# HG changeset patch # User Edouard Tisserant # Date 1396443812 -7200 # Node ID e6946c298a423ce7b5bc22cbc41a25151ee6438d # Parent 015dab6a915f27ce7c4c54901ca8723b88b05856 Cherry-pick and re-commit to legitimate ancestor of commit 'Ethercat Management Function Refactoring Source by RTES Lab.' from youcu diff -r 015dab6a915f -r e6946c298a42 etherlab/CommonEtherCATFunction.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/CommonEtherCATFunction.py Wed Apr 02 15:03:32 2014 +0200 @@ -0,0 +1,1600 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +#This file is part of Beremiz, an Integrated Development Environment for +#programming IEC 61131-3 automates supporting EtherCAT. +# +#Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab. University of Seoul, Korea +# +#See COPYING file for copyrights details. +# +#This library is free software; you can redistribute it and/or +#modify it under the terms of the GNU General Public +#License as published by the Free Software Foundation; either +#version 2.1 of the License, or (at your option) any later version. +# +#This library is distributed in the hope that it will be useful, +#but WITHOUT ANY WARRANTY; without even the implied warranty of +#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +#General Public License for more details. +# +#You should have received a copy of the GNU General Public +#License along with this library; if not, write to the Free Software +#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + +import os +import wx + +def ExtractHexDecValue(value): + """ + convert numerical value in string format into decimal or hex format. + @param value : hex or decimal data + @return integer data + """ + try: + return int(value) + except: + pass + try: + return int(value.replace("#", "0"), 16) + + except: + raise ValueError, "Invalid value for HexDecValue \"%s\"" % value + +def ExtractName(names, default=None): + """ + Extract "name" field from XML entries. + @param names : XML entry + @default : if it fails to extract from the designated XML entry, return the default value ("None"). + @return default or the name extracted + """ + if len(names) == 1: + return names[0].getcontent() + else: + for name in names: + if name.getLcId() == 1033: + return name.getcontent() + return default + +#-------------------------------------------------- +# Remote Exec Etherlab Commands +#-------------------------------------------------- + +# --------------------- for master --------------------------- +MASTER_STATE = """ +import commands +result = commands.getoutput("ethercat master") +returnVal =result +""" + +# --------------------- for slave ---------------------------- +# ethercat state -p (slave position) (state (INIT, PREOP, SAFEOP, OP)) +SLAVE_STATE = """ +import commands +result = commands.getoutput("ethercat state -p %d %s") +returnVal = result +""" + +# ethercat slave +GET_SLAVE = """ +import commands +result = commands.getoutput("ethercat slaves") +returnVal =result +""" + +# ethercat xml -p (slave position) +SLAVE_XML = """ +import commands +result = commands.getoutput("ethercat xml -p %d") +returnVal = result +""" + +# ethercat sdos -p (slave position) +SLAVE_SDO = """ +import commands +result = commands.getoutput("ethercat sdos -p %d") +returnVal =result +""" + +# ethercat upload -p (slave position) (main index) (sub index) +GET_SLOW_SDO = """ +import commands +result = commands.getoutput("ethercat upload -p %d %s %s") +returnVal =result +""" + +# ethercat download -p (slave position) (main index) (sub index) (value) +SDO_DOWNLOAD = """ +import commands +result = commands.getoutput("ethercat download --type %s -p %d %s %s %s") +returnVal =result +""" + +# ethercat sii_read -p (slave position) +SII_READ = """ +import commands +result = commands.getoutput("ethercat sii_read -p %d") +returnVal =result +""" + +# ethercat reg_read -p (slave position) (address) (size) +REG_READ = """ +import commands +result = commands.getoutput("ethercat reg_read -p %d %s %s") +returnVal =result +""" + +# ethercat sii_write -p (slave position) - (contents) +SII_WRITE = """ +import subprocess +process = subprocess.Popen( + ["ethercat", "-f", "sii_write", "-p", "%d", "-"], + stdin=subprocess.PIPE) +process.communicate(sii_data) +returnVal = process.returncode +""" + +# ethercat reg_write -p (slave position) -t (uinit16) (address) (data) +REG_WRITE = """ +import commands +result = commands.getoutput("ethercat reg_write -p %d -t uint16 %s %s") +returnVal =result +""" + +# ethercat rescan -p (slave position) +RESCAN = """ +import commands +result = commands.getoutput("ethercat rescan -p %d") +returnVal =result +""" + +#-------------------------------------------------- +# Common Method For EtherCAT Management +#-------------------------------------------------- +class _CommonSlave: + + # ----- Data Structure for ethercat management ---- + SlaveState = "" + + # category of SDO data + DatatypeDescription, CommunicationObject, ManufacturerSpecific, \ + ProfileSpecific, Reserved, AllSDOData = range(6) + + # store the execution result of "ethercat sdos" command into SaveSDOData. + SaveSDOData = [] + + # Flags for checking "write" permission of OD entries + CheckPREOP = False + CheckSAFEOP = False + CheckOP = False + + # Save PDO Data + TxPDOInfo = [] + TxPDOCategory = [] + RxPDOInfo = [] + RxPDOCategory = [] + + # Save EEPROM Data + SiiData = "" + + # Save Register Data + RegData = "" + CrtRegSpec = {"ESCType": "", + "FMMUNumber": "", + "SMNumber": "", + "PDIType": ""} + + def __init__(self, controler): + """ + Constructor + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.Controler = controler + + self.ClearSDODataSet() + + #------------------------------------------------------------------------------- + # Used Master State + #------------------------------------------------------------------------------- + def GetMasterState(self): + """ + Execute "ethercat master" command and parse the execution result + @return MasterState + """ + + # exectute "ethercat master" command + error, return_val = self.Controler.RemoteExec(MASTER_STATE, return_val = None) + master_state = {} + # parse the reslut + for each_line in return_val.splitlines(): + if len(each_line) > 0 : + chunks = each_line.strip().split(':', 1) + key = chunks[0] + value = [] + if len(chunks) > 1 : + value = chunks[1].split() + if '(attached)' in value: + value.remove('(attached)') + master_state[key] = value + + return master_state + + #------------------------------------------------------------------------------- + # Used Slave State + #------------------------------------------------------------------------------- + def RequestSlaveState(self, command): + """ + Set slave state to the specified one using "ethercat states -p %d %s" command. + Command example : "ethercat states -p 0 PREOP" (target slave position and target state are given.) + @param command : target slave state + """ + error, return_val = self.Controler.RemoteExec(SLAVE_STATE%(self.Controler.GetSlavePos(), command), return_val = None) + + def GetSlaveStateFromSlave(self): + """ + Get slave information using "ethercat slaves" command and store the information into internal data structure + (self.SlaveState) for "Slave State" + return_val example : 0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100) + """ + error, return_val = self.Controler.RemoteExec(GET_SLAVE, return_val = None) + self.SlaveState = return_val + return return_val + + #------------------------------------------------------------------------------- + # Used SDO Management + #------------------------------------------------------------------------------- + def GetSlaveSDOFromSlave(self): + """ + Get SDO objects information of current slave using "ethercat sdos -p %d" command. + Command example : "ethercat sdos -p 0" + @return return_val : execution results of "ethercat sdos" command (need to be parsed later) + """ + error, return_val = self.Controler.RemoteExec(SLAVE_SDO%(self.Controler.GetSlavePos()), return_val = None) + return return_val + + def SDODownload(self, data_type, idx, sub_idx, value): + """ + Set an SDO object value to user-specified value using "ethercat download" command. + Command example : "ethercat download --type int32 -p 0 0x8020 0x12 0x00000000" + @param data_type : data type of SDO entry + @param idx : index of the SDO entry + @param sub_idx : subindex of the SDO entry + @param value : value of SDO entry + """ + error, return_val = self.Controler.RemoteExec(SDO_DOWNLOAD%(data_type, self.Controler.GetSlavePos(), idx, sub_idx, value), return_val = None) + + def BackupSDODataSet(self): + """ + Back-up current SDO entry information to restore the SDO data + in case that the user cancels SDO update operation. + """ + self.BackupDatatypeDescription = self.SaveDatatypeDescription + self.BackupCommunicationObject = self.SaveCommunicationObject + self.BackupManufacturerSpecific = self.SaveManufacturerSpecific + self.BackupProfileSpecific = self.SaveProfileSpecific + self.BackupReserved = self.SaveReserved + self.BackupAllSDOData = self.SaveAllSDOData + + def ClearSDODataSet(self): + """ + Clear the specified SDO entry information. + """ + for count in range(6): + self.SaveSDOData.append([]) + + #------------------------------------------------------------------------------- + # Used PDO Monitoring + #------------------------------------------------------------------------------- + def RequestPDOInfo(self): + """ + Load slave information from RootClass (XML data) and parse the information (calling SlavePDOData() method). + """ + # Load slave information from ESI XML file (def EthercatMaster.py) + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + # Initialize PDO data set + self.ClearDataSet() + + # if 'device' object is valid, call SavePDOData() to parse PDO data + if device is not None : + self.SavePDOData(device) + + def SavePDOData(self, device): + """ + Parse PDO data and store the results in TXPDOCategory and RXPDOCategory + Tx(Rx)PDOCategory : index, name, entry number + Tx(Rx)Info : entry index, sub index, name, length, type + @param device : Slave information extracted from ESI XML file + """ + # Parsing TXPDO entries + for pdo, pdo_info in ([(pdo, "Inputs") for pdo in device.getTxPdo()]): + # Save pdo_index, entry, and name of each entry + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + entries = pdo.getEntry() + pdo_name = ExtractName(pdo.getName()) + + # Initialize entry number count + count = 0 + + # Parse entries + for entry in entries: + # Save index and subindex + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + # if entry name exists, save entry data + if ExtractName(entry.getName()) is not None : + entry_infos = { + "entry_index" : index, + "subindex" : subindex, + "name" : ExtractName(entry.getName()), + "bitlen" : entry.getBitLen(), + "type" : entry.getDataType().getcontent() + } + self.TxPDOInfo.append(entry_infos) + count += 1 + + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count} + self.TxPDOCategory.append(categorys) + + # Parsing RxPDO entries + for pdo, pdo_info in ([(pdo, "Outputs") for pdo in device.getRxPdo()]): + # Save pdo_index, entry, and name of each entry + pdo_index = ExtractHexDecValue(pdo.getIndex().getcontent()) + entries = pdo.getEntry() + pdo_name = ExtractName(pdo.getName()) + + # Initialize entry number count + count = 0 + + # Parse entries + for entry in entries: + # Save index and subindex + index = ExtractHexDecValue(entry.getIndex().getcontent()) + subindex = ExtractHexDecValue(entry.getSubIndex()) + # if entry name exists, save entry data + if ExtractName(entry.getName()) is not None : + entry_infos = { + "entry_index" : index, + "subindex" : subindex, + "name" : ExtractName(entry.getName()), + "bitlen" : str(entry.getBitLen()), + "type" : entry.getDataType().getcontent() + } + self.RxPDOInfo.append(entry_infos) + count += 1 + + categorys = {"pdo_index" : pdo_index, "name" : pdo_name, "number_of_entry" : count} + self.RxPDOCategory.append(categorys) + + def GetTxPDOCategory(self): + """ + Get TxPDOCategory data structure (Meta informaton of TxPDO). + TxPDOCategorys : index, name, number of entries + @return TxPDOCategorys + """ + return self.TxPDOCategory + + def GetRxPDOCategory(self): + """ + Get RxPDOCategory data structure (Meta information of RxPDO). + RxPDOCategorys : index, name, number of entries + @return RxPDOCategorys + """ + return self.RxPDOCategory + + def GetTxPDOInfo(self): + """ + Get TxPDOInfo data structure (Detailed information on TxPDO entries). + TxPDOInfos : entry index, sub index, name, length, type + @return TxPDOInfos + """ + return self.TxPDOInfo + + def GetRxPDOInfo(self): + """ + Get RxPDOInfo data structure (Detailed information on RxPDO entries). + RxPDOInfos : entry index, sub index, name, length, type + @return RxPDOInfos + """ + return self.RxPDOInfo + + def ClearDataSet(self): + """ + Initialize PDO management data structure. + """ + self.TxPDOInfos = [] + self.TxPDOCategorys = [] + self.RxPDOInfos = [] + self.RxPDOCategorys = [] + + #------------------------------------------------------------------------------- + # Used EEPROM Management + #------------------------------------------------------------------------------- + # Base data types in ETG2000; format = {"Name": "BitSize"} + BaseDataTypeDict = {"BOOL": "01", + "SINT": "02", + "INT": "03", + "DINT": "04", + "USINT": "05", + "UINT": "06", + "UDINT": "07", + "REAL": "08", + "INT24": "10", + "LREAL": "11", + "INT40": "12", + "INT48": "13", + "INT56": "14", + "LINT": "15", + "UINT24": "16", + "UINT40": "18", + "UINT48": "19", + "UINT56": "1a", + "ULINT": "1b", + "USINT": "1e", + "BITARR8": "2d", + "BITARR16": "2e", + "BITARR32": "2f", + "BIT1": "30", + "BIT2": "31", + "BIT3": "32", + "BIT4": "33", + "BIT5": "34", + "BIT6": "35", + "BIT7": "36", + "BIT8": "37"} + + def GetSmartViewInfos(self): + """ + Parse XML data for "Smart View" of EEPROM contents. + @return smartview_infos : EEPROM contents dictionary + """ + + smartview_infos = {"eeprom_size": 128, + "pdi_type": 0, + "device_emulation": "False", + "vendor_id": '0x00000000', + "product_code": '0x00000000', + "revision_no": '0x00000000', + "serial_no": '0x00000000', + "supported_mailbox": "", + "mailbox_bootstrapconf_outstart": '0', + "mailbox_bootstrapconf_outlength": '0', + "mailbox_bootstrapconf_instart": '0', + "mailbox_bootstrapconf_inlength": '0', + "mailbox_standardconf_outstart": '0', + "mailbox_standardconf_outlength": '0', + "mailbox_standardconf_instart": '0', + "mailbox_standardconf_inlength": '0'} + + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + # 'device' represents current slave device selected by user + if device is not None: + for eeprom_element in device.getEeprom().getcontent()["value"]: + # get EEPROM size; -- + if eeprom_element["name"] == "ByteSize": + smartview_infos["eeprom_size"] = eeprom_element["value"] + + elif eeprom_element["name"] == "ConfigData": + configData_data = self.DecimalToHex(eeprom_element["value"]) + # get PDI type; -- address 0x00 + smartview_infos["pdi_type"] = int(configData_data[0:2], 16) + # get state of device emulation; -- address 0x01 + if "{:0>8b}".format(int(configData_data[2:4], 16))[7] == '1': + smartview_infos["device_emulation"] = "True" + + elif eeprom_element["name"] == "BootStrap": + bootstrap_data = "{:0>16x}".format(eeprom_element["value"]) + # get bootstrap configuration; -- + for cfg, iter in [("mailbox_bootstrapconf_outstart", 0), + ("mailbox_bootstrapconf_outlength", 1), + ("mailbox_bootstrapconf_instart", 2), + ("mailbox_bootstrapconf_inlength", 3)]: + smartview_infos[cfg] = str(int(bootstrap_data[4*iter+2:4*(iter+1)]+bootstrap_data[4*iter:4*iter+2], 16)) + + # get protocol (profile) types supported by mailbox; - + for mailbox_protocol in ["VoE", "SoE", "FoE", "CoE", "EoE", "AoE"]: + if eval("device.getMailbox().get%s()"%mailbox_protocol) is not None: + smartview_infos["supported_mailbox"] += "%s, "%mailbox_protocol + smartview_infos["supported_mailbox"] = smartview_infos["supported_mailbox"].strip(", ") + + # get standard configuration of mailbox; - + for sm_element in device.getSm(): + if sm_element.getcontent() == "MBoxOut": + smartview_infos["mailbox_standardconf_outstart"] = str(ExtractHexDecValue(sm_element.getStartAddress())) + smartview_infos["mailbox_standardconf_outlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize())) + elif sm_element.getcontent() == "MBoxIn": + smartview_infos["mailbox_standardconf_instart"] = str(ExtractHexDecValue(sm_element.getStartAddress())) + smartview_infos["mailbox_standardconf_inlength"] = str(ExtractHexDecValue(sm_element.getDefaultSize())) + else: + pass + + # get device identity from - + # vendor ID; by default, pre-defined value in self.ModulesLibrary + # if device type in 'vendor' item equals to actual slave device type, set 'vendor_id' to vendor ID. + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]: + if available_device[0] == type_infos["device_type"]: + smartview_infos["vendor_id"] = "0x" + "{:0>8x}".format(vendor_id) + + # product code; + if device.getType().getProductCode() is not None: + product_code = device.getType().getProductCode() + smartview_infos["product_code"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(product_code)) + + # revision number; + if device.getType().getRevisionNo() is not None: + revision_no = device.getType().getRevisionNo() + smartview_infos["revision_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(revision_no)) + + # serial number; + if device.getType().getSerialNo() is not None: + serial_no = device.getType().getSerialNo() + smartview_infos["serial_no"] = "0x"+"{:0>8x}".format(ExtractHexDecValue(serial_no)) + + return smartview_infos + + else: + return None + + def DecimalToHex(self, decnum): + """ + Convert decimal value into hexadecimal representation. + @param decnum : decimal value + @return hex_data : hexadecimal representation of input value in decimal + """ + value = "%x" % decnum + value_len = len(value) + if (value_len % 2) == 0: + hex_len = value_len + else: + hex_len = (value_len / 2) * 2 + 2 + + hex_data = ("{:0>"+str(hex_len)+"x}").format(decnum) + + return hex_data + + def SiiRead(self): + """ + Get slave EEPROM contents maintained by master device using "ethercat sii_read -p %d" command. + Command example : "ethercat sii_read -p 0" + @return return_val : result of "ethercat sii_read" (binary data) + """ + error, return_val = self.Controler.RemoteExec(SII_READ%(self.Controler.GetSlavePos()), return_val = None) + self.SiiData = return_val + return return_val + + def SiiWrite(self, binary): + """ + Overwrite slave EEPROM contents using "ethercat sii_write -p %d" command. + Command example : "ethercat sii_write -p 0 - (binary contents)" + @param binary : EEPROM contents in binary data format + @return return_val : result of "ethercat sii_write" (If it succeeds, the return value is NULL.) + """ + error, return_val = self.Controler.RemoteExec(SII_WRITE%(self.Controler.GetSlavePos()), return_val = None, sii_data = binary) + return return_val + + def LoadData(self): + """ + Loading data from EEPROM use Sii_Read Method + @return self.BinaryCode : slave EEPROM data in binary format (zero-padded) + """ + return_val = self.Controler.CommonMethod.SiiRead() + self.BinaryCode = return_val + self.Controler.SiiData = self.BinaryCode + + # append zero-filled padding data up to EEPROM size + for index in range(self.SmartViewInfosFromXML["eeprom_size"] - len(self.BinaryCode)): + self.BinaryCode = self.BinaryCode +'ff'.decode('hex') + + return self.BinaryCode + + def HexRead(self, binary): + """ + Convert binary digit representation into hexadecimal representation for "Hex View" menu. + @param binary : binary digits + @return hexCode : hexadecimal digits + @return hexview_table_row, hexview_table_col : Grid size for "Hex View" UI + """ + row_code = [] + row_text = "" + row = 0 + hex_code = [] + + hexview_table_col = 17 + + for index in range(0, len(binary)) : + if len(binary[index]) != 1: + break + else: + digithexstr = hex(ord(binary[index])) + + tempvar2 = digithexstr[2:4] + if len(tempvar2) == 1: + tempvar2 = "0" + tempvar2 + row_code.append(tempvar2) + + if int(digithexstr, 16)>=32 and int(digithexstr, 16)<=126: + row_text = row_text + chr(int(digithexstr, 16)) + else: + row_text = row_text + "." + + if index != 0 : + if len(row_code) == (hexview_table_col - 1): + row_code.append(row_text) + hex_code.append(row_code) + row_text = "" + row_code = [] + row = row + 1 + + hexview_table_row = row + + return hex_code, hexview_table_row, hexview_table_col + + def GenerateEEPROMList(self, data, direction, length): + """ + Generate EEPROM data list by reconstructing 'data' string. + example : data="12345678", direction=0, length=8 -> eeprom_list=['12', '34', '56', '78'] + data="12345678", direction=1, length=8 -> eeprom_list=['78', '56', '34', '12'] + @param data : string to be reconstructed + @param direction : endianness + @param length : data length + @return eeprom_list : reconstructed list data structure + """ + eeprom_list = [] + + if direction is 0 or 1: + for i in range(length/2): + if data == "": + eeprom_list.append("00") + else: + eeprom_list.append(data[direction*(length-2):direction*(length-2)+2]) + data = data[(1-direction)*2:length-direction*2] + length -= 2 + return eeprom_list + + def XmlToEeprom(self): + """ + Extract slave EEPROM contents using slave ESI XML file. + - Mandatory parts + - String category : ExtractEEPROMStringCategory() + - General category : ExtractEEPROMGeneralCategory() + - FMMU category : ExtractEEPROMFMMUCategory + - SyncM category : ExtractEEPROMSyncMCategory() + - Tx/RxPDO category : ExtractEEPROMPDOCategory() + - DC category : ExtractEEPROMDCCategory() + @return eeprom_binary + """ + eeprom = [] + data = "" + eeprom_size = 0 + eeprom_binary = "" + + # 'device' is the slave device of the current EtherCAT slave plugin + slave = self.Controler.CTNParent.GetSlave(self.Controler.GetSlavePos()) + type_infos = slave.getType() + device, alignment = self.Controler.CTNParent.GetModuleInfos(type_infos) + + if device is not None: + # get ConfigData for EEPROM offset 0x0000-0x000d; -- + for eeprom_element in device.getEeprom().getcontent()["value"]: + if eeprom_element["name"] == "ConfigData": + data = self.DecimalToHex(eeprom_element["value"]) + eeprom += self.GenerateEEPROMList(data, 0, 28) + + # calculate CRC for EEPROM offset 0x000e-0x000f + crc = 0x48 + for segment in eeprom: + for i in range(8): + bit = crc & 0x80 + crc = (crc << 1) | ((int(segment, 16) >> (7 - i)) & 0x01) + if bit: + crc ^= 0x07 + for k in range(8): + bit = crc & 0x80 + crc <<= 1 + if bit: + crc ^= 0x07 + eeprom.append(hex(crc)[len(hex(crc))-3:len(hex(crc))-1]) + eeprom.append("00") + + # get VendorID for EEPROM offset 0x0010-0x0013; + data = "" + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for available_device in vendor["groups"][vendor["groups"].keys()[0]]["devices"]: + if available_device[0] == type_infos["device_type"]: + data = "{:0>8x}".format(vendor_id) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Product Code for EEPROM offset 0x0014-0x0017; + data = "" + if device.getType().getProductCode() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getProductCode())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Revision Number for EEPROM offset 0x0018-0x001b; + data = "" + if device.getType().getRevisionNo() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getRevisionNo())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Serial Number for EEPROM 0x001c-0x001f; + data = "" + if device.getType().getSerialNo() is not None: + data = "{:0>8x}".format(ExtractHexDecValue(device.getType().getSerialNo())) + eeprom += self.GenerateEEPROMList(data, 1, 8) + + # get Execution Delay for EEPROM 0x0020-0x0021; not analyzed yet + eeprom.append("00") + eeprom.append("00") + + # get Port0/1 Delay for EEPROM offset 0x0022-0x0025; not analyzed yet + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + + # reserved for EEPROM offset 0x0026-0x0027; + eeprom.append("00") + eeprom.append("00") + + # get BootStrap for EEPROM offset 0x0028-0x002e; -- + data = "" + for eeprom_element in device.getEeprom().getcontent()["value"]: + if eeprom_element["name"] == "BootStrap": + data = "{:0>16x}".format(eeprom_element["value"]) + eeprom += self.GenerateEEPROMList(data, 0, 16) + + # get Standard Mailbox for EEPROM offset 0x0030-0x0037; - + data = "" + for sm_element in device.getSm(): + if sm_element.getcontent() == "MBoxOut": + standard_receive_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress())) + standard_receive_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize())) + elif sm_element.getcontent() == "MBoxIn": + standard_send_mailbox_offset = "{:0>4x}".format(ExtractHexDecValue(sm_element.getStartAddress())) + standard_send_mailbox_size = "{:0>4x}".format(ExtractHexDecValue(sm_element.getDefaultSize())) + + if standard_receive_mailbox_offset is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_receive_mailbox_offset[2:4]) + eeprom.append(standard_receive_mailbox_offset[0:2]) + if standard_receive_mailbox_size is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_receive_mailbox_size[2:4]) + eeprom.append(standard_receive_mailbox_size[0:2]) + if standard_send_mailbox_offset is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_send_mailbox_offset[2:4]) + eeprom.append(standard_send_mailbox_offset[0:2]) + if standard_send_mailbox_size is None: + eeprom.append("00") + eeprom.append("00") + else: + eeprom.append(standard_send_mailbox_size[2:4]) + eeprom.append(standard_send_mailbox_size[0:2]) + + # get supported mailbox protocols for EEPROM offset 0x0038-0x0039; + data = 0 + for mbox, bit in [(device.getMailbox().getAoE(), 0), + (device.getMailbox().getEoE(), 1), + (device.getMailbox().getCoE(), 2), + (device.getMailbox().getFoE(), 3), + (device.getMailbox().getSoE(), 4), + (device.getMailbox().getVoE(), 5)]: + if mbox is not None: + data += 1<---- + # vendor_specific_data : vendor specific data (binary type) + vendor_specific_data = "" + # vendor_spec_strings : list of vendor specific "strings" for preventing duplicated strings + vendor_spec_strings = [] + for element in device.getType().getcontent(): + data += element + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.OrderIdx = vendor_spec_strings.index(data)+1 + typeflag = True + break + if typeflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + typeflag = True + self.OrderIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element2-1; ---- + data = device.getGroupType() + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.GroupIdx = vendor_spec_strings.index(data)+1 + grouptypeflag = True + break + if grouptypeflag is False: + grouptype = data + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + grouptypeflag = True + self.GroupIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + + # element2-2; --- + if grouptypeflag is False: + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_type + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.GroupIdx = vendor_spec_strings.index(data)+1 + grouptypeflag = True + break + if grouptypeflag is False: + grouptype = data + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + grouptypeflag = True + self.GroupIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element3; ---- + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendorId, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_etc["name"] + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + groupnameflag = True + break + if groupnameflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + groupnameflag = True + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element4; ---- + for element in device.getName(): + if element.getLcId() == 1 or element.getLcId()==1033: + data = element.getcontent() + if data is not "" and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.NameIdx = vendor_spec_strings.index(data)+1 + devnameflag = True + break + if devnameflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + devnameflag = True + self.NameIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # element5-1; ---- + if device.getcontent() is not None: + data = device.getcontent()["value"] + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.ImgIdx = vendor_spec_strings.index(data)+1 + imageflag = True + break + if imageflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + imageflag = True + self.ImgIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + + # element5-2; ---- + if imageflag is False: + if self.Controler.CTNParent.CTNParent.ModulesLibrary.Library is not None: + for vendor_id, vendor in self.Controler.CTNParent.CTNParent.ModulesLibrary.Library.iteritems(): + for group_type, group_etc in vendor["groups"].iteritems(): + for device_item in group_etc["devices"]: + if device == device_item[1]: + data = group_etc["value"] + if data is not None and type(data) == unicode: + for vendor_spec_string in vendor_spec_strings: + if data == vendor_spec_string: + self.ImgIdx = vendor_spec_strings.index(data)+1 + imageflag = True + break + if imageflag is False: + count += 1 + self.Strings.append(data) + vendor_spec_strings.append(data) + imageflag = True + self.ImgIdx = count + vendor_specific_data += "{:0>2x}".format(len(data)) + for character in range(len(data)): + vendor_specific_data += "{:0>2x}".format(ord(data[character])) + data = "" + + # DC related elements + # ------ + dc_related_elements = "" + if device.getDc() is not None: + for element in device.getDc().getOpMode(): + data = element.getName() + if data is not "": + count += 1 + self.Strings.append(data) + dc_related_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + dc_related_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # Input elements(TxPDO) + # ----; Name + input_elements = "" + inputs = [] + for element in device.getTxPdo(): + for name in element.getName(): + data = name.getcontent() + for input in inputs: + if data == input: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + inputs.append(data) + input_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + input_elements += "{:0>2x}".format(ord(data[character])) + data = "" + for entry in element.getEntry(): + for name in entry.getName(): + data = name.getcontent() + for input in inputs: + if data == input: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + inputs.append(data) + input_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + input_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # Output elements(RxPDO) + # ----; Name + output_elements = "" + outputs = [] + for element in device.getRxPdo(): + for name in element.getName(): + data = name.getcontent() + for output in outputs: + if data == output: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + outputs.append(data) + output_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + output_elements += "{:0>2x}".format(ord(data[character])) + data = "" + for entry in element.getEntry(): + for name in entry.getName(): + data = name.getcontent() + for output in outputs: + if data == output: + data = "" + if data is not "": + count += 1 + self.Strings.append(data) + outputs.append(data) + output_elements += "{:0>2x}".format(len(data)) + for character in range(len(data)): + output_elements += "{:0>2x}".format(ord(data[character])) + data = "" + + # form eeprom data + # category header + eeprom.append("0a") + eeprom.append("00") + # category length (word); 1 word is 4 bytes. "+2" is the length of string's total number + length = len(vendor_specific_data + dc_related_elements + input_elements + output_elements) + 2 + if length%4 == 0: + pass + else: + length +=length%4 + padflag = True + eeprom.append("{:0>4x}".format(length/4)[2:4]) + eeprom.append("{:0>4x}".format(length/4)[0:2]) + # total numbers of strings + eeprom.append("{:0>2x}".format(count)) + for element in [vendor_specific_data, + dc_related_elements, + input_elements, + output_elements]: + for iter in range(len(element)/2): + if element == "": + eeprom.append("00") + else: + eeprom.append(element[0:2]) + element = element[2:len(element)] + # padding if length is odd bytes + if padflag is True: + eeprom.append("ff") + + return eeprom + + def ExtractEEPROMGeneralCategory(self, device): + """ + Extract "General" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + + # category header + eeprom.append("1e") + eeprom.append("00") + + # category length + eeprom.append("10") + eeprom.append("00") + + # word 1 : Group Type index and Image index in STRINGS Category + eeprom.append("{:0>2x}".format(self.GroupIdx)) + eeprom.append("{:0>2x}".format(self.ImgIdx)) + + # word 2 : Device Type index and Device Name index in STRINGS Category + eeprom.append("{:0>2x}".format(self.OrderIdx)) + eeprom.append("{:0>2x}".format(self.NameIdx)) + + # word 3 : Physical Layer Port info. and CoE Details + eeprom.append("01") # Physical Layer Port info - assume 01 + # CoE Details; ----- + coe_details = 0 + if device.getMailbox().getCoE() is not None: + coe_details = 1 # sdo enabled + for attr, bit in [(device.getMailbox().getCoE().getSdoInfo(), 1), + (device.getMailbox().getCoE().getPdoAssign(), 2), + (device.getMailbox().getCoE().getPdoConfig(), 3), + (device.getMailbox().getCoE().getPdoUpload(), 4), + (device.getMailbox().getCoE().getCompleteAccess(), 5)]: + if attr==1 or attr==True: + coe_details += 1<2x}".format(coe_details)) + + # word 4 : FoE Details and EoE Details + # FoE Details; ----- + if device.getMailbox().getFoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # EoE Details; ----- + if device.getMailbox().getEoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + + # word 5 : SoE Channels(reserved) and DS402 Channels + # SoE Details; ----- + if device.getMailbox().getSoE() is not None: + eeprom.append("01") + else: + eeprom.append("00") + # DS402Channels; -----: DS402Channels + if device.getMailbox().getCoE().getDS402Channels() == True \ + or device.getMailbox().getCoE().getDS402Channels() == 1: + eeprom.append("01") + else: + eeprom.append("00") + + # word 6 : SysmanClass(reserved) and Flags + eeprom.append("00") # reserved + # Flags + en_safeop = False + en_lrw = False + if device.getType().getTcCfgModeSafeOp() == True \ + or device.getType().getTcCfgModeSafeOp() == 1: + en_safeop = True + if device.getType().getUseLrdLwr() == True \ + or device.getType().getUseLrdLwr() == 1: + en_lrw = True + + flags = "0b"+"000000"+str(int(en_lrw))+str(int(en_safeop)) + eeprom.append("{:0>2x}".format(int(flags, 2))) + + # word 7 : Current On EBus (assume 0x0000) + eeprom.append("00") + eeprom.append("00") + # after word 7; couldn't analyze yet + eeprom.append("03") + eeprom.append("00") + eeprom.append("11") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + eeprom.append("00") + + return eeprom + + def ExtractEEPROMFMMUCategory(self, device): + """ + Extract "FMMU" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 # number of FMMU + padflag = False + + for fmmu in device.getFmmu(): + count += 1 + if fmmu.getcontent() == "Outputs": + data += "01" + if fmmu.getcontent() == "Inputs": + data += "02" + if fmmu.getcontent() == "MBoxState": + data += "03" + + # construct of EEPROM data + if data is not "": + # category header + eeprom.append("28") + eeprom.append("00") + # category length + if count%2 == 1: + padflag = True + eeprom.append("{:0>4x}".format((count+1)/2)[2:4]) + eeprom.append("{:0>4x}".format((count+1)/2)[0:2]) + else: + eeprom.append("{:0>4x}".format((count)/2)[2:4]) + eeprom.append("{:0>4x}".format((count)/2)[0:2]) + for i in range(count): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + # padding if length is odd bytes + if padflag is True: + eeprom.append("ff") + + return eeprom + + def ExtractEEPROMSyncMCategory(self, device): + """ + Extract "SyncM" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + number = {"MBoxOut":"01", "MBoxIn":"02", "Outputs":"03", "Inputs":"04"} + + for sm in device.getSm(): + for attr in [sm.getStartAddress(), + sm.getDefaultSize(), + sm.getControlByte()]: + if attr is not None: + data += "{:0>4x}".format(ExtractHexDecValue(attr))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(attr))[0:2] + else: + data += "0000" + if sm.getEnable() == "1" or sm.getEnable() == True: + data += "01" + else: + data += "00" + data += number[sm.getcontent()] + + if data is not "": + # category header + eeprom.append("29") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + def ExtractEEPROMPDOCategory(self, device, pdotype): + """ + Extract ""PDO (Tx, Rx)"" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @param pdotype : identifier whether "TxPDO" or "RxPDO". + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 + en_fixed = False + en_mandatory = False + en_virtual = False + + for element in eval("device.get%s()"%pdotype): + # PDO Index + data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(element.getIndex().getcontent()))[0:2] + # Number of Entries + data += "{:0>2x}".format(len(element.getEntry())) + # About Sync Manager + if element.getSm() is not None: + data += "{:0>2x}".format(element.getSm()) + else: + data += "ff" + # Reference to DC Synch (according to ET1100 documentation) - assume 0 + data += "00" + # Name Index + objname = "" + for name in element.getName(): + objname = name.getcontent() + for