AB&T / Mbed OS EasyCAT_LAB_very_simple

EasyCAT LAB - EtherCAT master very simple example

Dependencies:   SOEM

  • This repository contains a very basic 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, to keep things as simple as possible, only two bytes of data are exchanged between the slaves and the TFT display is not used .

soem_start.cpp@2:368e7d4d8171, 8 months ago (annotated)

Committer:
EasyCAT
Date:
Wed Oct 25 15:38:52 2023 +0000
Revision:
2:368e7d4d8171
Parent:
0:bc829777f1ea 
Bug fix

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sulymarco 0:bc829777f1ea 1
sulymarco 0:bc829777f1ea 2 #include "soem_start.h"
sulymarco 0:bc829777f1ea 3 #include "ethercat.h"
sulymarco 0:bc829777f1ea 4 #include "string.h"
sulymarco 0:bc829777f1ea 5 #include "oshw.h"
sulymarco 0:bc829777f1ea 6
sulymarco 0:bc829777f1ea 7 #include "mbed.h"
sulymarco 0:bc829777f1ea 8
sulymarco 0:bc829777f1ea 9 #include <inttypes.h>
sulymarco 0:bc829777f1ea 10
sulymarco 0:bc829777f1ea 11
sulymarco 0:bc829777f1ea 12 boolean printSDO = TRUE;
sulymarco 0:bc829777f1ea 13 boolean printMAP = TRUE;
sulymarco 0:bc829777f1ea 14
sulymarco 0:bc829777f1ea 15 ec_ODlistt ODlist;
sulymarco 0:bc829777f1ea 16 ec_OElistt OElist;
sulymarco 0:bc829777f1ea 17 char usdo[128];
sulymarco 0:bc829777f1ea 18 char hstr[1024];
sulymarco 0:bc829777f1ea 19
sulymarco 0:bc829777f1ea 20 char extern IOmap[];
sulymarco 0:bc829777f1ea 21
sulymarco 0:bc829777f1ea 22 uint32_t error_counter = 0;
sulymarco 0:bc829777f1ea 23
sulymarco 0:bc829777f1ea 24
sulymarco 0:bc829777f1ea 25 char* dtype2string(uint16 dtype);
sulymarco 0:bc829777f1ea 26 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype);
sulymarco 0:bc829777f1ea 27 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset);
sulymarco 0:bc829777f1ea 28 void si_sdo(int cnt);
sulymarco 0:bc829777f1ea 29 int si_map_sdo(int slave);
sulymarco 0:bc829777f1ea 30 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset);
sulymarco 0:bc829777f1ea 31 bool network_scanning(void);
sulymarco 0:bc829777f1ea 32
sulymarco 0:bc829777f1ea 33
sulymarco 0:bc829777f1ea 34
sulymarco 0:bc829777f1ea 35 //---- convert Ethercat types to string ----------------------------------------
sulymarco 0:bc829777f1ea 36
sulymarco 0:bc829777f1ea 37
sulymarco 0:bc829777f1ea 38 char* dtype2string(uint16 dtype)
sulymarco 0:bc829777f1ea 39 {
sulymarco 0:bc829777f1ea 40 switch(dtype)
sulymarco 0:bc829777f1ea 41 {
sulymarco 0:bc829777f1ea 42 case ECT_BOOLEAN:
sulymarco 0:bc829777f1ea 43 sprintf(hstr, "BOOLEAN");
sulymarco 0:bc829777f1ea 44 break;
sulymarco 0:bc829777f1ea 45 case ECT_INTEGER8:
sulymarco 0:bc829777f1ea 46 sprintf(hstr, "INTEGER8");
sulymarco 0:bc829777f1ea 47 break;
sulymarco 0:bc829777f1ea 48 case ECT_INTEGER16:
sulymarco 0:bc829777f1ea 49 sprintf(hstr, "INTEGER16");
sulymarco 0:bc829777f1ea 50 break;
sulymarco 0:bc829777f1ea 51 case ECT_INTEGER32:
sulymarco 0:bc829777f1ea 52 sprintf(hstr, "INTEGER32");
sulymarco 0:bc829777f1ea 53 break;
sulymarco 0:bc829777f1ea 54 case ECT_INTEGER24:
sulymarco 0:bc829777f1ea 55 sprintf(hstr, "INTEGER24");
sulymarco 0:bc829777f1ea 56 break;
sulymarco 0:bc829777f1ea 57 case ECT_INTEGER64:
sulymarco 0:bc829777f1ea 58 sprintf(hstr, "INTEGER64");
sulymarco 0:bc829777f1ea 59 break;
sulymarco 0:bc829777f1ea 60 case ECT_UNSIGNED8:
sulymarco 0:bc829777f1ea 61 sprintf(hstr, "UNSIGNED8");
sulymarco 0:bc829777f1ea 62 break;
sulymarco 0:bc829777f1ea 63 case ECT_UNSIGNED16:
sulymarco 0:bc829777f1ea 64 sprintf(hstr, "UNSIGNED16");
sulymarco 0:bc829777f1ea 65 break;
sulymarco 0:bc829777f1ea 66 case ECT_UNSIGNED32:
sulymarco 0:bc829777f1ea 67 sprintf(hstr, "UNSIGNED32");
sulymarco 0:bc829777f1ea 68 break;
sulymarco 0:bc829777f1ea 69 case ECT_UNSIGNED24:
sulymarco 0:bc829777f1ea 70 sprintf(hstr, "UNSIGNED24");
sulymarco 0:bc829777f1ea 71 break;
sulymarco 0:bc829777f1ea 72 case ECT_UNSIGNED64:
sulymarco 0:bc829777f1ea 73 sprintf(hstr, "UNSIGNED64");
