AB&T / Mbed OS EasyCAT_LAB_simple

EasyCAT LAB - EtherCAT master simple example

Dependencies:   SOEM SPI_TFT_ILI9341 TFT_fonts

  • This repository contains a simple example for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves.

Note

  • This example uses two LAB 2 slaves.

Note

  • In this example only two bytes of data are exchanged between the slaves and are also visualized on the TFT display.

soem_start.cpp@0:13be39911caf, 2019-07-08 (annotated)

Committer:
sulymarco
Date:
Mon Jul 08 17:44:47 2019 +0000
Revision:
0:13be39911caf
first release

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:13be39911caf 1
sulymarco 0:13be39911caf 2 #include "soem_start.h"
sulymarco 0:13be39911caf 3 #include "ethercat.h"
sulymarco 0:13be39911caf 4 #include "string.h"
sulymarco 0:13be39911caf 5 #include "oshw.h"
sulymarco 0:13be39911caf 6
sulymarco 0:13be39911caf 7 #include "mbed.h"
sulymarco 0:13be39911caf 8
sulymarco 0:13be39911caf 9 #include <inttypes.h>
sulymarco 0:13be39911caf 10
sulymarco 0:13be39911caf 11 #include "SPI_TFT_ILI9341.h"
sulymarco 0:13be39911caf 12
sulymarco 0:13be39911caf 13 extern SPI_TFT_ILI9341 TFT;
sulymarco 0:13be39911caf 14
sulymarco 0:13be39911caf 15 boolean printSDO = TRUE;
sulymarco 0:13be39911caf 16 boolean printMAP = TRUE;
sulymarco 0:13be39911caf 17
sulymarco 0:13be39911caf 18 ec_ODlistt ODlist;
sulymarco 0:13be39911caf 19 ec_OElistt OElist;
sulymarco 0:13be39911caf 20 char usdo[128];
sulymarco 0:13be39911caf 21 char hstr[1024];
sulymarco 0:13be39911caf 22
sulymarco 0:13be39911caf 23 char extern IOmap[];
sulymarco 0:13be39911caf 24
sulymarco 0:13be39911caf 25 uint32_t error_counter = 0;
sulymarco 0:13be39911caf 26
sulymarco 0:13be39911caf 27
sulymarco 0:13be39911caf 28 char* dtype2string(uint16 dtype);
sulymarco 0:13be39911caf 29 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype);
sulymarco 0:13be39911caf 30 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset);
sulymarco 0:13be39911caf 31 void si_sdo(int cnt);
sulymarco 0:13be39911caf 32 int si_map_sdo(int slave);
sulymarco 0:13be39911caf 33 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset);
sulymarco 0:13be39911caf 34 bool network_scanning(void);
sulymarco 0:13be39911caf 35
sulymarco 0:13be39911caf 36
sulymarco 0:13be39911caf 37
sulymarco 0:13be39911caf 38 //---- convert Ethercat types to string ----------------------------------------
sulymarco 0:13be39911caf 39
sulymarco 0:13be39911caf 40
sulymarco 0:13be39911caf 41 char* dtype2string(uint16 dtype)
sulymarco 0:13be39911caf 42 {
sulymarco 0:13be39911caf 43 switch(dtype)
sulymarco 0:13be39911caf 44 {
sulymarco 0:13be39911caf 45 case ECT_BOOLEAN:
sulymarco 0:13be39911caf 46 sprintf(hstr, "BOOLEAN");
sulymarco 0:13be39911caf 47 break;
sulymarco 0:13be39911caf 48 case ECT_INTEGER8:
sulymarco 0:13be39911caf 49 sprintf(hstr, "INTEGER8");
sulymarco 0:13be39911caf 50 break;
sulymarco 0:13be39911caf 51 case ECT_INTEGER16:
sulymarco 0:13be39911caf 52 sprintf(hstr, "INTEGER16");
sulymarco 0:13be39911caf 53 break;
sulymarco 0:13be39911caf 54 case ECT_INTEGER32:
sulymarco 0:13be39911caf 55 sprintf(hstr, "INTEGER32");
sulymarco 0:13be39911caf 56 break;
sulymarco 0:13be39911caf 57 case ECT_INTEGER24:
sulymarco 0:13be39911caf 58 sprintf(hstr, "INTEGER24");
sulymarco 0:13be39911caf 59 break;
sulymarco 0:13be39911caf 60 case ECT_INTEGER64:
sulymarco 0:13be39911caf 61 sprintf(hstr, "INTEGER64");
sulymarco 0:13be39911caf 62 break;
sulymarco 0:13be39911caf 63 case ECT_UNSIGNED8:
sulymarco 0:13be39911caf 64 sprintf(hstr, "UNSIGNED8");
sulymarco 0:13be39911caf 65 break;
sulymarco 0:13be39911caf 66 case ECT_UNSIGNED16:
sulymarco 0:13be39911caf 67 sprintf(hstr, "UNSIGNED16");
sulymarco 0:13be39911caf 68 break;
sulymarco 0:13be39911caf 69 case ECT_UNSIGNED32:
sulymarco 0:13be39911caf 70 sprintf(hstr, "UNSIGNED32");
sulymarco 0:13be39911caf 71 break;
sulymarco 0:13be39911caf 72 case ECT_UNSIGNED24:
sulymarco 0:13be39911caf 73 sprintf(hstr, "UNSIGNED24");
sulymarco 0:13be39911caf 74 break;
