From 86788b42bc8070b368d742786b6b8f8b5ecfd0e1 Mon Sep 17 00:00:00 2001
From: Florian Pose <fp@igh-essen.com>
Date: Wed, 11 Jun 2008 15:29:47 +0000
Subject: [PATCH] Bus configuration via 'ethercat config'.
---
TODO | 4 +-
master/cdev.c | 202 +++++++++++++++++++++++++++++++++++++++---
master/ioctl.h | 123 ++++++++++++++++++-------
master/master.c | 34 +++++++
master/master.h | 3 +
master/slave_config.c | 40 +++++++++
master/slave_config.h | 4 +
tools/Master.cpp | 166 +++++++++++++++++++++++++++++++++-
tools/Master.h | 8 +-
tools/main.cpp | 3 +
10 files changed, 537 insertions(+), 50 deletions(-)
diff --git a/TODO b/TODO
index ccbb6020..ac87449b 100644
--- a/TODO
+++ b/TODO
@@ -8,8 +8,6 @@ $Id$
Version 1.4.0:
-* Replace all Sysfs files via the new ethercat tool.
- - Config info (alias, position, type, Pdos, Sdos)
* Slaves as array.
* Remove the end state of the master state machine.
* Supply new ec_master_state_t.
@@ -25,6 +23,8 @@ Version 1.4.0:
* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.
* Make scanning and configuration run parallel (each).
* List of commands that require a slave.
+* Remove configs_attached flag.
+* Remove EC_IOCTL_DOMAIN_COUNT.
Future issues:
diff --git a/master/cdev.c b/master/cdev.c
index dbdbe1da..699145de 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -148,6 +148,7 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
ec_ioctl_master_t data;
data.slave_count = master->slave_count;
+ data.config_count = ec_master_config_count(master);
data.mode = (uint8_t) master->mode;
memcpy(data.devices[0].address, master->main_mac, ETH_ALEN);
@@ -210,8 +211,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (slave->sii.name) {
strncpy(data.name, slave->sii.name,
- EC_IOCTL_SLAVE_NAME_SIZE);
- data.name[EC_IOCTL_SLAVE_NAME_SIZE - 1] = 0;
+ EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
} else {
data.name[0] = 0;
}
@@ -306,8 +307,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
data.entry_count = ec_pdo_entry_count(pdo);
if (pdo->name) {
- strncpy(data.name, pdo->name, EC_IOCTL_PDO_NAME_SIZE);
- data.name[EC_IOCTL_PDO_NAME_SIZE - 1] = 0;
+ strncpy(data.name, pdo->name, EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
} else {
data.name[0] = 0;
}
@@ -369,9 +370,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
data.subindex = entry->subindex;
data.bit_length = entry->bit_length;
if (entry->name) {
- strncpy(data.name, entry->name,
- EC_IOCTL_PDO_ENTRY_NAME_SIZE);
- data.name[EC_IOCTL_PDO_ENTRY_NAME_SIZE - 1] = 0;
+ strncpy(data.name, entry->name, EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
} else {
data.name[0] = 0;
}
@@ -546,8 +546,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
data.max_subindex = sdo->max_subindex;
if (sdo->name) {
- strncpy(data.name, sdo->name, EC_IOCTL_SDO_NAME_SIZE);
- data.name[EC_IOCTL_SDO_NAME_SIZE - 1] = 0;
+ strncpy(data.name, sdo->name, EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
} else {
data.name[0] = 0;
}
@@ -610,8 +610,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
if (entry->description) {
strncpy(data.description, entry->description,
- EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE);
- data.description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE - 1]
+ EC_IOCTL_STRING_SIZE);
+ data.description[EC_IOCTL_STRING_SIZE - 1]
= 0;
} else {
data.description[0] = 0;
@@ -853,6 +853,186 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