sulymarco 0:bc829777f1ea 74 break;
sulymarco 0:bc829777f1ea 75 case ECT_REAL32:
sulymarco 0:bc829777f1ea 76 sprintf(hstr, "REAL32");
sulymarco 0:bc829777f1ea 77 break;
sulymarco 0:bc829777f1ea 78 case ECT_REAL64:
sulymarco 0:bc829777f1ea 79 sprintf(hstr, "REAL64");
sulymarco 0:bc829777f1ea 80 break;
sulymarco 0:bc829777f1ea 81 case ECT_BIT1:
sulymarco 0:bc829777f1ea 82 sprintf(hstr, "BIT1");
sulymarco 0:bc829777f1ea 83 break;
sulymarco 0:bc829777f1ea 84 case ECT_BIT2:
sulymarco 0:bc829777f1ea 85 sprintf(hstr, "BIT2");
sulymarco 0:bc829777f1ea 86 break;
sulymarco 0:bc829777f1ea 87 case ECT_BIT3:
sulymarco 0:bc829777f1ea 88 sprintf(hstr, "BIT3");
sulymarco 0:bc829777f1ea 89 break;
sulymarco 0:bc829777f1ea 90 case ECT_BIT4:
sulymarco 0:bc829777f1ea 91 sprintf(hstr, "BIT4");
sulymarco 0:bc829777f1ea 92 break;
sulymarco 0:bc829777f1ea 93 case ECT_BIT5:
sulymarco 0:bc829777f1ea 94 sprintf(hstr, "BIT5");
sulymarco 0:bc829777f1ea 95 break;
sulymarco 0:bc829777f1ea 96 case ECT_BIT6:
sulymarco 0:bc829777f1ea 97 sprintf(hstr, "BIT6");
sulymarco 0:bc829777f1ea 98 break;
sulymarco 0:bc829777f1ea 99 case ECT_BIT7:
sulymarco 0:bc829777f1ea 100 sprintf(hstr, "BIT7");
sulymarco 0:bc829777f1ea 101 break;
sulymarco 0:bc829777f1ea 102 case ECT_BIT8:
sulymarco 0:bc829777f1ea 103 sprintf(hstr, "BIT8");
sulymarco 0:bc829777f1ea 104 break;
sulymarco 0:bc829777f1ea 105 case ECT_VISIBLE_STRING:
sulymarco 0:bc829777f1ea 106 sprintf(hstr, "VISIBLE_STRING");
sulymarco 0:bc829777f1ea 107 break;
sulymarco 0:bc829777f1ea 108 case ECT_OCTET_STRING:
sulymarco 0:bc829777f1ea 109 sprintf(hstr, "OCTET_STRING");
sulymarco 0:bc829777f1ea 110 break;
sulymarco 0:bc829777f1ea 111 default:
sulymarco 0:bc829777f1ea 112 sprintf(hstr, "Type 0x%4.4X", dtype);
sulymarco 0:bc829777f1ea 113 }
sulymarco 0:bc829777f1ea 114 return hstr;
sulymarco 0:bc829777f1ea 115 }
sulymarco 0:bc829777f1ea 116
sulymarco 0:bc829777f1ea 117
sulymarco 0:bc829777f1ea 118 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 119
sulymarco 0:bc829777f1ea 120 char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
sulymarco 0:bc829777f1ea 121 {
sulymarco 0:bc829777f1ea 122 int l = sizeof(usdo) - 1, i;
sulymarco 0:bc829777f1ea 123 uint8 *u8;
sulymarco 0:bc829777f1ea 124 int8 *i8;
sulymarco 0:bc829777f1ea 125 uint16 *u16;
sulymarco 0:bc829777f1ea 126 int16 *i16;
sulymarco 0:bc829777f1ea 127 uint32 *u32;
sulymarco 0:bc829777f1ea 128 int32 *i32;
sulymarco 0:bc829777f1ea 129 uint64 *u64;
sulymarco 0:bc829777f1ea 130 int64 *i64;
sulymarco 0:bc829777f1ea 131 float *sr;
sulymarco 0:bc829777f1ea 132 double *dr;
sulymarco 0:bc829777f1ea 133 char es[32];
sulymarco 0:bc829777f1ea 134
sulymarco 0:bc829777f1ea 135 memset(&usdo, 0, 128);
sulymarco 0:bc829777f1ea 136 ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 137 if (EcatError)
sulymarco 0:bc829777f1ea 138 {
sulymarco 0:bc829777f1ea 139 return ec_elist2string();
sulymarco 0:bc829777f1ea 140 }
sulymarco 0:bc829777f1ea 141 else
sulymarco 0:bc829777f1ea 142 {
sulymarco 0:bc829777f1ea 143 switch(dtype)
sulymarco 0:bc829777f1ea 144 {
sulymarco 0:bc829777f1ea 145 case ECT_BOOLEAN:
sulymarco 0:bc829777f1ea 146 u8 = (uint8*) &usdo[0];
sulymarco 0:bc829777f1ea 147 if (*u8) sprintf(hstr, "TRUE");
sulymarco 0:bc829777f1ea 148 else sprintf(hstr, "FALSE");
sulymarco 0:bc829777f1ea 149 break;
sulymarco 0:bc829777f1ea 150 case ECT_INTEGER8:
sulymarco 0:bc829777f1ea 151 i8 = (int8*) &usdo[0];
sulymarco 0:bc829777f1ea 152 sprintf(hstr, "0x%2.2x %d", *i8, *i8);
sulymarco 0:bc829777f1ea 153 break;
sulymarco 0:bc829777f1ea 154 case ECT_INTEGER16:
sulymarco 0:bc829777f1ea 155 i16 = (int16*) &usdo[0];
sulymarco 0:bc829777f1ea 156 sprintf(hstr, "0x%4.4x %d", *i16, *i16);
sulymarco 0:bc829777f1ea 157 break;
sulymarco 0:bc829777f1ea 158 case ECT_INTEGER32:
sulymarco 0:bc829777f1ea 159 case ECT_INTEGER24:
sulymarco 0:bc829777f1ea 160 i32 = (int32*) &usdo[0];
sulymarco 0:bc829777f1ea 161 sprintf(hstr, "0x%8.8x %d", *i32, *i32);