sulymarco 0:13be39911caf 75 case ECT_UNSIGNED64:
sulymarco 0:13be39911caf 76 sprintf(hstr, "UNSIGNED64");
sulymarco 0:13be39911caf 77 break;
sulymarco 0:13be39911caf 78 case ECT_REAL32:
sulymarco 0:13be39911caf 79 sprintf(hstr, "REAL32");
sulymarco 0:13be39911caf 80 break;
sulymarco 0:13be39911caf 81 case ECT_REAL64:
sulymarco 0:13be39911caf 82 sprintf(hstr, "REAL64");
sulymarco 0:13be39911caf 83 break;
sulymarco 0:13be39911caf 84 case ECT_BIT1:
sulymarco 0:13be39911caf 85 sprintf(hstr, "BIT1");
sulymarco 0:13be39911caf 86 break;
sulymarco 0:13be39911caf 87 case ECT_BIT2:
sulymarco 0:13be39911caf 88 sprintf(hstr, "BIT2");
sulymarco 0:13be39911caf 89 break;
sulymarco 0:13be39911caf 90 case ECT_BIT3:
sulymarco 0:13be39911caf 91 sprintf(hstr, "BIT3");
sulymarco 0:13be39911caf 92 break;
sulymarco 0:13be39911caf 93 case ECT_BIT4:
sulymarco 0:13be39911caf 94 sprintf(hstr, "BIT4");
sulymarco 0:13be39911caf 95 break;
sulymarco 0:13be39911caf 96 case ECT_BIT5:
sulymarco 0:13be39911caf 97 sprintf(hstr, "BIT5");
sulymarco 0:13be39911caf 98 break;
sulymarco 0:13be39911caf 99 case ECT_BIT6:
sulymarco 0:13be39911caf 100 sprintf(hstr, "BIT6");
sulymarco 0:13be39911caf 101 break;
sulymarco 0:13be39911caf 102 case ECT_BIT7:
sulymarco 0:13be39911caf 103 sprintf(hstr, "BIT7");
sulymarco 0:13be39911caf 104 break;
sulymarco 0:13be39911caf 105 case ECT_BIT8:
sulymarco 0:13be39911caf 106 sprintf(hstr, "BIT8");
sulymarco 0:13be39911caf 107 break;
sulymarco 0:13be39911caf 108 case ECT_VISIBLE_STRING:
sulymarco 0:13be39911caf 109 sprintf(hstr, "VISIBLE_STRING");
sulymarco 0:13be39911caf 110 break;
sulymarco 0:13be39911caf 111 case ECT_OCTET_STRING:
sulymarco 0:13be39911caf 112 sprintf(hstr, "OCTET_STRING");
sulymarco 0:13be39911caf 113 break;
sulymarco 0:13be39911caf 114 default:
sulymarco 0:13be39911caf 115 sprintf(hstr, "Type 0x%4.4X", dtype);
sulymarco 0:13be39911caf 116 }
sulymarco 0:13be39911caf 117 return hstr;
sulymarco 0:13be39911caf 118 }
sulymarco 0:13be39911caf 119
sulymarco 0:13be39911caf 120
sulymarco 0:13be39911caf 121 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 122
sulymarco 0:13be39911caf 123 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
sulymarco 0:13be39911caf 124 {
sulymarco 0:13be39911caf 125 int l = sizeof(usdo) - 1, i;
sulymarco 0:13be39911caf 126 uint8 *u8;
sulymarco 0:13be39911caf 127 int8 *i8;
sulymarco 0:13be39911caf 128 uint16 *u16;
sulymarco 0:13be39911caf 129 int16 *i16;
sulymarco 0:13be39911caf 130 uint32 *u32;
sulymarco 0:13be39911caf 131 int32 *i32;
sulymarco 0:13be39911caf 132 uint64 *u64;
sulymarco 0:13be39911caf 133 int64 *i64;
sulymarco 0:13be39911caf 134 float *sr;
sulymarco 0:13be39911caf 135 double *dr;
sulymarco 0:13be39911caf 136 char es[32];
sulymarco 0:13be39911caf 137
sulymarco 0:13be39911caf 138 memset(&usdo, 0, 128);
sulymarco 0:13be39911caf 139 ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 140 if (EcatError)
sulymarco 0:13be39911caf 141 {
sulymarco 0:13be39911caf 142 return ec_elist2string();
sulymarco 0:13be39911caf 143 }
sulymarco 0:13be39911caf 144 else
sulymarco 0:13be39911caf 145 {
sulymarco 0:13be39911caf 146 switch(dtype)
sulymarco 0:13be39911caf 147 {
sulymarco 0:13be39911caf 148 case ECT_BOOLEAN:
sulymarco 0:13be39911caf 149 u8 = (uint8*) &usdo[0];
sulymarco 0:13be39911caf 150 if (*u8) sprintf(hstr, "TRUE");
sulymarco 0:13be39911caf 151 else sprintf(hstr, "FALSE");
sulymarco 0:13be39911caf 152 break;
sulymarco 0:13be39911caf 153 case ECT_INTEGER8:
sulymarco 0:13be39911caf 154 i8 = (int8*) &usdo[0];
sulymarco 0:13be39911caf 155 sprintf(hstr, "0x%2.2x %d", *i8, *i8);
sulymarco 0:13be39911caf 156 break;
sulymarco 0:13be39911caf 157 case ECT_INTEGER16:
sulymarco 0:13be39911caf 158 i16 = (int16*) &usdo[0];
sulymarco 0:13be39911caf 159 sprintf(hstr, "0x%4.4x %d", *i16, *i16);
sulymarco 0:13be39911caf 160 break;
sulymarco 0:13be39911caf 161 case ECT_INTEGER32:
sulymarco 0:13be39911caf 162 case ECT_INTEGER24:
sulymarco 0:13be39911caf 163 i32 = (int32*) &usdo[0];
