Evaluate CoE details from general category; moved current consumption

into general category info.

master/fsm_pdo_config.c

@@ -189,6 +189,16 @@ void ec_fsm_pdo_config_next_pdo(
         return;
     }
 
+    // Pdo configuration has to be changed. Does the slave support this?
+    if (fsm->slave->sii.mailbox_protocols & EC_MBOX_COE
+            || (fsm->slave->sii.has_general
+                && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
+        EC_ERR("Slave %u does not support changing the Pdo configuration!\n",
+                fsm->slave->ring_position);
+        fsm->state = ec_fsm_pdo_config_state_error;
+        return;
+    }
+
     if (fsm->slave->master->debug_level) {
         EC_DBG("Changing configuration of Pdo 0x%04X of slave %u.\n",
                 fsm->pdo->index, fsm->slave->ring_position);

master/fsm_pdo_mapping.c

@@ -180,6 +180,16 @@ void ec_fsm_pdo_mapping_next_dir(
         if (ec_pdo_mapping_equal(&fsm->sync->mapping, fsm->mapping))
             continue;
 
+        // Pdo mapping has to be changed. Does the slave support this?
+        if (!fsm->slave->sii.mailbox_protocols & EC_MBOX_COE
+                || (fsm->slave->sii.has_general
+                    && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
+            EC_ERR("Slave %u does not support changing the Pdo mapping!\n",
+                    fsm->slave->ring_position);
+            fsm->state = ec_fsm_pdo_mapping_state_error;
+            return;
+        }
+
         if (fsm->slave->master->debug_level) {
             EC_DBG("Changing Pdo mapping for SM%u of slave %u.\n",
                     fsm->sync->index, fsm->slave->ring_position);

master/slave.c

@@ -140,17 +140,23 @@ int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
     slave->sii.tx_mailbox_offset = 0;
     slave->sii.tx_mailbox_size = 0;
     slave->sii.mailbox_protocols = 0;
+
+    slave->sii.strings = NULL;
+    slave->sii.string_count = 0;
+
+    slave->sii.has_general = 0;
     slave->sii.group = NULL;
     slave->sii.image = NULL;
     slave->sii.order = NULL;
     slave->sii.name = NULL;
+    memset(&slave->sii.coe_details, 0x00, sizeof(ec_sii_coe_details_t));
     slave->sii.current_on_ebus = 0;
 
-    slave->sii.strings = NULL;
-    slave->sii.string_count = 0;
     slave->sii.syncs = NULL;
     slave->sii.sync_count = 0;
+
     INIT_LIST_HEAD(&slave->sii.pdos);
+
     INIT_LIST_HEAD(&slave->sdo_dictionary);
 
     slave->sdo_dictionary_fetched = 0;
@@ -434,8 +440,9 @@ int ec_slave_fetch_sii_general(
         slave->sii.physical_layer[i] =
             (data[4] & (0x03 << (i * 2))) >> (i * 2);
 
+    memcpy(&slave->sii.coe_details, data + 5, 1);
     slave->sii.current_on_ebus = EC_READ_S16(data + 0x0C);
-
+    slave->sii.has_general = 1;
     return 0;
 }
 
@@ -701,11 +708,7 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
         buf += sprintf(buf, "\n\n");
     }
 
-    buf += sprintf(buf, "Current consumption: %i mA\n\n",
-            slave->sii.current_on_ebus);
-
-    if (slave->sii.group || slave->sii.image || slave->sii.order
-            || slave->sii.name) {
+    if (slave->sii.has_general) {
         buf += sprintf(buf, "General:\n");
 
         if (slave->sii.group)
@@ -717,7 +720,27 @@ ssize_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
                     slave->sii.order);
         if (slave->sii.name)
             buf += sprintf(buf, "  Name: %s\n", slave->sii.name);
-        buf += sprintf(buf, "\n");
+        if (slave->sii.mailbox_protocols & EC_MBOX_COE) {
+            buf += sprintf(buf, "  CoE details:\n");
+            buf += sprintf(buf, "    Enable Sdo: %s\n",
+                    slave->sii.coe_details.enable_sdo ? "yes" : "no");
+            buf += sprintf(buf, "    Enable Sdo Info: %s\n",
+                    slave->sii.coe_details.enable_sdo_info ? "yes" : "no");
+            buf += sprintf(buf, "    Enable Pdo Assign: %s\n",
+                    slave->sii.coe_details.enable_pdo_assign ? "yes" : "no");
+            buf += sprintf(buf, "    Enable Pdo Configuration: %s\n",
+                    slave->sii.coe_details.enable_pdo_configuration ?
+                    "yes" : "no");
+            buf += sprintf(buf, "    Enable Upload at startup: %s\n",
+                    slave->sii.coe_details.enable_upload_at_startup ?
+                    "yes" : "no");
+            buf += sprintf(buf, "    Enable Sdo complete access: %s\n",
+                    slave->sii.coe_details.enable_sdo_complete_access
+                    ? "yes" : "no");
+        }
+
+        buf += sprintf(buf, "  Current consumption: %i mA\n\n",
+                slave->sii.current_on_ebus);
     }
 
     if (slave->sii.sync_count) {

master/slave.h

@@ -103,6 +103,19 @@ enum {
 
 /*****************************************************************************/
 
+/** Slave information interface CAnopen-over-EtherCAT details flags.
+ */
+typedef struct {
+    uint8_t enable_sdo : 1; /**< Enable Sdo access. */
+    uint8_t enable_sdo_info : 1; /**< SDO information service available. */
+    uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
+    uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
+    uint8_t enable_upload_at_startup : 1; /**< ? */
+    uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
+} ec_sii_coe_details_t;
+
+/*****************************************************************************/
+
 /** Slave information interface data.
  */
 typedef struct {
@@ -123,11 +136,13 @@ typedef struct {
     unsigned int string_count; /**< number of EEPROM strings */
 
     // General
-    uint8_t physical_layer[4]; /**< port media */
+    unsigned int has_general; /**< General category present. */
     char *group; /**< slave group acc. to EEPROM */
     char *image; /**< slave image name acc. to EEPROM */
     char *order; /**< slave order number acc. to EEPROM */
     char *name; /**< slave name acc. to EEPROM */
+    uint8_t physical_layer[4]; /**< port media */
+    ec_sii_coe_details_t coe_details; /**< CoE detail flags. */
     int16_t current_on_ebus; /**< power consumption */
 
     // SyncM

script/lsec

@@ -83,6 +83,7 @@ sub query
         next unless $entry =~ /^slave(\d+)$/;
 
         $slave = {};
+        $slave->{'current'} = 0;
         $slave_info_file = "$master_dir/$entry/info"; 
         open INFO, $slave_info_file or die
             "ERROR: Failed to open $slave_info_file.";
@@ -103,8 +104,6 @@ sub query
                     $slave->{'state'} = $1;
                 } elsif ($line =~ /^Configured station alias: .* \((\d+)\)$/) {
                     $slave->{'alias'} = $1;
-                } elsif ($line =~ /^Current consumption: (-?\d+) mA$/) {
-                    $slave->{'current'} = $1;
                 }
             } elsif ($category eq "Identity") {
                 if ($line =~ /Vendor ID: .* \((\d+)\)$/) {
@@ -115,6 +114,8 @@ sub query
             } elsif ($category eq "General") {
                 if ($line =~ /Name: (.*)$/) {
                     $slave->{'name'} = $1;
+                } elsif ($line =~ /Current consumption: (-?\d+) mA$/) {
+                    $slave->{'current'} = $1;
                 }
             }
         }