sulymarco 0:bc829777f1ea 162 break;
sulymarco 0:bc829777f1ea 163 case ECT_INTEGER64:
sulymarco 0:bc829777f1ea 164 i64 = (int64*) &usdo[0];
sulymarco 0:bc829777f1ea 165 sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
sulymarco 0:bc829777f1ea 166 break;
sulymarco 0:bc829777f1ea 167 case ECT_UNSIGNED8:
sulymarco 0:bc829777f1ea 168 u8 = (uint8*) &usdo[0];
sulymarco 0:bc829777f1ea 169 sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sulymarco 0:bc829777f1ea 170 break;
sulymarco 0:bc829777f1ea 171 case ECT_UNSIGNED16:
sulymarco 0:bc829777f1ea 172 u16 = (uint16*) &usdo[0];
sulymarco 0:bc829777f1ea 173 sprintf(hstr, "0x%4.4x %u", *u16, *u16);
sulymarco 0:bc829777f1ea 174 break;
sulymarco 0:bc829777f1ea 175 case ECT_UNSIGNED32:
sulymarco 0:bc829777f1ea 176 case ECT_UNSIGNED24:
sulymarco 0:bc829777f1ea 177 u32 = (uint32*) &usdo[0];
sulymarco 0:bc829777f1ea 178 sprintf(hstr, "0x%8.8x %u", *u32, *u32);
sulymarco 0:bc829777f1ea 179 break;
sulymarco 0:bc829777f1ea 180 case ECT_UNSIGNED64:
sulymarco 0:bc829777f1ea 181 u64 = (uint64*) &usdo[0];
sulymarco 0:bc829777f1ea 182 sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
sulymarco 0:bc829777f1ea 183 break;
sulymarco 0:bc829777f1ea 184 case ECT_REAL32:
sulymarco 0:bc829777f1ea 185 sr = (float*) &usdo[0];
sulymarco 0:bc829777f1ea 186 sprintf(hstr, "%f", *sr);
sulymarco 0:bc829777f1ea 187 break;
sulymarco 0:bc829777f1ea 188 case ECT_REAL64:
sulymarco 0:bc829777f1ea 189 dr = (double*) &usdo[0];
sulymarco 0:bc829777f1ea 190 sprintf(hstr, "%f", *dr);
sulymarco 0:bc829777f1ea 191 break;
sulymarco 0:bc829777f1ea 192 case ECT_BIT1:
sulymarco 0:bc829777f1ea 193 case ECT_BIT2:
sulymarco 0:bc829777f1ea 194 case ECT_BIT3:
sulymarco 0:bc829777f1ea 195 case ECT_BIT4:
sulymarco 0:bc829777f1ea 196 case ECT_BIT5:
sulymarco 0:bc829777f1ea 197 case ECT_BIT6:
sulymarco 0:bc829777f1ea 198 case ECT_BIT7:
sulymarco 0:bc829777f1ea 199 case ECT_BIT8:
sulymarco 0:bc829777f1ea 200 u8 = (uint8*) &usdo[0];
sulymarco 0:bc829777f1ea 201 sprintf(hstr, "0x%x", *u8);
sulymarco 0:bc829777f1ea 202 break;
sulymarco 0:bc829777f1ea 203 case ECT_VISIBLE_STRING:
sulymarco 0:bc829777f1ea 204 strcpy(hstr, usdo);
sulymarco 0:bc829777f1ea 205 break;
sulymarco 0:bc829777f1ea 206 case ECT_OCTET_STRING:
sulymarco 0:bc829777f1ea 207 hstr[0] = 0x00;
sulymarco 0:bc829777f1ea 208 for (i = 0 ; i < l ; i++)
sulymarco 0:bc829777f1ea 209 {
sulymarco 0:bc829777f1ea 210 sprintf(es, "0x%2.2x ", usdo[i]);
sulymarco 0:bc829777f1ea 211 strcat( hstr, es);
sulymarco 0:bc829777f1ea 212 }
sulymarco 0:bc829777f1ea 213 break;
sulymarco 0:bc829777f1ea 214 default:
sulymarco 0:bc829777f1ea 215 sprintf(hstr, "Unknown type");
sulymarco 0:bc829777f1ea 216 }
sulymarco 0:bc829777f1ea 217 return hstr;
sulymarco 0:bc829777f1ea 218 }
sulymarco 0:bc829777f1ea 219 }
sulymarco 0:bc829777f1ea 220
sulymarco 0:bc829777f1ea 221
sulymarco 0:bc829777f1ea 222 //----- read PDO assign structure ----------------------------------------------
sulymarco 0:bc829777f1ea 223
sulymarco 0:bc829777f1ea 224 int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
sulymarco 0:bc829777f1ea 225 {
sulymarco 0:bc829777f1ea 226 uint16 idxloop, nidx, subidxloop, rdat, idx, subidx;
sulymarco 0:bc829777f1ea 227 uint8 subcnt;
sulymarco 0:bc829777f1ea 228 int wkc, bsize = 0, rdl;
sulymarco 0:bc829777f1ea 229 int32 rdat2;
sulymarco 0:bc829777f1ea 230 uint8 bitlen, obj_subidx;
sulymarco 0:bc829777f1ea 231 uint16 obj_idx;
sulymarco 0:bc829777f1ea 232 int abs_offset, abs_bit;
sulymarco 0:bc829777f1ea 233
sulymarco 0:bc829777f1ea 234 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:bc829777f1ea 235 // read PDO assign subindex 0 (= number of PDO's)
sulymarco 0:bc829777f1ea 236 wkc = ec_SDOread(slave, PDOassign, 0x00, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 237 rdat = etohs(rdat);
sulymarco 0:bc829777f1ea 238
sulymarco 0:bc829777f1ea 239 if ((wkc > 0) && (rdat > 0)) // positive result from slave?