break;
}
+ case EC_IOCTL_CONFIG:
+ {
+ ec_ioctl_config_t data;
+ const ec_slave_config_t *sc;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(sc = ec_master_get_config_const(
+ master, data.config_index))) {
+ EC_ERR("Slave config %u does not exist!\n",
+ data.config_index);
+ retval = -EINVAL;
+ break;
+ }
+
+ data.alias = sc->alias;
+ data.position = sc->position;
+ data.vendor_id = sc->vendor_id;
+ data.product_code = sc->product_code;
+ data.pdo_count[EC_DIR_OUTPUT] =
+ ec_pdo_list_count(&sc->pdos[EC_DIR_OUTPUT]);
+ data.pdo_count[EC_DIR_INPUT] =
+ ec_pdo_list_count(&sc->pdos[EC_DIR_INPUT]);
+ data.sdo_count = ec_slave_config_sdo_count(sc);
+ data.attached = sc->slave != NULL;
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
+ case EC_IOCTL_CONFIG_PDO:
+ {
+ ec_ioctl_config_pdo_t data;
+ const ec_slave_config_t *sc;
+ const ec_pdo_t *pdo;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(sc = ec_master_get_config_const(
+ master, data.config_index))) {
+ EC_ERR("Slave config %u does not exist!\n",
+ data.config_index);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (data.direction > EC_DIR_INPUT) {
+ EC_ERR("Invalid direction %u!\n", data.direction);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
+ &sc->pdos[data.direction], data.pdo_pos))) {
+ EC_ERR("Invalid Pdo position!\n");
+ retval = -EINVAL;
+ break;
+ }
+
+ data.index = pdo->index;
+ data.entry_count = ec_pdo_entry_count(pdo);
+
+ if (pdo->name) {
+ strncpy(data.name, pdo->name, EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
+ } else {
+ data.name[0] = 0;
+ }
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
+ case EC_IOCTL_CONFIG_PDO_ENTRY:
+ {
+ ec_ioctl_config_pdo_entry_t data;
+ const ec_slave_config_t *sc;
+ const ec_pdo_t *pdo;
+ const ec_pdo_entry_t *entry;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(sc = ec_master_get_config_const(
+ master, data.config_index))) {
+ EC_ERR("Slave config %u does not exist!\n",
+ data.config_index);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (data.direction > EC_DIR_INPUT) {
+ EC_ERR("Invalid direction %u!\n", data.direction);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
+ &sc->pdos[data.direction], data.pdo_pos))) {
+ EC_ERR("Invalid Pdo position!\n");
+ retval = -EINVAL;
+ break;
+ }
+
+ if (!(entry = ec_pdo_find_entry_by_pos_const(
+ pdo, data.entry_pos))) {
+ EC_ERR("Entry not found!\n");
+ retval = -EINVAL;
+ break;
+ }
+
+ data.index = entry->index;
+ data.subindex = entry->subindex;
+ data.bit_length = entry->bit_length;
+ if (entry->name) {
+ strncpy(data.name, entry->name, EC_IOCTL_STRING_SIZE);
+ data.name[EC_IOCTL_STRING_SIZE - 1] = 0;
+ } else {
+ data.name[0] = 0;
+ }
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
+ case EC_IOCTL_CONFIG_SDO:
+ {
+ ec_ioctl_config_sdo_t data;
+ const ec_slave_config_t *sc;
+ const ec_sdo_request_t *req;
+
+ if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+
+ if (!(sc = ec_master_get_config_const(
+ master, data.config_index))) {
+ EC_ERR("Slave config %u does not exist!\n",
+ data.config_index);
+ retval = -EINVAL;
+ break;
+ }
+
+ if (!(req = ec_slave_config_get_sdo_by_pos_const(
+ sc, data.sdo_pos))) {
+ EC_ERR("Invalid Sdo position!\n");
+ retval = -EINVAL;
+ break;
+ }
+
+ data.index = req->index;
+ data.subindex = req->subindex;
+ data.size = req->data_size;