sulymarco 0:13be39911caf 164 sprintf(hstr, "0x%8.8x %d", *i32, *i32);
sulymarco 0:13be39911caf 165 break;
sulymarco 0:13be39911caf 166 case ECT_INTEGER64:
sulymarco 0:13be39911caf 167 i64 = (int64*) &usdo[0];
sulymarco 0:13be39911caf 168 sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
sulymarco 0:13be39911caf 169 break;
sulymarco 0:13be39911caf 170 case ECT_UNSIGNED8:
sulymarco 0:13be39911caf 171 u8 = (uint8*) &usdo[0];
sulymarco 0:13be39911caf 172 sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sulymarco 0:13be39911caf 173 break;
sulymarco 0:13be39911caf 174 case ECT_UNSIGNED16:
sulymarco 0:13be39911caf 175 u16 = (uint16*) &usdo[0];
sulymarco 0:13be39911caf 176 sprintf(hstr, "0x%4.4x %u", *u16, *u16);
sulymarco 0:13be39911caf 177 break;
sulymarco 0:13be39911caf 178 case ECT_UNSIGNED32:
sulymarco 0:13be39911caf 179 case ECT_UNSIGNED24:
sulymarco 0:13be39911caf 180 u32 = (uint32*) &usdo[0];
sulymarco 0:13be39911caf 181 sprintf(hstr, "0x%8.8x %u", *u32, *u32);
sulymarco 0:13be39911caf 182 break;
sulymarco 0:13be39911caf 183 case ECT_UNSIGNED64:
sulymarco 0:13be39911caf 184 u64 = (uint64*) &usdo[0];
sulymarco 0:13be39911caf 185 sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
sulymarco 0:13be39911caf 186 break;
sulymarco 0:13be39911caf 187 case ECT_REAL32:
sulymarco 0:13be39911caf 188 sr = (float*) &usdo[0];
sulymarco 0:13be39911caf 189 sprintf(hstr, "%f", *sr);
sulymarco 0:13be39911caf 190 break;
sulymarco 0:13be39911caf 191 case ECT_REAL64:
sulymarco 0:13be39911caf 192 dr = (double*) &usdo[0];
sulymarco 0:13be39911caf 193 sprintf(hstr, "%f", *dr);
sulymarco 0:13be39911caf 194 break;
sulymarco 0:13be39911caf 195 case ECT_BIT1:
sulymarco 0:13be39911caf 196 case ECT_BIT2:
sulymarco 0:13be39911caf 197 case ECT_BIT3:
sulymarco 0:13be39911caf 198 case ECT_BIT4:
sulymarco 0:13be39911caf 199 case ECT_BIT5:
sulymarco 0:13be39911caf 200 case ECT_BIT6:
sulymarco 0:13be39911caf 201 case ECT_BIT7:
sulymarco 0:13be39911caf 202 case ECT_BIT8:
sulymarco 0:13be39911caf 203 u8 = (uint8*) &usdo[0];
sulymarco 0:13be39911caf 204 sprintf(hstr, "0x%x", *u8);
sulymarco 0:13be39911caf 205 break;
sulymarco 0:13be39911caf 206 case ECT_VISIBLE_STRING:
sulymarco 0:13be39911caf 207 strcpy(hstr, usdo);
sulymarco 0:13be39911caf 208 break;
sulymarco 0:13be39911caf 209 case ECT_OCTET_STRING:
sulymarco 0:13be39911caf 210 hstr[0] = 0x00;
sulymarco 0:13be39911caf 211 for (i = 0 ; i < l ; i++)
sulymarco 0:13be39911caf 212 {
sulymarco 0:13be39911caf 213 sprintf(es, "0x%2.2x ", usdo[i]);
sulymarco 0:13be39911caf 214 strcat( hstr, es);
sulymarco 0:13be39911caf 215 }
sulymarco 0:13be39911caf 216 break;
sulymarco 0:13be39911caf 217 default:
sulymarco 0:13be39911caf 218 sprintf(hstr, "Unknown type");
sulymarco 0:13be39911caf 219 }
sulymarco 0:13be39911caf 220 return hstr;
sulymarco 0:13be39911caf 221 }
sulymarco 0:13be39911caf 222 }
sulymarco 0:13be39911caf 223
sulymarco 0:13be39911caf 224
sulymarco 0:13be39911caf 225 //----- read PDO assign structure ----------------------------------------------
sulymarco 0:13be39911caf 226
sulymarco 0:13be39911caf 227 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
sulymarco 0:13be39911caf 228 {
sulymarco 0:13be39911caf 229 uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
sulymarco 0:13be39911caf 230 uint8 subcnt;
sulymarco 0:13be39911caf 231 int wkc, bsize = 0, rdl;
sulymarco 0:13be39911caf 232 int32 rdat2;
sulymarco 0:13be39911caf 233 uint8 bitlen, obj_subidx;
sulymarco 0:13be39911caf 234 uint16 obj_idx;
sulymarco 0:13be39911caf 235 int abs_offset, abs_bit;
sulymarco 0:13be39911caf 236
sulymarco 0:13be39911caf 237 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:13be39911caf 238 // read PDO assign subindex 0 (= number of PDO's)
sulymarco 0:13be39911caf 239 wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 240 rdat = etohs(rdat);
sulymarco 0:13be39911caf 241
sulymarco 0:13be39911caf 242 if ((wkc > 0) && (rdat > 0)) // positive result from slave?
