos > 0) 00464 { 00465 a = PDO->Startpos; 00466 w = ec_siigetbyte(slave, a++); 00467 w += (ec_siigetbyte(slave, a++) << 8); 00468 PDO->Length = w; 00469 c = 1; 00470 00471 do // traverse through all PDOs 00472 { 00473 PDO->nPDO++; 00474 PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++); 00475 PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8); 00476 PDO->BitSize[PDO->nPDO] = 0; 00477 c++; 00478 00479 e = ec_siigetbyte(slave, a++); // number of entries in PDO 00480 PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++); 00481 a++; 00482 obj_name = ec_siigetbyte(slave, a++); 00483 a += 2; 00484 c += 2; 00485 00486 if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) // active and in range SM? 00487 { 00488 str_name[0] = 0; 00489 if(obj_name) 00490 ec_siistring(str_name, slave, obj_name); 00491 00492 if (t) 00493 printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name); 00494 else 00495 printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name); 00496 00497 printf(" addr b index: sub bitl data_type name\n"); 00498 00499 for (er = 1; er <= e; er++) // read all entries defined in PDO 00500 { 00501 c += 4; 00502 obj_idx = ec_siigetbyte(slave, a++); 00503 obj_idx += (ec_siigetbyte(slave, a++) << 8); 00504 obj_subidx = ec_siigetbyte(slave, a++); 00505 obj_name = ec_siigetbyte(slave, a++); 00506 obj_datatype = ec_siigetbyte(slave, a++); 00507 bitlen = ec_siigetbyte(slave, a++); 00508 abs_offset = mapoffset + (bitoffset / 8); 00509 abs_bit = bitoffset % 8; 00510 00511 PDO->BitSize[PDO->nPDO] += bitlen; 00512 a += 2; 00513 00514 if(obj_idx || obj_subidx) // skip entry if filler (0x0000:0x00) 00515 { 00516 str_name[0] = 0; 00517 if(obj_name) 00518 ec_siistring(str_name, slave, obj_name); 00519 00520 printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen); 00521 printf(" %-12s %s\n", dtype2string(obj_datatype), str_name); 00522 } 00523 bitoffset += bitlen; 00524 totalsize += bitlen; 00525 } 00526 PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO]; 00527 Size += PDO->BitSize[PDO->nPDO]; 00528 c++; 00529 } 00530 00531 else // PDO deactivated because SM is 0xff or > EC_MAXSM 00532 { 00533 c += 4 * e; 00534 a += 8 * e; 00535 c++; 00536 } 00537 // limit number of PDO entries in buffer 00538 if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length; 00539 } 00540 while (c < PDO->Length); 00541 } 00542 00543 if (eectl) 00544 ec_eeprom2pdi(slave); // if eeprom control was previously pdi then restore 00545 00546 return totalsize; 00547 } 00548 00549 00550 //------------------------------------------------------------------------------ 00551 00552 bool network_scanning(void) 00553 00554 { 00555 int expectedWKC; 00556 int cnt, i, j, nSM; 00557 uint16 ssigen; 00558 00559 if ( ec_config(FALSE, &IOmap) > 0 ) // find and configure the slaves 00560 { 00561 ec_configdc(); 00562 while(EcatError) printf("%s", ec_elist2string()); 00563 00564 printf("%d slaves found and configured.\n",ec_slavecount); 00565 TFT.printf("%d slaves found and configured.\n\n",ec_slavecount); 00566 00567 expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; 00568 printf("Calculated workcounter %d\n", expectedWKC); 00569 // wait for all slaves to reach SAFE_OP state 00570 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3); 00571 00572 if (ec_slave[0].state != EC_STATE_SAFE_OP ) 00573 { 00574 printf("Not all slaves reached safe operational state.\n"); 00575 ec_readstate(); 00576 for(i = 1; i<=ec_slavecount ; i++) 00577 { 00578 if(ec_slave[i].state != EC_STATE_SAFE_OP) 00579 { 00580 printf("Slave %d State=%2x StatusCode=%4x : %s\n", 00581 i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); 00582 } 00583 } 00584 } 00585 00586 ec_readstate(); 00587 00588 for( cnt = 1 ; cnt <= ec_slavecount ; cnt++) 00589 { 00590 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", 00591 cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, 00592 ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); 00593 00594 int Line = cnt-1; 00595 00596 TFT.foreground(Green); // print