+ memcpy(&data.data, req->data, min((u32) data.size, (u32) 4));
+
+ if (copy_to_user((void __user *) arg, &data, sizeof(data))) {
+ retval = -EFAULT;
+ break;
+ }
+ break;
+ }
+
default:
retval = -ENOTTY;
}
diff --git a/master/ioctl.h b/master/ioctl.h
index bc1b1b77..63c0ca3e 100644
--- a/master/ioctl.h
+++ b/master/ioctl.h
@@ -54,28 +54,35 @@
#define EC_IOW(nr,type) _IOW(EC_IOCTL_TYPE,nr,type)
#define EC_IOWR(nr,type) _IOWR(EC_IOCTL_TYPE,nr,type)
-#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t)
-#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t)
-#define EC_IOCTL_SYNC EC_IOWR(0x02, ec_ioctl_sync_t)
-#define EC_IOCTL_PDO EC_IOWR(0x03, ec_ioctl_pdo_t)
-#define EC_IOCTL_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_pdo_entry_t)
-#define EC_IOCTL_DOMAIN_COUNT EC_IO(0x05)
-#define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t)
-#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
-#define EC_IOCTL_DATA EC_IOWR(0x08, ec_ioctl_data_t)
-#define EC_IOCTL_SET_DEBUG EC_IO(0x09)
-#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
-#define EC_IOCTL_SDO EC_IOWR(0x0b, ec_ioctl_sdo_t)
-#define EC_IOCTL_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)
-#define EC_IOCTL_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)
-#define EC_IOCTL_SDO_DOWNLOAD EC_IOW(0x0e, ec_ioctl_sdo_download_t)
-#define EC_IOCTL_SII_READ EC_IOWR(0x0f, ec_ioctl_sii_t)
-#define EC_IOCTL_SII_WRITE EC_IOW(0x10, ec_ioctl_sii_t)
+#define EC_IOCTL_MASTER EC_IOR(0x00, ec_ioctl_master_t)
+#define EC_IOCTL_SLAVE EC_IOWR(0x01, ec_ioctl_slave_t)
+#define EC_IOCTL_SYNC EC_IOWR(0x02, ec_ioctl_sync_t)
+#define EC_IOCTL_PDO EC_IOWR(0x03, ec_ioctl_pdo_t)
+#define EC_IOCTL_PDO_ENTRY EC_IOWR(0x04, ec_ioctl_pdo_entry_t)
+#define EC_IOCTL_DOMAIN_COUNT EC_IO(0x05)
+#define EC_IOCTL_DOMAIN EC_IOWR(0x06, ec_ioctl_domain_t)
+#define EC_IOCTL_DOMAIN_FMMU EC_IOWR(0x07, ec_ioctl_domain_fmmu_t)
+#define EC_IOCTL_DATA EC_IOWR(0x08, ec_ioctl_data_t)
+#define EC_IOCTL_SET_DEBUG EC_IO(0x09)
+#define EC_IOCTL_SLAVE_STATE EC_IOW(0x0a, ec_ioctl_slave_state_t)
+#define EC_IOCTL_SDO EC_IOWR(0x0b, ec_ioctl_sdo_t)
+#define EC_IOCTL_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)
+#define EC_IOCTL_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)
+#define EC_IOCTL_SDO_DOWNLOAD EC_IOW(0x0e, ec_ioctl_sdo_download_t)
+#define EC_IOCTL_SII_READ EC_IOWR(0x0f, ec_ioctl_sii_t)
+#define EC_IOCTL_SII_WRITE EC_IOW(0x10, ec_ioctl_sii_t)
+#define EC_IOCTL_CONFIG EC_IOWR(0x11, ec_ioctl_config_t)
+#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x12, ec_ioctl_config_pdo_t)
+#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x12, ec_ioctl_config_pdo_entry_t)
+#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x13, ec_ioctl_config_sdo_t)
+
+#define EC_IOCTL_STRING_SIZE 64
/*****************************************************************************/
typedef struct {
uint32_t slave_count;
+ uint32_t config_count;
uint8_t mode;
struct {
uint8_t address[6];
@@ -87,8 +94,6 @@ typedef struct {
/*****************************************************************************/
-#define EC_IOCTL_SLAVE_NAME_SIZE 77
-
typedef struct {
// input
uint16_t position;
@@ -113,7 +118,7 @@ typedef struct {
uint8_t sync_count;
uint16_t sdo_count;
uint32_t sii_nwords;
- char name[EC_IOCTL_SLAVE_NAME_SIZE];
+ char name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_t;