sulymarco 0:bc829777f1ea 240 {
sulymarco 0:bc829777f1ea 241 nidx = rdat; // number of available sub indexes
sulymarco 0:bc829777f1ea 242 bsize = 0;
sulymarco 0:bc829777f1ea 243
sulymarco 0:bc829777f1ea 244 for (idxloop = 1; idxloop <= nidx; idxloop++) // read all PDO's
sulymarco 0:bc829777f1ea 245 {
sulymarco 0:bc829777f1ea 246 rdl = sizeof(rdat); rdat = 0;
sulymarco 0:bc829777f1ea 247 // read PDO assign
sulymarco 0:bc829777f1ea 248 wkc = ec_SDOread(slave, PDOassign, (uint8)idxloop, FALSE, &rdl, &rdat, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 249
sulymarco 0:bc829777f1ea 250 idx = etohl(rdat); // result is index of PDO
sulymarco 0:bc829777f1ea 251 if (idx > 0)
sulymarco 0:bc829777f1ea 252 {
sulymarco 0:bc829777f1ea 253 rdl = sizeof(subcnt); subcnt = 0;
sulymarco 0:bc829777f1ea 254 // read number of subindexes of PDO
sulymarco 0:bc829777f1ea 255 wkc = ec_SDOread(slave,idx, 0x00, FALSE, &rdl, &subcnt, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 256 subidx = subcnt;
sulymarco 0:bc829777f1ea 257 // for each subindex
sulymarco 0:bc829777f1ea 258 for (subidxloop = 1; subidxloop <= subidx; subidxloop++)
sulymarco 0:bc829777f1ea 259 {
sulymarco 0:bc829777f1ea 260 rdl = sizeof(rdat2); rdat2 = 0;
sulymarco 0:bc829777f1ea 261 // read SDO that is mapped in PDO
sulymarco 0:bc829777f1ea 262 wkc = ec_SDOread(slave, idx, (uint8)subidxloop, FALSE, &rdl, &rdat2, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 263 rdat2 = etohl(rdat2);
sulymarco 0:bc829777f1ea 264
sulymarco 0:bc829777f1ea 265 bitlen = LO_BYTE(rdat2); // extract bitlength of SDO
sulymarco 0:bc829777f1ea 266 bsize += bitlen;
sulymarco 0:bc829777f1ea 267 obj_idx = (uint16)(rdat2 >> 16);
sulymarco 0:bc829777f1ea 268 obj_subidx = (uint8)((rdat2 >> 8) & 0x000000ff);
sulymarco 0:bc829777f1ea 269 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:bc829777f1ea 270 abs_bit = bitoffset % 8;
sulymarco 0:bc829777f1ea 271 ODlist.Slave = slave;
sulymarco 0:bc829777f1ea 272 ODlist.Index[0] = obj_idx;
sulymarco 0:bc829777f1ea 273 OElist.Entries = 0;
sulymarco 0:bc829777f1ea 274 wkc = 0;
sulymarco 0:bc829777f1ea 275
sulymarco 0:bc829777f1ea 276 if(obj_idx || obj_subidx) // read object entry from dictionary if not a filler (0x0000:0x00)
sulymarco 0:bc829777f1ea 277 wkc = ec_readOEsingle(0, obj_subidx, &ODlist, &OElist);
sulymarco 0:bc829777f1ea 278 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:bc829777f1ea 279
sulymarco 0:bc829777f1ea 280 if((wkc > 0) && OElist.Entries)
sulymarco 0:bc829777f1ea 281 {
sulymarco 0:bc829777f1ea 282 printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]);
sulymarco 0:bc829777f1ea 283 }
sulymarco 0:bc829777f1ea 284 else
sulymarco 0:bc829777f1ea 285 printf("\n");
sulymarco 0:bc829777f1ea 286 bitoffset += bitlen;
sulymarco 0:bc829777f1ea 287 };
sulymarco 0:bc829777f1ea 288 };
sulymarco 0:bc829777f1ea 289 };
sulymarco 0:bc829777f1ea 290 };
sulymarco 0:bc829777f1ea 291
sulymarco 0:bc829777f1ea 292 return bsize; // return total found bitlength (PDO)
sulymarco 0:bc829777f1ea 293 }
sulymarco 0:bc829777f1ea 294
sulymarco 0:bc829777f1ea 295
sulymarco 0:bc829777f1ea 296 //---- PDO mapping according to CoE --------------------------------------------
sulymarco 0:bc829777f1ea 297
sulymarco 0:bc829777f1ea 298 int si_map_sdo(int slave)
sulymarco 0:bc829777f1ea 299 {
sulymarco 0:bc829777f1ea 300 int wkc, rdl;
sulymarco 0:bc829777f1ea 301 int retVal = 0;
sulymarco 0:bc829777f1ea 302 uint8 nSM, iSM, tSM;
sulymarco 0:bc829777f1ea 303 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:bc829777f1ea 304 uint8 SMt_bug_add;
sulymarco 0:bc829777f1ea 305
sulymarco 0:bc829777f1ea 306 printf("PDO mapping according to CoE :\n\n");
sulymarco 0:bc829777f1ea 307 SMt_bug_add = 0;
sulymarco 0:bc829777f1ea 308 outputs_bo = 0;
sulymarco 0:bc829777f1ea 309 inputs_bo = 0;
sulymarco 0:bc829777f1ea 310 rdl = sizeof(nSM); nSM = 0;
sulymarco 0:bc829777f1ea 311 // read SyncManager Communication Type object count
sulymarco 0:bc829777f1ea 312 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, 0x00, FALSE, &rdl, &nSM, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 313
sulymarco 0:bc829777f1ea 314 if ((wkc > 0) && (nSM > 2)) // positive result from slave ?