sulymarco 0:13be39911caf 243 {
sulymarco 0:13be39911caf 244 nidx = rdat; // number of available sub indexes
sulymarco 0:13be39911caf 245 bsize = 0;
sulymarco 0:13be39911caf 246
sulymarco 0:13be39911caf 247 for (idxloop = 1; idxloop <= nidx; idxloop++) // read all PDO's
sulymarco 0:13be39911caf 248 {
sulymarco 0:13be39911caf 249 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:13be39911caf 250 // read PDO assign
sulymarco 0:13be39911caf 251 wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 252
sulymarco 0:13be39911caf 253 idx = etohl(rdat); // result is index of PDO
sulymarco 0:13be39911caf 254 if (idx > 0)
sulymarco 0:13be39911caf 255 {
sulymarco 0:13be39911caf 256 rdl = sizeof(subcnt); subcnt = 0;
sulymarco 0:13be39911caf 257 // read number of subindexes of PDO
sulymarco 0:13be39911caf 258 wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 259 subidx = subcnt;
sulymarco 0:13be39911caf 260 // for each subindex
sulymarco 0:13be39911caf 261 for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
sulymarco 0:13be39911caf 262 {
sulymarco 0:13be39911caf 263 rdl = sizeof(rdat2); rdat2 = 0;
sulymarco 0:13be39911caf 264 // read SDO that is mapped in PDO
sulymarco 0:13be39911caf 265 wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 266 rdat2 = etohl(rdat2);
sulymarco 0:13be39911caf 267
sulymarco 0:13be39911caf 268 bitlen = LO_BYTE(rdat2); // extract bitlength of SDO
sulymarco 0:13be39911caf 269 bsize += bitlen;
sulymarco 0:13be39911caf 270 obj_idx = (uint16)(rdat2 >> 16);
sulymarco 0:13be39911caf 271 obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
sulymarco 0:13be39911caf 272 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:13be39911caf 273 abs_bit = bitoffset % 8;
sulymarco 0:13be39911caf 274 ODlist.Slave = slave;
sulymarco 0:13be39911caf 275 ODlist.Index[0] = obj_idx;
sulymarco 0:13be39911caf 276 OElist.Entries = 0;
sulymarco 0:13be39911caf 277 wkc = 0;
sulymarco 0:13be39911caf 278
sulymarco 0:13be39911caf 279 if(obj_idx || obj_subidx) // read object entry from dictionary if not a filler (0x0000:0x00)
sulymarco 0:13be39911caf 280 wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
sulymarco 0:13be39911caf 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 0:13be39911caf 282
sulymarco 0:13be39911caf 283 if((wkc > 0) && OElist.Entries)
sulymarco 0:13be39911caf 284 {
sulymarco 0:13be39911caf 285 printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
sulymarco 0:13be39911caf 286 }
sulymarco 0:13be39911caf 287 else
sulymarco 0:13be39911caf 288 printf("\n");
sulymarco 0:13be39911caf 289 bitoffset += bitlen;
sulymarco 0:13be39911caf 290 };
sulymarco 0:13be39911caf 291 };
sulymarco 0:13be39911caf 292 };
sulymarco 0:13be39911caf 293 };
sulymarco 0:13be39911caf 294
sulymarco 0:13be39911caf 295 return bsize; // return total found bitlength (PDO)
sulymarco 0:13be39911caf 296 }
sulymarco 0:13be39911caf 297
sulymarco 0:13be39911caf 298
sulymarco 0:13be39911caf 299 //---- PDO mapping according to CoE --------------------------------------------
sulymarco 0:13be39911caf 300
sulymarco 0:13be39911caf 301 int si_map_sdo(int slave)
sulymarco 0:13be39911caf 302 {
sulymarco 0:13be39911caf 303 int wkc, rdl;
sulymarco 0:13be39911caf 304 int retVal = 0;
sulymarco 0:13be39911caf 305 uint8 nSM, iSM, tSM;
sulymarco 0:13be39911caf 306 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:13be39911caf 307 uint8 SMt_bug_add;
sulymarco 0:13be39911caf 308
sulymarco 0:13be39911caf 309 printf("PDO mapping according to CoE :\n\n");
sulymarco 0:13be39911caf 310 SMt_bug_add = 0;
sulymarco 0:13be39911caf 311 outputs_bo = 0;
sulymarco 0:13be39911caf 312 inputs_bo = 0;
sulymarco 0:13be39911caf 313 rdl = sizeof(nSM); nSM = 0;
sulymarco 0:13be39911caf 314 // read SyncManager Communication Type object count
sulymarco 0:13be39911caf 315 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 316
sulymarco 0:13be39911caf 317 if ((wkc > 0) && (nSM > 2)) // positive result from slave ?