/*****************************************************************************/
@@ -134,8 +139,6 @@ typedef struct {
/*****************************************************************************/
-#define EC_IOCTL_PDO_NAME_SIZE 114
-
typedef struct {
// inputs
uint16_t slave_position;
@@ -146,13 +149,11 @@ typedef struct {
uint8_t dir;
uint16_t index;
uint8_t entry_count;
- char name[EC_IOCTL_PDO_NAME_SIZE];
+ int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_pdo_t;
/*****************************************************************************/
-#define EC_IOCTL_PDO_ENTRY_NAME_SIZE 110
-
typedef struct {
// inputs
uint16_t slave_position;
@@ -164,7 +165,7 @@ typedef struct {
uint16_t index;
uint8_t subindex;
uint8_t bit_length;
- char name[EC_IOCTL_PDO_NAME_SIZE];
+ int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_pdo_entry_t;
/*****************************************************************************/
@@ -202,7 +203,7 @@ typedef struct {
// inputs
uint32_t domain_index;
uint32_t data_size;
- unsigned char *target;
+ uint8_t *target;
} ec_ioctl_data_t;
/*****************************************************************************/
@@ -215,8 +216,6 @@ typedef struct {
/*****************************************************************************/
-#define EC_IOCTL_SDO_NAME_SIZE 121
-
typedef struct {
// inputs
uint16_t slave_position;
@@ -225,13 +224,11 @@ typedef struct {
// outputs
uint16_t sdo_index;
uint8_t max_subindex;
- char name[EC_IOCTL_SDO_NAME_SIZE];
+ int8_t name[EC_IOCTL_STRING_SIZE];
} ec_ioctl_sdo_t;
/*****************************************************************************/
-#define EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE 120
-
typedef struct {
// inputs
uint16_t slave_position;
@@ -241,7 +238,7 @@ typedef struct {
// outputs
uint16_t data_type;
uint16_t bit_length;
- char description[EC_IOCTL_SDO_ENTRY_DESCRIPTION_SIZE];
+ int8_t description[EC_IOCTL_STRING_SIZE];
} ec_ioctl_sdo_entry_t;
/*****************************************************************************/
@@ -281,4 +278,64 @@ typedef struct {
/*****************************************************************************/
+typedef struct {
+ // inputs
+ uint32_t config_index;
+
+ // outputs
+ uint16_t alias;
+ uint16_t position;
+ uint32_t vendor_id;
+ uint32_t product_code;
+ uint32_t pdo_count[2];
+ uint32_t sdo_count;
+ uint8_t attached;
+} ec_ioctl_config_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint32_t direction;
+ uint32_t pdo_pos;
+
+ // outputs
+ uint16_t index;
+ uint8_t entry_count;
+ int8_t name[EC_IOCTL_STRING_SIZE];
+} ec_ioctl_config_pdo_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint32_t direction;
+ uint32_t pdo_pos;
+ uint32_t entry_pos;
+
+ // outputs
+ uint16_t index;
+ uint8_t subindex;
+ uint8_t bit_length;
+ int8_t name[EC_IOCTL_STRING_SIZE];
+} ec_ioctl_config_pdo_entry_t;
+
+/*****************************************************************************/
+
+typedef struct {
+ // inputs
+ uint32_t config_index;
+ uint32_t sdo_pos;
+
+ // outputs
+ uint16_t index;
+ uint8_t subindex;
+ uint32_t size;
+ uint8_t data[4];
+} ec_ioctl_config_sdo_t;
+
+/*****************************************************************************/
+
#endif
diff --git a/master/master.c b/master/master.c
index 6d8edcca..8dd0c566 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1101,6 +1101,40 @@ ec_slave_t *ec_master_find_slave(