Name, Manufacturer, ID and Revision 00597 TFT.locate(0, 12*(((Line % 6)*3)+3)); // of the slaves found on the TFT 00598 TFT.printf("Slave %d ", cnt); // 00599 TFT.foreground(Yellow); // 00600 // 00601 TFT.foreground(Magenta); // 00602 TFT.locate(60, 12*(((Line % 6)*3)+3)); // 00603 TFT.printf("Name"); // 00604 TFT.foreground(Yellow); // 00605 TFT.locate(104, 12*(((Line % 6)*3)+3)); // 00606 TFT.printf("%.14s", ec_slave[cnt].name); // 00607 // 00608 TFT.foreground(Magenta); // 00609 TFT.locate(220, 12*(((Line % 6)*3)+3)); // 00610 TFT.printf("Man"); // 00611 TFT.foreground(Yellow); // 00612 TFT.locate(250, 12*(((Line % 6)*3)+3)); // 00613 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_man);// 00614 // 00615 TFT.foreground(Magenta); // 00616 TFT.locate(60, 12*(((Line % 6)*3)+4)); // 00617 TFT.printf("ID"); // 00618 TFT.foreground(Yellow); // 00619 TFT.locate(104, 12*(((Line % 6)*3)+4)); // 00620 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_id); // 00621 // 00622 TFT.foreground(Magenta); // 00623 TFT.locate(220, 12*(((Line % 6)*3)+4)); // 00624 TFT.printf("Rev "); // 00625 TFT.foreground(Yellow); // 00626 TFT.locate(250, 12*(((Line % 6)*3)+4)); // 00627 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_rev);// 00628 00629 00630 if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport); 00631 printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 , 00632 (ec_slave[cnt].activeports & 0x02) > 0 , 00633 (ec_slave[cnt].activeports & 0x04) > 0 , 00634 (ec_slave[cnt].activeports & 0x08) > 0 ); 00635 00636 printf(" Configured address: %4.4X\n", ec_slave[cnt].configadr); 00637 printf(" Outputs address: %X\n", ec_slave[cnt].outputs); 00638 printf(" Inputs address: %X\n", ec_slave[cnt].inputs); 00639 00640 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); 00641 for(nSM = 0 ; nSM < EC_MAXSM ; nSM++) 00642 { 00643 if(ec_slave[cnt].SM[nSM].StartAddr > 0) 00644 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, 00645 (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]); 00646 } 00647 for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++) 00648 { 00649 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, 00650 (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit, 00651 ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit, 00652 ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive); 00653 } 00654 printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n", 00655 ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func); 00656 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); 00657 ssigen = ec_siifind(cnt, ECT_SII_GENERAL); 00658 00659 if (ssigen) // SII general section 00660 { 00661 ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07); 00662 ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08); 00663 ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09); 00664 ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a); 00665 if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0) 00666 { 00667 ec_slave[cnt].blockLRW = 1; 00668 ec_slave[0].blockLRW++; 00669 } 00670 ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e); 00671 ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8; 00672 ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent; 00673 } 00674 printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n", 00675 ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails); 00676 printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n", 00677 ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW); 00678 00679 if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO) 00680 si_sdo(cnt); 00681 00682 if(printMAP) 00683 { 00684 if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) 00685 si_map_sdo(cnt); 00686 else 00687 si_map_sii(cnt); 00688 } 00689 } 00690 return 1; 00691 } 00692 00693 else 00694 { 00695 // ec_close(); //******// 00696 00697 return 0; // no slaves found 00698 } 00699 } 00700 00701 00702 00703 00704 00705
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