sulymarco 0:13be39911caf 318 {
sulymarco 0:13be39911caf 319 nSM--; // make nSM equal to number of defined SM
sulymarco 0:13be39911caf 320
sulymarco 0:13be39911caf 321 if (nSM > EC_MAXSM) // limit to maximum number of SM defined,
sulymarco 0:13be39911caf 322 nSM = EC_MAXSM; // if true the slave can't be configured
sulymarco 0:13be39911caf 323
sulymarco 0:13be39911caf 324 for (iSM = 2 ; iSM <= nSM ; iSM++) // iterate for every SM type defined
sulymarco 0:13be39911caf 325 {
sulymarco 0:13be39911caf 326 rdl = sizeof(tSM); tSM = 0;
sulymarco 0:13be39911caf 327 // read SyncManager Communication Type
sulymarco 0:13be39911caf 328 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
sulymarco 0:13be39911caf 329 if (wkc > 0)
sulymarco 0:13be39911caf 330 {
sulymarco 0:13be39911caf 331 if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
sulymarco 0:13be39911caf 332 {
sulymarco 0:13be39911caf 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 0:13be39911caf 334 printf("Activated SM type workaround, possible incorrect mapping.\n");
sulymarco 0:13be39911caf 335 }
sulymarco 0:13be39911caf 336
sulymarco 0:13be39911caf 337 if(tSM) // only add if SMt > 0
sulymarco 0:13be39911caf 338 tSM += SMt_bug_add;
sulymarco 0:13be39911caf 339
sulymarco 0:13be39911caf 340 if (tSM == 3) // outputs
sulymarco 0:13be39911caf 341 { // read the assign RXPDO
sulymarco 0:13be39911caf 342
sulymarco 0:13be39911caf 343 printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:13be39911caf 344 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
sulymarco 0:13be39911caf 345 outputs_bo += Tsize;
sulymarco 0:13be39911caf 346 }
sulymarco 0:13be39911caf 347
sulymarco 0:13be39911caf 348 if (tSM == 4) // inputs
sulymarco 0:13be39911caf 349 { // read the assign TXPDO
sulymarco 0:13be39911caf 350
sulymarco 0:13be39911caf 351 printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:13be39911caf 352 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
sulymarco 0:13be39911caf 353 inputs_bo += Tsize;
sulymarco 0:13be39911caf 354 }
sulymarco 0:13be39911caf 355 }
sulymarco 0:13be39911caf 356 }
sulymarco 0:13be39911caf 357 }
sulymarco 0:13be39911caf 358
sulymarco 0:13be39911caf 359 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits?
sulymarco 0:13be39911caf 360 retVal = 1;
sulymarco 0:13be39911caf 361 return retVal;
sulymarco 0:13be39911caf 362 }
sulymarco 0:13be39911caf 363
sulymarco 0:13be39911caf 364
sulymarco 0:13be39911caf 365 //---- CoE objects description -------------------------------------------------
sulymarco 0:13be39911caf 366
sulymarco 0:13be39911caf 367 void si_sdo(int cnt)
sulymarco 0:13be39911caf 368 {
sulymarco 0:13be39911caf 369 int i, j;
sulymarco 0:13be39911caf 370
sulymarco 0:13be39911caf 371 ODlist.Entries = 0;
sulymarco 0:13be39911caf 372 memset(&ODlist, 0, sizeof(ODlist));
sulymarco 0:13be39911caf 373 if( ec_readODlist(cnt, &ODlist))
sulymarco 0:13be39911caf 374 {
sulymarco 0:13be39911caf 375 printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
sulymarco 0:13be39911caf 376 for( i = 0 ; i < ODlist.Entries ; i++)
sulymarco 0:13be39911caf 377 {
sulymarco 0:13be39911caf 378 ec_readODdescription(i, &ODlist);
sulymarco 0:13be39911caf 379 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:13be39911caf 380 printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
sulymarco 0:13be39911caf 381 ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
sulymarco 0:13be39911caf 382 memset(&OElist, 0, sizeof(OElist));
sulymarco 0:13be39911caf 383 ec_readOE(i, &ODlist, &OElist);
sulymarco 0:13be39911caf 384 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:13be39911caf 385 for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
sulymarco 0:13be39911caf 386 {
sulymarco 0:13be39911caf 387 if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
sulymarco 0:13be39911caf 388 {
sulymarco 0:13be39911caf 389 printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
sulymarco 0:13be39911caf 390 j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
sulymarco 0:13be39911caf 391 if ((OElist.ObjAccess[j] & 0x0007))
sulymarco 0:13be39911caf 392 {
sulymarco 0:13be39911caf 393 printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
sulymarco 0:13be39911caf 394 }
sulymarco 0:13be39911caf 395 }
sulymarco 0:13be39911caf 396 }
sulymarco 0:13be39911caf 397 }
sulymarco 0:13be39911caf 398 }
sulymarco 0:13be39911caf 399 else
sulymarco 0:13be39911caf 400 {
sulymarco 0:13be39911caf 401 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:13be39911caf 402 }
sulymarco 0:13be39911caf 403 }
sulymarco 0:13be39911caf 404
sulymarco 0:13be39911caf 405
sulymarco 0:13be39911caf 406 //---- PDO mapping according to SII --------------------------------------------
sulymarco 0:13be39911caf 407
sulymarco 0:13be39911caf 408 int si_map_sii(int slave)
sulymarco 0:13be39911caf 409 {
sulymarco 0:13be39911caf 410 int retVal = 0;
sulymarco 0:13be39911caf 411 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:13be39911caf 412
sulymarco 0:13be39911caf 413 printf("\nPDO mapping according to SII :\n\n");
sulymarco 0:13be39911caf 414
sulymarco 0:13be39911caf 415 outputs_bo = 0;
sulymarco 0:13be39911caf 416 inputs_bo = 0;
sulymarco 0:13be39911caf 417 // read the assign RXPDOs
sulymarco 0:13be39911caf 418 Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
sulymarco 0:13be39911caf 419 outputs_bo += Tsize;
sulymarco 0:13be39911caf 420 // read the assign TXPDOs
sulymarco 0:13be39911caf 421 Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
sulymarco 0:13be39911caf 422 inputs_bo += Tsize;
sulymarco 0:13be39911caf 423
sulymarco 0:13be39911caf 424 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits ?