sulymarco 0:bc829777f1ea 315 {
sulymarco 0:bc829777f1ea 316 nSM--; // make nSM equal to number of defined SM
sulymarco 0:bc829777f1ea 317
sulymarco 0:bc829777f1ea 318 if (nSM > EC_MAXSM) // limit to maximum number of SM defined,
sulymarco 0:bc829777f1ea 319 nSM = EC_MAXSM; // if true the slave can't be configured
sulymarco 0:bc829777f1ea 320
sulymarco 0:bc829777f1ea 321 for (iSM = 2 ; iSM <= nSM ; iSM++) // iterate for every SM type defined
sulymarco 0:bc829777f1ea 322 {
sulymarco 0:bc829777f1ea 323 rdl = sizeof(tSM); tSM = 0;
sulymarco 0:bc829777f1ea 324 // read SyncManager Communication Type
sulymarco 0:bc829777f1ea 325 wkc = ec_SDOread(slave, ECT_SDO_SMCOMMTYPE, iSM + 1, FALSE, &rdl, &tSM, EC_TIMEOUTRXM);
sulymarco 0:bc829777f1ea 326 if (wkc > 0)
sulymarco 0:bc829777f1ea 327 {
sulymarco 0:bc829777f1ea 328 if((iSM == 2) && (tSM == 2)) // SM2 has type 2 == mailbox out, this is a bug in the slave!
sulymarco 0:bc829777f1ea 329 {
sulymarco 0:bc829777f1ea 330 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:bc829777f1ea 331 printf("Activated SM type workaround, possible incorrect mapping.\n");
sulymarco 0:bc829777f1ea 332 }
sulymarco 0:bc829777f1ea 333
sulymarco 0:bc829777f1ea 334 if(tSM) // only add if SMt > 0
sulymarco 0:bc829777f1ea 335 tSM += SMt_bug_add;
sulymarco 0:bc829777f1ea 336
sulymarco 0:bc829777f1ea 337 if (tSM == 3) // outputs
sulymarco 0:bc829777f1ea 338 { // read the assign RXPDO
sulymarco 0:bc829777f1ea 339
sulymarco 0:bc829777f1ea 340 printf(" SM%1d outputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:bc829777f1ea 341 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].outputs - (uint8 *)&IOmap[0]), outputs_bo );
sulymarco 0:bc829777f1ea 342 outputs_bo += Tsize;
sulymarco 0:bc829777f1ea 343 }
sulymarco 0:bc829777f1ea 344
sulymarco 0:bc829777f1ea 345 if (tSM == 4) // inputs
sulymarco 0:bc829777f1ea 346 { // read the assign TXPDO
sulymarco 0:bc829777f1ea 347
sulymarco 0:bc829777f1ea 348 printf(" SM%1d inputs\n addr b index: sub bitl data_type name\n", iSM);
sulymarco 0:bc829777f1ea 349 Tsize = si_PDOassign(slave, ECT_SDO_PDOASSIGN + iSM, (int)(ec_slave[slave].inputs - (uint8 *)&IOmap[0]), inputs_bo );
sulymarco 0:bc829777f1ea 350 inputs_bo += Tsize;
sulymarco 0:bc829777f1ea 351 }
sulymarco 0:bc829777f1ea 352 }
sulymarco 0:bc829777f1ea 353 }
sulymarco 0:bc829777f1ea 354 }
sulymarco 0:bc829777f1ea 355
sulymarco 0:bc829777f1ea 356 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits?
sulymarco 0:bc829777f1ea 357 retVal = 1;
sulymarco 0:bc829777f1ea 358 return retVal;
sulymarco 0:bc829777f1ea 359 }
sulymarco 0:bc829777f1ea 360
sulymarco 0:bc829777f1ea 361
sulymarco 0:bc829777f1ea 362 //---- CoE objects description -------------------------------------------------
sulymarco 0:bc829777f1ea 363
sulymarco 0:bc829777f1ea 364 void si_sdo(int cnt)
sulymarco 0:bc829777f1ea 365 {
sulymarco 0:bc829777f1ea 366 int i, j;
sulymarco 0:bc829777f1ea 367
sulymarco 0:bc829777f1ea 368 ODlist.Entries = 0;
sulymarco 0:bc829777f1ea 369 memset(&ODlist, 0, sizeof(ODlist));
sulymarco 0:bc829777f1ea 370 if( ec_readODlist(cnt, &ODlist))
sulymarco 0:bc829777f1ea 371 {
sulymarco 0:bc829777f1ea 372 printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
sulymarco 0:bc829777f1ea 373 for( i = 0 ; i < ODlist.Entries ; i++)
sulymarco 0:bc829777f1ea 374 {
sulymarco 0:bc829777f1ea 375 ec_readODdescription(i, &ODlist);
sulymarco 0:bc829777f1ea 376 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:bc829777f1ea 377 printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
sulymarco 0:bc829777f1ea 378 ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
sulymarco 0:bc829777f1ea 379 memset(&OElist, 0, sizeof(OElist));
sulymarco 0:bc829777f1ea 380 ec_readOE(i, &ODlist, &OElist);
sulymarco 0:bc829777f1ea 381 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:bc829777f1ea 382 for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
sulymarco 0:bc829777f1ea 383 {
sulymarco 0:bc829777f1ea 384 if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
sulymarco 0:bc829777f1ea 385 {
sulymarco 0:bc829777f1ea 386 printf(" Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
sulymarco 0:bc829777f1ea 387 j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
sulymarco 0:bc829777f1ea 388 if ((OElist.ObjAccess[j] & 0x0007))
sulymarco 0:bc829777f1ea 389 {
sulymarco 0:bc829777f1ea 390 printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
sulymarco 0:bc829777f1ea 391 }
sulymarco 0:bc829777f1ea 392 }
sulymarco 0:bc829777f1ea 393 }
sulymarco 0:bc829777f1ea 394 }
sulymarco 0:bc829777f1ea 395 }
sulymarco 0:bc829777f1ea 396 else
sulymarco 0:bc829777f1ea 397 {
sulymarco 0:bc829777f1ea 398 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:bc829777f1ea 399 }
sulymarco 0:bc829777f1ea 400 }
sulymarco 0:bc829777f1ea 401
sulymarco 0:bc829777f1ea 402
sulymarco 0:bc829777f1ea 403 //---- PDO mapping according to SII --------------------------------------------
sulymarco 0:bc829777f1ea 404
sulymarco 0:bc829777f1ea 405 int si_map_sii(int slave)
sulymarco 0:bc829777f1ea 406 {
sulymarco 0:bc829777f1ea 407 int retVal = 0;
sulymarco 0:bc829777f1ea 408 int Tsize, outputs_bo, inputs_bo;
sulymarco 0:bc829777f1ea 409
sulymarco 0:bc829777f1ea 410 printf("\nPDO mapping according to SII :\n\n");
sulymarco 0:bc829777f1ea 411
sulymarco 0:bc829777f1ea 412 outputs_bo = 0;
sulymarco 0:bc829777f1ea 413 inputs_bo = 0;
sulymarco 0:bc829777f1ea 414 // read the assign RXPDOs
sulymarco 0:bc829777f1ea 415 Tsize = si_siiPDO(slave, 1, (int)(ec_slave[slave].outputs - (uint8*)&IOmap), outputs_bo );
sulymarco 0:bc829777f1ea 416 outputs_bo += Tsize;
sulymarco 0:bc829777f1ea 417 // read the assign TXPDOs
sulymarco 0:bc829777f1ea 418 Tsize = si_siiPDO(slave, 0, (int)(ec_slave[slave].inputs - (uint8*)&IOmap), inputs_bo );
sulymarco 0:bc829777f1ea 419 inputs_bo += Tsize;
sulymarco 0:bc829777f1ea 420
sulymarco 0:bc829777f1ea 421 if ((outputs_bo > 0) || (inputs_bo > 0)) // found some I/O bits ?
