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.
soem_start.cpp
- Committer:
- EasyCAT
- Date:
- 2019-06-11
- Revision:
- 2:7d4fd6354015
- Parent:
- 0:7077d8f28b3e
File content as of revision 2:7d4fd6354015:
#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.