sulymarco 0:13be39911caf 425 retVal = 1;
sulymarco 0:13be39911caf 426 return retVal;
sulymarco 0:13be39911caf 427 }
sulymarco 0:13be39911caf 428
sulymarco 0:13be39911caf 429
sulymarco 0:13be39911caf 430 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 431
sulymarco 0:13be39911caf 432 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
sulymarco 0:13be39911caf 433 {
sulymarco 0:13be39911caf 434 uint16 a , w, c, e, er, Size;
sulymarco 0:13be39911caf 435 uint8 eectl;
sulymarco 0:13be39911caf 436 uint16 obj_idx;
sulymarco 0:13be39911caf 437 uint8 obj_subidx;
sulymarco 0:13be39911caf 438 uint8 obj_name;
sulymarco 0:13be39911caf 439 uint8 obj_datatype;
sulymarco 0:13be39911caf 440 uint8 bitlen;
sulymarco 0:13be39911caf 441 int totalsize;
sulymarco 0:13be39911caf 442 ec_eepromPDOt eepPDO;
sulymarco 0:13be39911caf 443 ec_eepromPDOt *PDO;
sulymarco 0:13be39911caf 444 int abs_offset, abs_bit;
sulymarco 0:13be39911caf 445 char str_name[EC_MAXNAME + 1];
sulymarco 0:13be39911caf 446
sulymarco 0:13be39911caf 447 eectl = ec_slave[slave].eep_pdi;
sulymarco 0:13be39911caf 448 Size = 0;
sulymarco 0:13be39911caf 449 totalsize = 0;
sulymarco 0:13be39911caf 450 PDO = &eepPDO;
sulymarco 0:13be39911caf 451 PDO->nPDO = 0;
sulymarco 0:13be39911caf 452 PDO->Length = 0;
sulymarco 0:13be39911caf 453 PDO->Index[1] = 0;
sulymarco 0:13be39911caf 454
sulymarco 0:13be39911caf 455 for (c = 0 ; c < EC_MAXSM ; c++)
sulymarco 0:13be39911caf 456 PDO->SMbitsize[c] = 0;
sulymarco 0:13be39911caf 457
sulymarco 0:13be39911caf 458 if (t > 1)
sulymarco 0:13be39911caf 459 t = 1;
sulymarco 0:13be39911caf 460
sulymarco 0:13be39911caf 461 PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
sulymarco 0:13be39911caf 462
sulymarco 0:13be39911caf 463 if (PDO->Startpos > 0)
sulymarco 0:13be39911caf 464 {
sulymarco 0:13be39911caf 465 a = PDO->Startpos;
sulymarco 0:13be39911caf 466 w = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 467 w += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:13be39911caf 468 PDO->Length = w;
sulymarco 0:13be39911caf 469 c = 1;
sulymarco 0:13be39911caf 470
sulymarco 0:13be39911caf 471 do // traverse through all PDOs
sulymarco 0:13be39911caf 472 {
sulymarco 0:13be39911caf 473 PDO->nPDO++;
sulymarco 0:13be39911caf 474 PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 475 PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:13be39911caf 476 PDO->BitSize[PDO->nPDO] = 0;
sulymarco 0:13be39911caf 477 c++;
sulymarco 0:13be39911caf 478
sulymarco 0:13be39911caf 479 e = ec_siigetbyte(slave, a++); // number of entries in PDO
sulymarco 0:13be39911caf 480 PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 481 a++;
sulymarco 0:13be39911caf 482 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 483 a += 2;
sulymarco 0:13be39911caf 484 c += 2;
sulymarco 0:13be39911caf 485
sulymarco 0:13be39911caf 486 if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) // active and in range SM?
sulymarco 0:13be39911caf 487 {
sulymarco 0:13be39911caf 488 str_name[0] = 0;
sulymarco 0:13be39911caf 489 if(obj_name)
sulymarco 0:13be39911caf 490 ec_siistring(str_name, slave, obj_name);
sulymarco 0:13be39911caf 491
sulymarco 0:13be39911caf 492 if (t)
sulymarco 0:13be39911caf 493 printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:13be39911caf 494 else
sulymarco 0:13be39911caf 495 printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:13be39911caf 496
sulymarco 0:13be39911caf 497 printf(" addr b index: sub bitl data_type name\n");
sulymarco 0:13be39911caf 498
sulymarco 0:13be39911caf 499 for (er = 1; er <= e; er++) // read all entries defined in PDO
sulymarco 0:13be39911caf 500 {
sulymarco 0:13be39911caf 501 c += 4;
sulymarco 0:13be39911caf 502 obj_idx = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 503 obj_idx += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:13be39911caf 504 obj_subidx = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 505 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 506 obj_datatype = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 507 bitlen = ec_siigetbyte(slave, a++);
sulymarco 0:13be39911caf 508 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:13be39911caf 509 abs_bit = bitoffset % 8;
sulymarco 0:13be39911caf 510
sulymarco 0:13be39911caf 511 PDO->BitSize[PDO->nPDO] += bitlen;
sulymarco 0:13be39911caf 512 a += 2;
sulymarco 0:13be39911caf 513
sulymarco 0:13be39911caf 514 if(obj_idx || obj_subidx) // skip entry if filler (0x0000:0x00)
sulymarco 0:13be39911caf 515 {
sulymarco 0:13be39911caf 516 str_name[0] = 0;
sulymarco 0:13be39911caf 517 if(obj_name)
sulymarco 0:13be39911caf 518 ec_siistring(str_name, slave, obj_name);
sulymarco 0:13be39911caf 519
sulymarco 0:13be39911caf 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 0:13be39911caf 521 printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
sulymarco 0:13be39911caf 522 }
sulymarco 0:13be39911caf 523 bitoffset += bitlen;
sulymarco 0:13be39911caf 524 totalsize += bitlen;
sulymarco 0:13be39911caf 525 }