sulymarco 0:bc829777f1ea 422 retVal = 1;
sulymarco 0:bc829777f1ea 423 return retVal;
sulymarco 0:bc829777f1ea 424 }
sulymarco 0:bc829777f1ea 425
sulymarco 0:bc829777f1ea 426
sulymarco 0:bc829777f1ea 427 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 428
sulymarco 0:bc829777f1ea 429 int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
sulymarco 0:bc829777f1ea 430 {
sulymarco 0:bc829777f1ea 431 uint16 a , w, c, e, er, Size;
sulymarco 0:bc829777f1ea 432 uint8 eectl;
sulymarco 0:bc829777f1ea 433 uint16 obj_idx;
sulymarco 0:bc829777f1ea 434 uint8 obj_subidx;
sulymarco 0:bc829777f1ea 435 uint8 obj_name;
sulymarco 0:bc829777f1ea 436 uint8 obj_datatype;
sulymarco 0:bc829777f1ea 437 uint8 bitlen;
sulymarco 0:bc829777f1ea 438 int totalsize;
sulymarco 0:bc829777f1ea 439 ec_eepromPDOt eepPDO;
sulymarco 0:bc829777f1ea 440 ec_eepromPDOt *PDO;
sulymarco 0:bc829777f1ea 441 int abs_offset, abs_bit;
sulymarco 0:bc829777f1ea 442 char str_name[EC_MAXNAME + 1];
sulymarco 0:bc829777f1ea 443
sulymarco 0:bc829777f1ea 444 eectl = ec_slave[slave].eep_pdi;
sulymarco 0:bc829777f1ea 445 Size = 0;
sulymarco 0:bc829777f1ea 446 totalsize = 0;
sulymarco 0:bc829777f1ea 447 PDO = &eepPDO;
sulymarco 0:bc829777f1ea 448 PDO->nPDO = 0;
sulymarco 0:bc829777f1ea 449 PDO->Length = 0;
sulymarco 0:bc829777f1ea 450 PDO->Index[1] = 0;
sulymarco 0:bc829777f1ea 451
sulymarco 0:bc829777f1ea 452 for (c = 0 ; c < EC_MAXSM ; c++)
sulymarco 0:bc829777f1ea 453 PDO->SMbitsize[c] = 0;
sulymarco 0:bc829777f1ea 454
sulymarco 0:bc829777f1ea 455 if (t > 1)
sulymarco 0:bc829777f1ea 456 t = 1;
sulymarco 0:bc829777f1ea 457
sulymarco 0:bc829777f1ea 458 PDO->Startpos = ec_siifind(slave, ECT_SII_PDO + t);
sulymarco 0:bc829777f1ea 459
sulymarco 0:bc829777f1ea 460 if (PDO->Startpos > 0)
sulymarco 0:bc829777f1ea 461 {
sulymarco 0:bc829777f1ea 462 a = PDO->Startpos;
sulymarco 0:bc829777f1ea 463 w = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 464 w += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:bc829777f1ea 465 PDO->Length = w;
sulymarco 0:bc829777f1ea 466 c = 1;
sulymarco 0:bc829777f1ea 467
sulymarco 0:bc829777f1ea 468 do // traverse through all PDOs
sulymarco 0:bc829777f1ea 469 {
sulymarco 0:bc829777f1ea 470 PDO->nPDO++;
sulymarco 0:bc829777f1ea 471 PDO->Index[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 472 PDO->Index[PDO->nPDO] += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:bc829777f1ea 473 PDO->BitSize[PDO->nPDO] = 0;
sulymarco 0:bc829777f1ea 474 c++;
sulymarco 0:bc829777f1ea 475
sulymarco 0:bc829777f1ea 476 e = ec_siigetbyte(slave, a++); // number of entries in PDO
sulymarco 0:bc829777f1ea 477 PDO->SyncM[PDO->nPDO] = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 478 a++;
sulymarco 0:bc829777f1ea 479 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 480 a += 2;
sulymarco 0:bc829777f1ea 481 c += 2;
sulymarco 0:bc829777f1ea 482
sulymarco 0:bc829777f1ea 483 if (PDO->SyncM[PDO->nPDO] < EC_MAXSM) // active and in range SM?