name in self.Strings: + count += 1 + if objname == name: + break + if len(self.Strings)+1 == count: + data += "00" + else: + data += "{:0>2x}".format(count) + count = 0 + # Flags; by Fixed, Mandatory, Virtual attributes ? + if element.getFixed() == True or 1: + en_fixed = True + if element.getMandatory() == True or 1: + en_mandatory = True + if element.getVirtual() == True or element.getVirtual(): + en_virtual = True + data += str(int(en_fixed)) + str(int(en_mandatory)) + str(int(en_virtual)) + "0" + + for entry in element.getEntry(): + # Entry Index + data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(entry.getIndex().getcontent()))[0:2] + # Subindex + data += "{:0>2x}".format(int(entry.getSubIndex())) + # Entry Name Index + objname = "" + for name in entry.getName(): + objname = name.getcontent() + for name in self.Strings: + count += 1 + if objname == name: + break + if len(self.Strings)+1 == count: + data += "00" + else: + data += "{:0>2x}".format(count) + count = 0 + # DataType + if entry.getDataType() is not None: + if entry.getDataType().getcontent() in self.BaseDataTypeDict: + data += self.BaseDataTypeDict[entry.getDataType().getcontent()] + else: + data += "00" + else: + data += "00" + # BitLen + if entry.getBitLen() is not None: + data += "{:0>2x}".format(int(entry.getBitLen())) + else: + data += "00" + # Flags; by Fixed attributes ? + en_fixed = False + if entry.getFixed() == True or entry.getFixed() == 1: + en_fixed = True + data += str(int(en_fixed)) + "000" + + if data is not "": + # category header + if pdotype == "TxPdo": + eeprom.append("32") + elif pdotype == "RxPdo": + eeprom.append("33") + else: + eeprom.append("00") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + data = str(data.lower()) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + def ExtractEEPROMDCCategory(self, device): + """ + Extract "DC(Distributed Clock)" category data from slave ESI XML and generate EEPROM image data. + @param device : 'device' object in the slave ESI XML + @return eeprom : "Strings" category EEPROM image data + """ + eeprom = [] + data = "" + count = 0 + namecount = 0 + + if device.getDc() is not None: + for element in device.getDc().getOpMode(): + count += 1 + # assume that word 1-7 are 0x0000 + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + data += "0000" + # word 8-10 + # AssignActivate + if element.getAssignActivate() is not None: + data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[2:4] + data += "{:0>4x}".format(ExtractHexDecValue(element.getAssignActivate()))[0:2] + else: + data += "0000" + # Factor of CycleTimeSync0 ? and default is 1? + if element.getCycleTimeSync0() is not None: + if element.getCycleTimeSync0().getFactor() is not None: + data += "{:0>2x}".format(int(element.getCycleTimeSync0().getFactor())) + data += "00" + else: + data += "0100" + else: + data += "0100" + # Index of Name in STRINGS Category + # Name Index + objname = "" + for name in element.getName(): + objname += name + for name in self.Strings: + namecount += 1 + if objname == name: + break + if len(self.Strings)+1 == namecount: + data += "00" + else: + data += "{:0>2x}".format(namecount) + namecount = 0 + data += "00" + # assume that word 11-12 are 0x0000 + data += "0000" + data += "0000" + + if data is not "": + # category header + eeprom.append("3c") + eeprom.append("00") + # category length + eeprom.append("{:0>4x}".format(len(data)/4)[2:4]) + eeprom.append("{:0>4x}".format(len(data)/4)[0:2]) + data = str(data.lower()) + for i in range(len(data)/2): + if data == "": + eeprom.append("00") + else: + eeprom.append(data[0:2]) + data = data[2:len(data)] + + return eeprom + + #------------------------------------------------------------------------------- + # Used Register Access + #------------------------------------------------------------------------------- + def RegRead(self, offset, length): + """ + Read slave ESC register content using "ethercat reg_read -p %d %s %s" command. + Command example : "ethercat reg_read -p 0 0x0c00 0x0400" + @param offset : register address + @param length : register length + @return return_val : register data + """ + error, return_val = self.Controler.RemoteExec(REG_READ%(self.Controler.GetSlavePos(), offset, length), return_val = None) + return return_val + + def RegWrite(self, address, data): + """ + Write data to slave ESC register using "ethercat reg_write -p %d %s %s" command. + Command example : "ethercat reg_write -p 0 0x0c04 0x0001" + @param address : register address + @param data : data to write + @return return_val : the execution result of "ethercat reg_write" (for error check) + """ + error, return_val = self.Controler.RemoteExec(REG_WRITE%(self.Controler.GetSlavePos(), address, data), return_val = None) + return return_val + + def Rescan(self): + """ + Synchronize EEPROM data in master controller with the data in slave device after EEPROM write. + Command example : "ethercat rescan -p 0" + """ + error, return_val = self.Controler.RemoteExec(RESCAN%(self.Controler.GetSlavePos()), return_val = None) + + #------------------------------------------------------------------------------- + # Common Use Methods + #------------------------------------------------------------------------------- + def CheckConnect(self, cyclic_flag): + """ + Check connection status (1) between Beremiz and the master (2) between the master and the slave. + @param cyclic_flag: 0 - one shot, 1 - periodic + @return True or False + """ + if self.Controler.GetCTRoot()._connector is not None: + # Check connection between the master and the slave. + # Command example : "ethercat xml -p 0" + error, return_val = self.Controler.RemoteExec(SLAVE_XML%(self.Controler.GetSlavePos()), return_val = None) + number_of_lines = return_val.split("\n") + if len(number_of_lines) <= 2 : # No slave connected to the master controller + if not cyclic_flag : + self.CreateErrorDialog('No connected slaves') + return False + + elif len(number_of_lines) > 2 : + return True + else: + # The master controller is not connected to Beremiz host + if not cyclic_flag : + self.CreateErrorDialog('PLC not connected!') + return False + + def CreateErrorDialog(self, mention): + """ + Create a dialog to