SOEM EtherCAT Master library for STM Nucleo F767ZI
Dependents: EasyCAT_LAB_simple EasyCAT_LAB_very_simple EasyCAT_LAB
- This repository contains the SOEM (Simple Open EtherCAT® Master) library by rt-labs, that has been ported in the ecosystem by AB&T Tecnologie Informatiche.
- It has been developed for the EasyCAT LAB , a complete educational and experimental EtherCAT® system, composed of one master and two slaves .
- The EasyCAT LAB 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.
Warning
- Currently only the Nucleo STM32F767ZI board is supported.
Diff: SOEM/ethercatprint.c
- Revision:
- 0:543d6784d4cc
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/SOEM/ethercatprint.c Tue Jun 11 10:29:09 2019 +0000 @@ -0,0 +1,365 @@ +/* + * Licensed under the GNU General Public License version 2 with exceptions. See + * LICENSE file in the project root for full license information + */ + +/** \file + * \brief + * Module to convert EtherCAT errors to readable messages. + * + * SDO abort messages and AL status codes are used to relay slave errors to + * the user application. This module converts the binary codes to readable text. + * For the defined error codes see the EtherCAT protocol documentation. + */ + +#include <stdio.h> +#include "oshw.h" +#include "ethercattype.h" +#include "ethercatmain.h" + +#define EC_MAXERRORNAME 127 + +/** SDO error list type definition */ +typedef struct +{ + /** Error code returned from SDO */ + uint32 errorcode; + /** Readable error description */ + char errordescription[EC_MAXERRORNAME + 1]; +} ec_sdoerrorlist_t; + +/** AL status code list type definition */ +typedef struct +{ + /** AL status code */ + uint16 ALstatuscode; + /** Readable description */ + char ALstatuscodedescription[EC_MAXERRORNAME + 1]; +} ec_ALstatuscodelist_t; + +/** SoE error list type definition */ +typedef struct +{ + /** SoE error code */ + uint16 errorcode; + /** Readable description */ + char errordescription[EC_MAXERRORNAME + 1]; +} ec_soeerrorlist_t; + +/** MBX error list type definition */ +typedef struct +{ + /** MBX error code */ + uint16 errorcode; + /** Readable description */ + char errordescription[EC_MAXERRORNAME + 1]; +} ec_mbxerrorlist_t; + +char estring[EC_MAXERRORNAME]; + +/** SDO error list definition */ +const ec_sdoerrorlist_t ec_sdoerrorlist[] = { + {0x00000000, "No error" }, + {0x05030000, "Toggle bit not changed" }, + {0x05040000, "SDO protocol timeout" }, + {0x05040001, "Client/Server command specifier not valid or unknown" }, + {0x05040005, "Out of memory" }, + {0x06010000, "Unsupported access to an object" }, + {0x06010001, "Attempt to read to a write only object" }, + {0x06010002, "Attempt to write to a read only object" }, + {0x06010003, "Subindex can not be written, SI0 must be 0 for write access" }, + {0x06010004, "SDO Complete access not supported for variable length objects" }, + {0x06010005, "Object length exceeds mailbox size" }, + {0x06010006, "Object mapped to RxPDO, SDO download blocked" }, + {0x06020000, "The object does not exist in the object directory" }, + {0x06040041, "The object can not be mapped into the PDO" }, + {0x06040042, "The number and length of the objects to be mapped would exceed the PDO length" }, + {0x06040043, "General parameter incompatibility reason" }, + {0x06040047, "General internal incompatibility in the device" }, + {0x06060000, "Access failed due to a hardware error" }, + {0x06070010, "Data type does not match, length of service parameter does not match" }, + {0x06070012, "Data type does not match, length of service parameter too high" }, + {0x06070013, "Data type does not match, length of service parameter too low" }, + {0x06090011, "Subindex does not exist" }, + {0x06090030, "Value range of parameter exceeded (only for write access)" }, + {0x06090031, "Value of parameter written too high" }, + {0x06090032, "Value of parameter written too low" }, + {0x06090036, "Maximum value is less than minimum value" }, + {0x08000000, "General error" }, + {0x08000020, "Data cannot be transferred or stored to the application" }, + {0x08000021, "Data cannot be transferred or stored to the application because of local control" }, + {0x08000022, "Data cannot be transferred or stored to the application because of the present device state" }, + {0x08000023, "Object dictionary dynamic generation fails or no object dictionary is present" }, + {0xffffffff, "Unknown" } +}; + +/** AL