sulymarco 0:bc829777f1ea 484 {
sulymarco 0:bc829777f1ea 485 str_name[0] = 0;
sulymarco 0:bc829777f1ea 486 if(obj_name)
sulymarco 0:bc829777f1ea 487 ec_siistring(str_name, slave, obj_name);
sulymarco 0:bc829777f1ea 488
sulymarco 0:bc829777f1ea 489 if (t)
sulymarco 0:bc829777f1ea 490 printf(" SM%1d RXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:bc829777f1ea 491 else
sulymarco 0:bc829777f1ea 492 printf(" SM%1d TXPDO 0x%4.4X %s\n", PDO->SyncM[PDO->nPDO], PDO->Index[PDO->nPDO], str_name);
sulymarco 0:bc829777f1ea 493
sulymarco 0:bc829777f1ea 494 printf(" addr b index: sub bitl data_type name\n");
sulymarco 0:bc829777f1ea 495
sulymarco 0:bc829777f1ea 496 for (er = 1; er <= e; er++) // read all entries defined in PDO
sulymarco 0:bc829777f1ea 497 {
sulymarco 0:bc829777f1ea 498 c += 4;
sulymarco 0:bc829777f1ea 499 obj_idx = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 500 obj_idx += (ec_siigetbyte(slave, a++) << 8);
sulymarco 0:bc829777f1ea 501 obj_subidx = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 502 obj_name = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 503 obj_datatype = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 504 bitlen = ec_siigetbyte(slave, a++);
sulymarco 0:bc829777f1ea 505 abs_offset = mapoffset + (bitoffset / 8);
sulymarco 0:bc829777f1ea 506 abs_bit = bitoffset % 8;
sulymarco 0:bc829777f1ea 507
sulymarco 0:bc829777f1ea 508 PDO->BitSize[PDO->nPDO] += bitlen;
sulymarco 0:bc829777f1ea 509 a += 2;
sulymarco 0:bc829777f1ea 510
sulymarco 0:bc829777f1ea 511 if(obj_idx || obj_subidx) // skip entry if filler (0x0000:0x00)
sulymarco 0:bc829777f1ea 512 {
sulymarco 0:bc829777f1ea 513 str_name[0] = 0;
sulymarco 0:bc829777f1ea 514 if(obj_name)
sulymarco 0:bc829777f1ea 515 ec_siistring(str_name, slave, obj_name);
sulymarco 0:bc829777f1ea 516
sulymarco 0:bc829777f1ea 517 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:bc829777f1ea 518 printf(" %-12s %s\n", dtype2string(obj_datatype), str_name);
sulymarco 0:bc829777f1ea 519 }
sulymarco 0:bc829777f1ea 520 bitoffset += bitlen;
sulymarco 0:bc829777f1ea 521 totalsize += bitlen;
sulymarco 0:bc829777f1ea 522 }
sulymarco 0:bc829777f1ea 523 PDO->SMbitsize[ PDO->SyncM[PDO->nPDO] ] += PDO->BitSize[PDO->nPDO];
sulymarco 0:bc829777f1ea 524 Size += PDO->BitSize[PDO->nPDO];
sulymarco 0:bc829777f1ea 525 c++;
sulymarco 0:bc829777f1ea 526 }
sulymarco 0:bc829777f1ea 527
sulymarco 0:bc829777f1ea 528 else // PDO deactivated because SM is 0xff or > EC_MAXSM
sulymarco 0:bc829777f1ea 529 {
sulymarco 0:bc829777f1ea 530 c += 4 * e;
sulymarco 0:bc829777f1ea 531 a += 8 * e;
sulymarco 0:bc829777f1ea 532 c++;
sulymarco 0:bc829777f1ea 533 }
sulymarco 0:bc829777f1ea 534 // limit number of PDO entries in buffer
sulymarco 0:bc829777f1ea 535 if (PDO->nPDO >= (EC_MAXEEPDO - 1)) c = PDO->Length;
sulymarco 0:bc829777f1ea 536 }
sulymarco 0:bc829777f1ea 537 while (c < PDO->Length);
sulymarco 0:bc829777f1ea 538 }
sulymarco 0:bc829777f1ea 539
sulymarco 0:bc829777f1ea 540 if (eectl)
sulymarco 0:bc829777f1ea 541 ec_eeprom2pdi(slave); // if eeprom control was previously pdi then restore
sulymarco 0:bc829777f1ea 542
sulymarco 0:bc829777f1ea 543 return totalsize;
sulymarco 0:bc829777f1ea 544 }
sulymarco 0:bc829777f1ea 545
sulymarco 0:bc829777f1ea 546
sulymarco 0:bc829777f1ea 547 //------------------------------------------------------------------------------
sulymarco 0:bc829777f1ea 548
sulymarco 0:bc829777f1ea 549 bool network_scanning(void)
sulymarco 0:bc829777f1ea 550
sulymarco 0:bc829777f1ea 551 {
sulymarco 0:bc829777f1ea 552 int expectedWKC;
sulymarco 0:bc829777f1ea 553 int cnt, i, j, nSM;
sulymarco 0:bc829777f1ea 554 uint16 ssigen;
sulymarco 0:bc829777f1ea 555
sulymarco 0:bc829777f1ea 556 if ( ec_config(FALSE, &IOmap) > 0 ) // find and configure the slaves
sulymarco 0:bc829777f1ea 557 {
sulymarco 0:bc829777f1ea 558 ec_configdc();
sulymarco 0:bc829777f1ea 559 while(EcatError) printf("%s", ec_elist2string());
sulymarco 0:bc829777f1ea 560
sulymarco 0:bc829777f1ea 561 printf("%d slaves found and configured.\n",ec_slavecount);
sulymarco 0:bc829777f1ea 562
sulymarco 0:bc829777f1ea 563 expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC;
sulymarco 0:bc829777f1ea 564 printf("Calculated workcounter %d\n", expectedWKC);
sulymarco 0:bc829777f1ea 565 // wait for all slaves to reach SAFE_OP state
sulymarco 0:bc829777f1ea 566 ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
sulymarco 0:bc829777f1ea 567
sulymarco 0:bc829777f1ea 568 if (ec_slave[0].state != EC_STATE_SAFE_OP )
sulymarco 0:bc829777f1ea 569 {
sulymarco 0:bc829777f1ea 570 printf("Not all slaves reached safe operational state.\n");
sulymarco 0:bc829777f1ea 571 ec_readstate();
sulymarco 0:bc829777f1ea 572 for(i = 1; i<=ec_slavecount ; i++)
sulymarco 0:bc829777f1ea 573 {
sulymarco 0:bc829777f1ea 574 if(ec_slave[i].state != EC_STATE_SAFE_OP)
sulymarco 0:bc829777f1ea 575 {
sulymarco 0:bc829777f1ea 576 printf("Slave %d State=%2x StatusCode=%4x : %s\n",
sulymarco 0:bc829777f1ea 577 i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