/*****************************************************************************/
+unsigned int ec_master_config_count(
+ const ec_master_t *master /**< EtherCAT master. */
+ )
+{
+ const ec_slave_config_t *sc;
+ unsigned int count = 0;
+
+ list_for_each_entry(sc, &master->configs, list) {
+ count++;
+ }
+
+ return count;
+}
+
+/*****************************************************************************/
+
+const ec_slave_config_t *ec_master_get_config_const(
+ const ec_master_t *master, /**< EtherCAT master. */
+ unsigned int index /**< List position. */
+ )
+{
+ const ec_slave_config_t *sc;
+
+ list_for_each_entry(sc, &master->configs, list) {
+ if (index--)
+ continue;
+ return sc;
+ }
+
+ return NULL;
+}
+
+/*****************************************************************************/
+
unsigned int ec_master_domain_count(
const ec_master_t *master /**< EtherCAT master. */
)
diff --git a/master/master.h b/master/master.h
index 8be5d3f9..9b4a2548 100644
--- a/master/master.h
+++ b/master/master.h
@@ -197,6 +197,9 @@ void ec_master_clear_eoe_handlers(ec_master_t *);
#endif
void ec_master_destroy_slaves(ec_master_t *);
+unsigned int ec_master_config_count(const ec_master_t *);
+const ec_slave_config_t *ec_master_get_config_const(
+ const ec_master_t *, unsigned int);
unsigned int ec_master_domain_count(const ec_master_t *);
ec_domain_t *ec_master_find_domain(ec_master_t *, unsigned int);
diff --git a/master/slave_config.c b/master/slave_config.c
index 94b4f18b..78d67c59 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -462,6 +462,46 @@ void ec_slave_config_load_default_mapping(
}
}
+/*****************************************************************************/
+
+/**
+ */
+unsigned int ec_slave_config_sdo_count(
+ const ec_slave_config_t *sc /**< Slave configuration. */
+ )
+{
+ const ec_sdo_request_t *req;
+ unsigned int count = 0;
+
+ list_for_each_entry(req, &sc->sdo_configs, list) {
+ count++;
+ }
+
+ return count;
+}
+
+/*****************************************************************************/
+
+/** Finds an Sdo configuration via its position in the list.
+ *
+ * Const version.
+ */
+const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
+ const ec_slave_config_t *sc, /**< Slave configuration. */
+ unsigned int pos /**< Position in the list. */
+ )
+{
+ const ec_sdo_request_t *req;
+
+ list_for_each_entry(req, &sc->sdo_configs, list) {
+ if (pos--)
+ continue;
+ return req;
+ }
+
+ return NULL;
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
diff --git a/master/slave_config.h b/master/slave_config.h
index d9f36632..a9c71ea4 100644
--- a/master/slave_config.h
+++ b/master/slave_config.h
@@ -91,6 +91,10 @@ void ec_slave_config_load_default_assignment(ec_slave_config_t *);
void ec_slave_config_load_default_mapping(const ec_slave_config_t *,
ec_pdo_t *);
+unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
+const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
+ const ec_slave_config_t *, unsigned int);
+
/*****************************************************************************/
#endif
diff --git a/tools/Master.cpp b/tools/Master.cpp
index f0d1005f..95556f01 100644
--- a/tools/Master.cpp
+++ b/tools/Master.cpp
@@ -171,6 +171,94 @@ void Master::writeAlias(
}
}
+/*****************************************************************************/
+
+/**
+ * Lists the bus configuration.