sulymarco 0:13be39911caf 526 PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
sulymarco 0:13be39911caf 527 Size += PDO->BitSize[PDO->nPDO];
sulymarco 0:13be39911caf 528 c++;
sulymarco 0:13be39911caf 529 }
sulymarco 0:13be39911caf 530
sulymarco 0:13be39911caf 531 else // PDO deactivated because SM is 0xff or > EC_MAXSM
sulymarco 0:13be39911caf 532 {
sulymarco 0:13be39911caf 533 c += 4 * e;
sulymarco 0:13be39911caf 534 a += 8 * e;
sulymarco 0:13be39911caf 535 c++;
sulymarco 0:13be39911caf 536 }
sulymarco 0:13be39911caf 537 // limit number of PDO entries in buffer
sulymarco 0:13be39911caf 538 if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length;
sulymarco 0:13be39911caf 539 }
sulymarco 0:13be39911caf 540 while (c < PDO->Length);
sulymarco 0:13be39911caf 541 }
sulymarco 0:13be39911caf 542
sulymarco 0:13be39911caf 543 if (eectl)
sulymarco 0:13be39911caf 544 ec_eeprom2pdi(slave); // if eeprom control was previously pdi then restore
sulymarco 0:13be39911caf 545
sulymarco 0:13be39911caf 546 return totalsize;
sulymarco 0:13be39911caf 547 }
sulymarco 0:13be39911caf 548
sulymarco 0:13be39911caf 549
sulymarco 0:13be39911caf 550 //------------------------------------------------------------------------------
sulymarco 0:13be39911caf 551
sulymarco 0:13be39911caf 552 bool network_scanning(void)
sulymarco 0:13be39911caf 553
sulymarco 0:13be39911caf 554 {
sulymarco 0:13be39911caf 555 int expectedWKC;
sulymarco 0:13be39911caf 556 int cnt, i, j, nSM;
sulymarco 0:13be39911caf 557 uint16 ssigen;
sulymarco 0:13be39911caf 558
sulymarco 0:13be39911caf 559 if ( ec_config(FALSE, &IOmap) > 0 ) // find and configure the slaves
sulymarco 0:13be39911caf 560 {
sulymarco 0:13be39911caf 561 ec_configdc();
sulymarco 0:13be39911caf 562 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:13be39911caf 563
sulymarco 0:13be39911caf 564 printf("%d slaves found and configured.\n",ec_slavecount);
sulymarco 0:13be39911caf 565 TFT.printf("%d slaves found and configured.\n\n",ec_slavecount);
sulymarco 0:13be39911caf 566
sulymarco 0:13be39911caf 567 expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
sulymarco 0:13be39911caf 568 printf("Calculated workcounter %d\n", expectedWKC);
sulymarco 0:13be39911caf 569 // wait for all slaves to reach SAFE_OP state
sulymarco 0:13be39911caf 570 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
sulymarco 0:13be39911caf 571
sulymarco 0:13be39911caf 572 if (ec_slave[0].state != EC_STATE_SAFE_OP )
sulymarco 0:13be39911caf 573 {
sulymarco 0:13be39911caf 574 printf("Not all slaves reached safe operational state.\n");
sulymarco 0:13be39911caf 575 ec_readstate();
sulymarco 0:13be39911caf 576 for(i = 1; i<=ec_slavecount ; i++)
sulymarco 0:13be39911caf 577 {
sulymarco 0:13be39911caf 578 if(ec_slave[i].state != EC_STATE_SAFE_OP)
sulymarco 0:13be39911caf 579 {
sulymarco 0:13be39911caf 580 printf("Slave %d State=%2x StatusCode=%4x : %s\n",
sulymarco 0:13be39911caf 581 i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
sulymarco 0:13be39911caf 582 }
sulymarco 0:13be39911caf 583 }
sulymarco 0:13be39911caf 584 }
sulymarco 0:13be39911caf 585
sulymarco 0:13be39911caf 586 ec_readstate();
sulymarco 0:13be39911caf 587
sulymarco 0:13be39911caf 588 for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
sulymarco 0:13be39911caf 589 {
sulymarco 0:13be39911caf 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 0:13be39911caf 591 cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
sulymarco 0:13be39911caf 592 ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
sulymarco 0:13be39911caf 593
sulymarco 0:13be39911caf 594 int Line = cnt-1;
sulymarco 0:13be39911caf 595
sulymarco 0:13be39911caf 596 TFT.foreground(Green); // print Name, Manufacturer, ID and Revision
sulymarco 0:13be39911caf 597 TFT.locate(0, 12*(((Line % 6)*3)+3)); // of the slaves found on the TFT
sulymarco 0:13be39911caf 598 TFT.printf("Slave %d ", cnt); //
sulymarco 0:13be39911caf 599 TFT.foreground(Yellow); //
sulymarco 0:13be39911caf 600 //
sulymarco 0:13be39911caf 601 TFT.foreground(Magenta); //
sulymarco 0:13be39911caf 602 TFT.locate(60, 12*(((Line % 6)*3)+3)); //
sulymarco 0:13be39911caf 603 TFT.printf("Name"); //
sulymarco 0:13be39911caf 604 TFT.foreground(Yellow); //
sulymarco 0:13be39911caf 605 TFT.locate(104, 12*(((Line % 6)*3)+3)); //
sulymarco 0:13be39911caf 606 TFT.printf("%.14s", ec_slave[cnt].name); //
sulymarco 0:13be39911caf 607 //
sulymarco 0:13be39911caf 608 TFT.foreground(Magenta); //
sulymarco 0:13be39911caf 609 TFT.locate(220, 12*(((Line % 6)*3)+3)); //
sulymarco 0:13be39911caf 610 TFT.printf("Man"); //
sulymarco 0:13be39911caf 611 TFT.foreground(Yellow); //
sulymarco 0:13be39911caf 612 TFT.locate(250, 12*(((Line % 6)*3)+3)); //
sulymarco 0:13be39911caf 613 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_man);//
sulymarco 0:13be39911caf 614 //
sulymarco 0:13be39911caf 615 TFT.foreground(Magenta); //
sulymarco 0:13be39911caf 616 TFT.locate(60, 12*(((Line % 6)*3)+4)); //
sulymarco 0:13be39911caf 617 TFT.printf("ID"); //