status code list definition */ +const ec_ALstatuscodelist_t ec_ALstatuscodelist[] = { + {0x0000 , "No error" }, + {0x0001 , "Unspecified error" }, + {0x0002 , "No memory" }, + {0x0011 , "Invalid requested state change" }, + {0x0012 , "Unknown requested state" }, + {0x0013 , "Bootstrap not supported" }, + {0x0014 , "No valid firmware" }, + {0x0015 , "Invalid mailbox configuration" }, + {0x0016 , "Invalid mailbox configuration" }, + {0x0017 , "Invalid sync manager configuration" }, + {0x0018 , "No valid inputs available" }, + {0x0019 , "No valid outputs" }, + {0x001A , "Synchronization error" }, + {0x001B , "Sync manager watchdog" }, + {0x001C , "Invalid sync Manager types" }, + {0x001D , "Invalid output configuration" }, + {0x001E , "Invalid input configuration" }, + {0x001F , "Invalid watchdog configuration" }, + {0x0020 , "Slave needs cold start" }, + {0x0021 , "Slave needs INIT" }, + {0x0022 , "Slave needs PREOP" }, + {0x0023 , "Slave needs SAFEOP" }, + {0x0024 , "Invalid input mapping" }, + {0x0025 , "Invalid output mapping" }, + {0x0026 , "Inconsistent settings" }, + {0x0027 , "Freerun not supported" }, + {0x0028 , "Synchronisation not supported" }, + {0x0029 , "Freerun needs 3buffer mode" }, + {0x002A , "Background watchdog" }, + {0x002B , "No valid Inputs and Outputs" }, + {0x002C , "Fatal sync error" }, + {0x002D , "No sync error" }, // was "Invalid Output FMMU Configuration" + {0x002E , "Invalid input FMMU configuration" }, + {0x0030 , "Invalid DC SYNC configuration" }, + {0x0031 , "Invalid DC latch configuration" }, + {0x0032 , "PLL error" }, + {0x0033 , "DC sync IO error" }, + {0x0034 , "DC sync timeout error" }, + {0x0035 , "DC invalid sync cycle time" }, + {0x0036 , "DC invalid sync0 cycle time" }, + {0x0037 , "DC invalid sync1 cycle time" }, + {0x0041 , "MBX_AOE" }, + {0x0042 , "MBX_EOE" }, + {0x0043 , "MBX_COE" }, + {0x0044 , "MBX_FOE" }, + {0x0045 , "MBX_SOE" }, + {0x004F , "MBX_VOE" }, + {0x0050 , "EEPROM no access" }, + {0x0051 , "EEPROM error" }, + {0x0060 , "Slave restarted locally" }, + {0x0061 , "Device identification value updated" }, + {0x00f0 , "Application controller available" }, + {0xffff , "Unknown" } +}; + +/** SoE error list definition */ +const ec_soeerrorlist_t ec_soeerrorlist[] = { + {0x0000, "No error" }, + {0x1001, "No IDN" }, + {0x1009, "Invalid access to element 1" }, + {0x2001, "No Name" }, + {0x2002, "Name transmission too short" }, + {0x2003, "Name transmission too long" }, + {0x2004, "Name cannot be changed (read only)" }, + {0x2005, "Name is write-protected at this time" }, + {0x3002, "Attribute transmission too short" }, + {0x3003, "Attribute transmission too long" }, + {0x3004, "Attribute cannot be changed (read only)" }, + {0x3005, "Attribute is write-protected at this time" }, + {0x4001, "No units" }, + {0x4002, "Unit transmission too short" }, + {0x4003, "Unit transmission too long" }, + {0x4004, "Unit cannot be changed (read only)" }, + {0x4005, "Unit is write-protected at this time" }, + {0x5001, "No minimum input value" }, + {0x5002, "Minimum input value transmission too short" }, + {0x5003, "Minimum input value transmission too long" }, + {0x5004, "Minimum input value cannot be changed (read only)" }, + {0x5005, "Minimum input value is write-protected at this time" }, + {0x6001, "No maximum input value" }, + {0x6002, "Maximum input value transmission too short" }, + {0x6003, "Maximum input value transmission too long" }, + {0x6004, "Maximum input value cannot be changed (read only)" }, + {0x6005, "Maximum input value is write-protected at this time" }, + {0x7002, "Operation data transmission too short" }, + {0x7003, "Operation data transmission too long" }, + {0x7004, "Operation data cannot be changed (read only)" }, + {0x7005, "Operation data is write-protected at this time (state)" }, + {0x7006, "Operation data is smaller than the minimum input value" }, + {0x7007, "Operation data is smaller than the maximum input value" }, + {0x7008, "Invalid operation data:Configured IDN will not be supported" }, + {0x7009, "Operation data write protected by a password" }, + {0x700A, "Operation data is write protected, it is configured cyclically" }, + {0x700B, "Invalid indirect addressing: (e.g., data container, list handling)" }, + {0x700C, "Operation data is write protected, due to other settings" }, + {0x700D, "Reserved" }, + {0x7010, "Procedure command already