+ */
+void Master::showConfig()
+{
+ ec_ioctl_master_t master;
+ unsigned int i, j, k, l;
+ ec_ioctl_config_t config;
+ ec_ioctl_config_pdo_t pdo;
+ ec_ioctl_config_pdo_entry_t entry;
+ ec_ioctl_config_sdo_t sdo;
+
+ open(Read);
+ getMaster(&master);
+
+ for (i = 0; i < master.config_count; i++) {
+ getConfig(&config, i);
+
+ cout << "Alias: 0x"
+ << hex << setfill('0') << setw(4) << config.alias << endl
+ << "Position: " << dec << config.position << endl
+ << "Vendor Id: 0x"
+ << hex << setw(8) << config.vendor_id << endl
+ << "Product code: 0x"
+ << hex << setw(8) << config.product_code << endl
+ << "Attached: " << (config.attached ? "yes" : "no") << endl;
+
+ for (j = 0; j < 2; j++) {
+ if (config.pdo_count[j]) {
+ cout << (j ? "Input" : "Output")
+ << " Pdo assignment / mapping " << endl;
+ for (k = 0; k < config.pdo_count[j]; k++) {
+ getConfigPdo(&pdo, i, j, k);
+
+ cout << " Pdo 0x"
+ << hex << setfill('0') << setw(4) << pdo.index
+ << " \"" << pdo.name << "\"" << endl;
+
+ for (l = 0; l < pdo.entry_count; l++) {
+ getConfigPdoEntry(&entry, i, j, k, l);
+
+ cout << " Pdo entry 0x"
+ << hex << setfill('0') << setw(4) << entry.index
+ << ":" << setw(2) << (unsigned int) entry.subindex
+ << ", " << dec << (unsigned int) entry.bit_length
+ << " bit, \"" << entry.name << "\"" << endl;
+ }
+ }
+ }
+ }
+
+ if (config.sdo_count) {
+ cout << "Sdo configuration:" << endl;
+ for (j = 0; j < config.sdo_count; j++) {
+ getConfigSdo(&sdo, i, j);
+
+ cout << " 0x"
+ << hex << setfill('0') << setw(4) << sdo.index
+ << ":" << setw(2) << (unsigned int) sdo.subindex
+ << ", " << sdo.size << " byte: " << hex;
+
+ switch (sdo.size) {
+ case 1:
+ cout << "0x" << setw(2)
+ << (unsigned int) *(uint8_t *) &sdo.data;
+ break;
+ case 2:
+ cout << "0x" << setw(4)
+ << le16tocpu(*(uint16_t *) &sdo.data);
+ break;
+ case 4:
+ cout << "0x" << setw(8)
+ << le32tocpu(*(uint32_t *) &sdo.data);
+ break;
+ default:
+ cout << "???";
+ }
+
+ cout << endl;
+ }
+ }
+
+ cout << endl;
+ }
+}
+
/****************************************************************************/
void Master::outputData(int domainIndex)
@@ -1156,8 +1244,7 @@ void Master::listSlavePdos(
cout << " Pdo entry 0x"
<< hex << setfill('0') << setw(4) << entry.index
- << ":" << hex << setfill('0') << setw(2)
- << (unsigned int) entry.subindex
+ << ":" << setw(2) << (unsigned int) entry.subindex
<< ", " << dec << (unsigned int) entry.bit_length
<< " bit, \"" << entry.name << "\"" << endl;
}
@@ -1306,7 +1393,7 @@ void Master::showSlave(uint16_t slavePosition)
<< " Enable notLRW: "
<< (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
<< " Current consumption: "
- << dec << slave.current_on_ebus << " mA" << endl << sizeof(slave);
+ << dec << slave.current_on_ebus << " mA" << endl;
}
cout << endl;
}
@@ -1447,6 +1534,79 @@ void Master::getMaster(ec_ioctl_master_t *data)
/****************************************************************************/
+void Master::getConfig(ec_ioctl_config_t *data, unsigned int index)
+{
+ data->config_index = index;
+
+ if (ioctl(fd, EC_IOCTL_CONFIG, data) < 0) {
+ stringstream err;
+ err << "Failed to get slave configuration: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+}
+
+/****************************************************************************/
+