sulymarco 0:13be39911caf 618 TFT.foreground(Yellow); //
sulymarco 0:13be39911caf 619 TFT.locate(104, 12*(((Line % 6)*3)+4)); //
sulymarco 0:13be39911caf 620 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_id); //
sulymarco 0:13be39911caf 621 //
sulymarco 0:13be39911caf 622 TFT.foreground(Magenta); //
sulymarco 0:13be39911caf 623 TFT.locate(220, 12*(((Line % 6)*3)+4)); //
sulymarco 0:13be39911caf 624 TFT.printf("Rev "); //
sulymarco 0:13be39911caf 625 TFT.foreground(Yellow); //
sulymarco 0:13be39911caf 626 TFT.locate(250, 12*(((Line % 6)*3)+4)); //
sulymarco 0:13be39911caf 627 TFT.printf("%8.8X", (int)ec_slave[cnt].eep_rev);//
sulymarco 0:13be39911caf 628
sulymarco 0:13be39911caf 629
sulymarco 0:13be39911caf 630 if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
sulymarco 0:13be39911caf 631 printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
sulymarco 0:13be39911caf 632 (ec_slave[cnt].activeports & 0x02) > 0 ,
sulymarco 0:13be39911caf 633 (ec_slave[cnt].activeports & 0x04) > 0 ,
sulymarco 0:13be39911caf 634 (ec_slave[cnt].activeports & 0x08) > 0 );
sulymarco 0:13be39911caf 635
sulymarco 0:13be39911caf 636 printf(" Configured address: %4.4X\n", ec_slave[cnt].configadr);
sulymarco 0:13be39911caf 637 printf(" Outputs address: %X\n", ec_slave[cnt].outputs);
sulymarco 0:13be39911caf 638 printf(" Inputs address: %X\n", ec_slave[cnt].inputs);
sulymarco 0:13be39911caf 639
sulymarco 0:13be39911caf 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 0:13be39911caf 641 for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
sulymarco 0:13be39911caf 642 {
sulymarco 0:13be39911caf 643 if(ec_slave[cnt].SM[nSM].StartAddr > 0)
sulymarco 0:13be39911caf 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 0:13be39911caf 645 (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
sulymarco 0:13be39911caf 646 }
sulymarco 0:13be39911caf 647 for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
sulymarco 0:13be39911caf 648 {
sulymarco 0:13be39911caf 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 0:13be39911caf 650 (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
sulymarco 0:13be39911caf 651 ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
sulymarco 0:13be39911caf 652 ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
sulymarco 0:13be39911caf 653 }
sulymarco 0:13be39911caf 654 printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
sulymarco 0:13be39911caf 655 ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
sulymarco 0:13be39911caf 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 0:13be39911caf 657 ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
sulymarco 0:13be39911caf 658
sulymarco 0:13be39911caf 659 if (ssigen) // SII general section
sulymarco 0:13be39911caf 660 {
sulymarco 0:13be39911caf 661 ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
sulymarco 0:13be39911caf 662 ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
sulymarco 0:13be39911caf 663 ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
sulymarco 0:13be39911caf 664 ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
sulymarco 0:13be39911caf 665 if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
sulymarco 0:13be39911caf 666 {
sulymarco 0:13be39911caf 667 ec_slave[cnt].blockLRW = 1;
sulymarco 0:13be39911caf 668 ec_slave[0].blockLRW++;
sulymarco 0:13be39911caf 669 }
sulymarco 0:13be39911caf 670 ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
sulymarco 0:13be39911caf 671 ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
sulymarco 0:13be39911caf 672 ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
sulymarco 0:13be39911caf 673 }
sulymarco 0:13be39911caf 674 printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
sulymarco 0:13be39911caf 675 ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
sulymarco 0:13be39911caf 676 printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
sulymarco 0:13be39911caf 677 ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
sulymarco 0:13be39911caf 678
sulymarco 0:13be39911caf 679 if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
sulymarco 0:13be39911caf 680 si_sdo(cnt);
sulymarco 0:13be39911caf 681
sulymarco 0:13be39911caf 682 if(printMAP)
sulymarco 0:13be39911caf 683 {
sulymarco 0:13be39911caf 684 if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
sulymarco 0:13be39911caf 685 si_map_sdo(cnt);
sulymarco 0:13be39911caf 686 else
sulymarco 0:13be39911caf 687 si_map_sii(cnt);
sulymarco 0:13be39911caf 688 }
sulymarco 0:13be39911caf 689 }
sulymarco 0:13be39911caf 690 return 1;
sulymarco 0:13be39911caf 691 }
sulymarco 0:13be39911caf 692
sulymarco 0:13be39911caf 693 else
sulymarco 0:13be39911caf 694 {
sulymarco 0:13be39911caf 695 // ec_close(); //******//
sulymarco 0:13be39911caf 696
sulymarco 0:13be39911caf 697 return 0; // no slaves found
sulymarco 0:13be39911caf 698 }
sulymarco 0:13be39911caf 699 }
sulymarco 0:13be39911caf 700
sulymarco 0:13be39911caf 701
sulymarco 0:13be39911caf 702
sulymarco 0:13be39911caf 703
sulymarco 0:13be39911caf 704
sulymarco 0:13be39911caf 705