active" }, + {0x7011, "Procedure command not interruptible" }, + {0x7012, "Procedure command at this time not executable (state)" }, + {0x7013, "Procedure command not executable (invalid or false parameters)" }, + {0x7014, "No data state" }, + {0x8001, "No default value" }, + {0x8002, "Default value transmission too long" }, + {0x8004, "Default value cannot be changed, read only" }, + {0x800A, "Invalid drive number" }, + {0x800A, "General error" }, + {0x800A, "No element addressed" }, + {0xffff, "Unknown" } +}; + +/** MBX error list definition */ +const ec_mbxerrorlist_t ec_mbxerrorlist[] = { + {0x0000, "No error" }, + {0x0001, "Syntax of 6 octet Mailbox Header is wrong" }, + {0x0002, "The mailbox protocol is not supported" }, + {0x0003, "Channel Field contains wrong value"}, + {0x0004, "The service is no supported"}, + {0x0005, "Invalid mailbox header"}, + {0x0006, "Length of received mailbox data is too short"}, + {0x0007, "No more memory in slave"}, + {0x0008, "The length of data is inconsistent"}, + {0xffff, "Unknown"} +}; + +/** Look up text string that belongs to SDO error code. + * + * @param[in] sdoerrorcode = SDO error code as defined in EtherCAT protocol + * @return readable string + */ +const char* ec_sdoerror2string( uint32 sdoerrorcode) +{ + int i = 0; + + while ( (ec_sdoerrorlist[i].errorcode != 0xffffffffUL) && + (ec_sdoerrorlist[i].errorcode != sdoerrorcode) ) + { + i++; + } + + return ec_sdoerrorlist[i].errordescription; +} + +/** Look up text string that belongs to AL status code. + * + * @param[in] ALstatuscode = AL status code as defined in EtherCAT protocol + * @return readable string + */ +char* ec_ALstatuscode2string( uint16 ALstatuscode) +{ + int i = 0; + + while ( (ec_ALstatuscodelist[i].ALstatuscode != 0xffff) && + (ec_ALstatuscodelist[i].ALstatuscode != ALstatuscode) ) + { + i++; + } + + return (char *) ec_ALstatuscodelist[i].ALstatuscodedescription; +} + +/** Look up text string that belongs to SoE error code. + * + * @param[in] errorcode = SoE error code as defined in EtherCAT protocol + * @return readable string + */ +char* ec_soeerror2string( uint16 errorcode) +{ + int i = 0; + + while ( (ec_soeerrorlist[i].errorcode != 0xffff) && + (ec_soeerrorlist[i].errorcode != errorcode) ) + { + i++; + } + + return (char *) ec_soeerrorlist[i].errordescription; +} + +/** Look up text string that belongs to MBX error code. + * + * @param[in] errorcode = MBX error code as defined in EtherCAT protocol + * @return readable string + */ +char* ec_mbxerror2string( uint16 errorcode) +{ + int i = 0; + + while ( (ec_mbxerrorlist[i].errorcode != 0xffff) && + (ec_mbxerrorlist[i].errorcode != errorcode) ) + { + i++; + } + + return (char *) ec_mbxerrorlist[i].errordescription; +} + +/** Look up error in ec_errorlist and convert to text string. + * + * @param[in] context = context struct + * @return readable string + */ +char* ecx_elist2string(ecx_contextt *context) +{ + ec_errort Ec; + char timestr[20]; + + if (ecx_poperror(context, &Ec)) + { + sprintf(timestr, "Time:%12.3f", Ec.Time.sec + (Ec.Time.usec / 1000000.0) ); + switch (Ec.Etype) + { + case EC_ERR_TYPE_SDO_ERROR: + { + sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n", + timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode)); + break; + } + case EC_ERR_TYPE_EMERGENCY: + { + sprintf(estring, "%s EMERGENCY slave:%d error:%4.4x\n", + timestr, Ec.Slave, Ec.ErrorCode); + break; + } + case EC_ERR_TYPE_PACKET_ERROR: + { + sprintf(estring, "%s PACKET slave:%d index:%4.4x.%2.2x error:%d\n", + timestr, Ec.Slave, Ec.Index, Ec.SubIdx, Ec.ErrorCode); + break; + } + case EC_ERR_TYPE_SDOINFO_ERROR: + { + sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n", + timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode)); + break; + } + case EC_ERR_TYPE_SOE_ERROR: + { + sprintf(estring, "%s SoE slave:%d IDN:%4.4x error:%4.4x %s\n", + timestr, Ec.Slave, Ec.Index, (unsigned)Ec.AbortCode, ec_soeerror2string(Ec.ErrorCode)); + break; + } + case EC_ERR_TYPE_MBX_ERROR: + { + sprintf(estring, "%s MBX slave:%d error:%4.4x %s\n", + timestr, Ec.Slave, Ec.ErrorCode, ec_mbxerror2string(Ec.ErrorCode)); + break; + } + default: + { + sprintf(estring, "%s error:%8.8x\n", + timestr, (unsigned)Ec.AbortCode); + break; + } + } + return (char*) estring; + } + else + { + return ""; + } +} + +#ifdef EC_VER1 +char* ec_elist2string(void) +{ + return ecx_elist2string(&ecx_context); +} +#endif