+void Master::getConfigPdo(
+ ec_ioctl_config_pdo_t *data,
+ unsigned int index,
+ unsigned int dir,
+ unsigned int pdo_pos
+ )
+{
+ data->config_index = index;
+ data->direction = dir;
+ data->pdo_pos = pdo_pos;
+
+ if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
+ stringstream err;
+ err << "Failed to get slave config Pdo: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+}
+
+/****************************************************************************/
+
+void Master::getConfigPdoEntry(
+ ec_ioctl_config_pdo_entry_t *data,
+ unsigned int index,
+ unsigned int dir,
+ unsigned int pdo_pos,
+ unsigned int entry_pos
+ )
+{
+ data->config_index = index;
+ data->direction = dir;
+ data->pdo_pos = pdo_pos;
+ data->entry_pos = entry_pos;
+
+ if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
+ stringstream err;
+ err << "Failed to get slave config Pdo entry: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+}
+
+/****************************************************************************/
+
+void Master::getConfigSdo(
+ ec_ioctl_config_sdo_t *data,
+ unsigned int index,
+ unsigned int sdo_pos
+ )
+{
+ data->config_index = index;
+ data->sdo_pos = sdo_pos;
+
+ if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
+ stringstream err;
+ err << "Failed to get slave config Sdo: " << strerror(errno);
+ throw MasterException(err.str());
+ }
+}
+
+/****************************************************************************/
+
void Master::getDomain(ec_ioctl_domain_t *data, unsigned int index)
{
data->index = index;
diff --git a/tools/Master.h b/tools/Master.h
index b8818bb3..c7618545 100644
--- a/tools/Master.h
+++ b/tools/Master.h
@@ -42,6 +42,7 @@ class Master
void setIndex(unsigned int);
void writeAlias(int, bool, const vector<string> &);
+ void showConfig();
void outputData(int);
void setDebug(const vector<string> &);
void showDomains(int);
@@ -72,7 +73,12 @@ class Master
unsigned int domainCount();
unsigned int slaveCount();
void getMaster(ec_ioctl_master_t *);
- void slaveSyncs(uint16_t);
+ void getConfig(ec_ioctl_config_t *, unsigned int);
+ void getConfigPdo(ec_ioctl_config_pdo_t *, unsigned int,
+ unsigned int, unsigned int);
+ void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
+ unsigned int, unsigned int, unsigned int);
+ void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
void getDomain(ec_ioctl_domain_t *, unsigned int);
void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
void getData(ec_ioctl_data_t *, unsigned int, unsigned int,
diff --git a/tools/main.cpp b/tools/main.cpp
index 14c02b8e..b9f5685c 100644
--- a/tools/main.cpp
+++ b/tools/main.cpp
@@ -34,6 +34,7 @@ void printUsage()
<< "Usage: ethercat <COMMAND> [OPTIONS]" << endl
<< "Commands:" << endl
<< " alias Write alias address(es)." << endl
+ << " config Show slave configurations." << endl
<< " data Output binary domain process data." << endl
<< " debug Set the master debug level." << endl
<< " domain Show domain information." << endl
@@ -178,6 +179,8 @@ int main(int argc, char **argv)
if (command == "alias") {
master.writeAlias(slavePosition, force, commandArgs);
+ } else if (command == "config") {
+ master.showConfig();
} else if (command == "data") {
master.outputData(domainIndex);
} else if (command == "debug") {
--
GitLab