sulymarco 0:bc829777f1ea 578 }
sulymarco 0:bc829777f1ea 579 }
sulymarco 0:bc829777f1ea 580 }
sulymarco 0:bc829777f1ea 581
sulymarco 0:bc829777f1ea 582 ec_readstate();
sulymarco 0:bc829777f1ea 583
sulymarco 0:bc829777f1ea 584 for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
sulymarco 0:bc829777f1ea 585 {
sulymarco 0:bc829777f1ea 586 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:bc829777f1ea 587 cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
sulymarco 0:bc829777f1ea 588 ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
sulymarco 0:bc829777f1ea 589
sulymarco 0:bc829777f1ea 590
sulymarco 0:bc829777f1ea 591 if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
sulymarco 0:bc829777f1ea 592 printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
sulymarco 0:bc829777f1ea 593 (ec_slave[cnt].activeports & 0x02) > 0 ,
sulymarco 0:bc829777f1ea 594 (ec_slave[cnt].activeports & 0x04) > 0 ,
sulymarco 0:bc829777f1ea 595 (ec_slave[cnt].activeports & 0x08) > 0 );
sulymarco 0:bc829777f1ea 596
sulymarco 0:bc829777f1ea 597 printf(" Configured address: %4.4X\n", ec_slave[cnt].configadr);
sulymarco 0:bc829777f1ea 598 printf(" Outputs address: %X\n", ec_slave[cnt].outputs);
sulymarco 0:bc829777f1ea 599 printf(" Inputs address: %X\n", ec_slave[cnt].inputs);
sulymarco 0:bc829777f1ea 600
sulymarco 0:bc829777f1ea 601 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:bc829777f1ea 602 for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
sulymarco 0:bc829777f1ea 603 {
sulymarco 0:bc829777f1ea 604 if(ec_slave[cnt].SM[nSM].StartAddr > 0)
sulymarco 0:bc829777f1ea 605 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:bc829777f1ea 606 (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
sulymarco 0:bc829777f1ea 607 }
sulymarco 0:bc829777f1ea 608 for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
sulymarco 0:bc829777f1ea 609 {
sulymarco 0:bc829777f1ea 610 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:bc829777f1ea 611 (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
sulymarco 0:bc829777f1ea 612 ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
sulymarco 0:bc829777f1ea 613 ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
sulymarco 0:bc829777f1ea 614 }
sulymarco 0:bc829777f1ea 615 printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
sulymarco 0:bc829777f1ea 616 ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU1func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
sulymarco 0:bc829777f1ea 617 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:bc829777f1ea 618 ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
sulymarco 0:bc829777f1ea 619
sulymarco 0:bc829777f1ea 620 if (ssigen) // SII general section
sulymarco 0:bc829777f1ea 621 {
sulymarco 0:bc829777f1ea 622 ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
sulymarco 0:bc829777f1ea 623 ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
sulymarco 0:bc829777f1ea 624 ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
sulymarco 0:bc829777f1ea 625 ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
sulymarco 0:bc829777f1ea 626 if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
sulymarco 0:bc829777f1ea 627 {
sulymarco 0:bc829777f1ea 628 ec_slave[cnt].blockLRW = 1;
sulymarco 0:bc829777f1ea 629 ec_slave[0].blockLRW++;
sulymarco 0:bc829777f1ea 630 }
sulymarco 0:bc829777f1ea 631 ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
sulymarco 0:bc829777f1ea 632 ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
sulymarco 0:bc829777f1ea 633 ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
sulymarco 0:bc829777f1ea 634 }
sulymarco 0:bc829777f1ea 635 printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
sulymarco 0:bc829777f1ea 636 ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
sulymarco 0:bc829777f1ea 637 printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
sulymarco 0:bc829777f1ea 638 ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
sulymarco 0:bc829777f1ea 639
sulymarco 0:bc829777f1ea 640 if ((ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE) && printSDO)
sulymarco 0:bc829777f1ea 641 si_sdo(cnt);
sulymarco 0:bc829777f1ea 642
sulymarco 0:bc829777f1ea 643 if(printMAP)
sulymarco 0:bc829777f1ea 644 {
sulymarco 0:bc829777f1ea 645 if (ec_slave[cnt].mbx_proto & ECT_MBXPROT_COE)
sulymarco 0:bc829777f1ea 646 si_map_sdo(cnt);
sulymarco 0:bc829777f1ea 647 else
sulymarco 0:bc829777f1ea 648 si_map_sii(cnt);
sulymarco 0:bc829777f1ea 649 }
sulymarco 0:bc829777f1ea 650 }
sulymarco 0:bc829777f1ea 651 return 1;
sulymarco 0:bc829777f1ea 652 }
sulymarco 0:bc829777f1ea 653
sulymarco 0:bc829777f1ea 654 else
sulymarco 0:bc829777f1ea 655 {
sulymarco 0:bc829777f1ea 656 // ec_close(); //******//
sulymarco 0:bc829777f1ea 657
sulymarco 0:bc829777f1ea 658 return 0; // no slaves found
sulymarco 0:bc829777f1ea 659 }
sulymarco 0:bc829777f1ea 660 }
sulymarco 0:bc829777f1ea 661
sulymarco 0:bc829777f1ea 662
sulymarco 0:bc829777f1ea 663
sulymarco 0:bc829777f1ea 664
sulymarco 0:bc829777f1ea 665
sulymarco 0:bc829777f1ea 666