indicate error or warning. + @param mention : Error String + """ + app_frame = self.Controler.GetCTRoot().AppFrame + dlg = wx.MessageDialog (app_frame, mention, + ' Warning...', + wx.OK | wx.ICON_INFORMATION) + dlg.ShowModal() + dlg.Destroy() diff -r 015dab6a915f -r e6946c298a42 etherlab/ConfigEditor.py --- a/etherlab/ConfigEditor.py Mon Jun 03 08:24:08 2013 +0200 +++ b/etherlab/ConfigEditor.py Wed Apr 02 15:03:32 2014 +0200 @@ -13,6 +13,10 @@ from util.BitmapLibrary import GetBitmap from controls.CustomStyledTextCtrl import NAVIGATION_KEYS +# ----------------------------------------------------------------------- +from EtherCATManagementEditor import EtherCATManagementTreebook, MasterStatePanelClass +# ----------------------------------------------------------------------- + [ETHERCAT_VENDOR, ETHERCAT_GROUP, ETHERCAT_DEVICE] = range(3) def AppendMenu(parent, help, id, kind, text): @@ -240,7 +244,10 @@ class NodeEditor(ConfTreeNodeEditor): CONFNODEEDITOR_TABS = [ - (_("Ethercat node"), "_create_EthercatNodeEditor")] + (_("Ethercat node"), "_create_EthercatNodeEditor"), + # Add Notebook Tab for EtherCAT Management Treebook + (_("EtherCAT Management"), "_create_EtherCATManagementEditor") + ] def _create_EthercatNodeEditor(self, prnt): self.EthercatNodeEditor = wx.Panel(prnt, style=wx.TAB_TRAVERSAL) @@ -264,6 +271,9 @@ def __init__(self, parent, controler, window): ConfTreeNodeEditor.__init__(self, parent, controler, window) + # add Contoler for use EthercatSlave.py Method + self.Controler = controler + def GetBufferState(self): return False, False @@ -272,8 +282,39 @@ self.NodeVariables.RefreshView() + # -------------------For EtherCAT Management ---------------------------------------------- + def _create_EtherCATManagementEditor(self, prnt): + self.EtherCATManagementEditor = wx.ScrolledWindow(prnt, + style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.EtherCATManagementEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.EtherCATManagermentEditor_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5) + self.EtherCATManagermentEditor_Main_Sizer.AddGrowableCol(0) + self.EtherCATManagermentEditor_Main_Sizer.AddGrowableRow(0) + + self.EtherCATManagementTreebook = EtherCATManagementTreebook(self.EtherCATManagementEditor, self.Controler, self) + + self.EtherCATManagermentEditor_Main_Sizer.AddSizer(self.EtherCATManagementTreebook, border=10, flag=wx.GROW) + + self.EtherCATManagementEditor.SetSizer(self.EtherCATManagermentEditor_Main_Sizer) + return self.EtherCATManagementEditor + + def OnResize(self, event): + self.EtherCATManagementEditor.GetBestSize() + xstart, ystart = self.EtherCATManagementEditor.GetViewStart() + window_size = self.EtherCATManagementEditor.GetClientSize() + maxx, maxy = self.EtherCATManagementEditor.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.EtherCATManagementEditor.Scroll(posx, posy) + self.EtherCATManagementEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() + # ------------------------------------------------------------------------------------------------------- + CIA402NodeEditor = NodeEditor + def GetProcessVariablesTableColnames(): _ = lambda x : x return ["#", _("Name"), @@ -537,7 +578,36 @@ class MasterEditor(ConfTreeNodeEditor): CONFNODEEDITOR_TABS = [ - (_("Network"), "_create_EthercatMasterEditor")] + (_("Network"), "_create_EthercatMasterEditor"), + (_("Master State"), "_create_MasterStateEditor") + ] + + def _create_MasterStateEditor(self, prnt): + self.MasterStateEditor = wx.ScrolledWindow(prnt, style=wx.TAB_TRAVERSAL|wx.HSCROLL|wx.VSCROLL) + self.MasterStateEditor.Bind(wx.EVT_SIZE, self.OnResize) + + self.MasterStateEditor_Panel_Main_Sizer = wx.FlexGridSizer(cols=1, hgap=0, rows=2, vgap=5) + self.MasterStateEditor_Panel_Main_Sizer.AddGrowableCol(0) + self.MasterStateEditor_Panel_Main_Sizer.AddGrowableRow(0) + + self.MasterStateEditor_Panel = MasterStatePanelClass(self.MasterStateEditor, self.Controler) + + self.MasterStateEditor_Panel_Main_Sizer.AddSizer(self.MasterStateEditor_Panel, border=10, flag=wx.GROW) + + self.MasterStateEditor.SetSizer(self.MasterStateEditor_Panel_Main_Sizer) + return self.MasterStateEditor + + def OnResize(self, event): + self.MasterStateEditor.GetBestSize() + xstart, ystart = self.MasterStateEditor.GetViewStart() + window_size = self.MasterStateEditor.GetClientSize() + maxx, maxy = self.MasterStateEditor.GetMinSize() + posx = max(0, min(xstart, (maxx - window_size[0]) / SCROLLBAR_UNIT)) + posy = max(0, min(ystart, (maxy - window_size[1]) / SCROLLBAR_UNIT)) + self.MasterStateEditor.Scroll(posx, posy) + self.MasterStateEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, + maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) + event.Skip() def _create_EthercatMasterEditor(self, prnt): self.EthercatMasterEditor = wx.ScrolledWindow(prnt, @@ -639,6 +709,10 @@ def __init__(self, parent, controler, window): ConfTreeNodeEditor.__init__(self, parent, controler, window) + # ------------------------------------------------------------------ + self.Controler = controler + # ------------------------------------------------------------------ + self.ProcessVariables = [] self.CellShown = None self.NodesFilterFirstCharacter = True @@ -968,6 +1042,33 @@ self.EthercatMasterEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) event.Skip() + + #def OnButtonClick(self, event): + # self.MasterState = self.Controler.getMasterState() + # if self.MasterState: + # self.Phase.SetValue(self.MasterState["phase"]) + # self.Active.SetValue(self.MasterState["active"]) + # self.SlaveCount.SetValue(self.MasterState["slave"]) + # self.MacAddress.SetValue(self.MasterState["MAC"]) + # self.LinkState.SetValue(self.MasterState["link"]) + # self.TxFrames.SetValue(self.MasterState["TXframe"]) + # self.RxFrames.SetValue(self.MasterState["RXframe"]) + # self.TxByte.SetValue(self.MasterState["TXbyte"]) + # self.TxError.SetValue(self.MasterState["TXerror"]) + # self.LostFrames.SetValue(self.MasterState["lost"]) + + # self.TxFrameRate1.SetValue(self.MasterState["TXframerate1"]) + # self.TxFrameRate2.SetValue(self.MasterState["TXframerate2"]) + # self.TxFrameRate3.SetValue(self.MasterState["TXframerate3"]) + # self.TxRate1.SetValue(self.MasterState["TXrate1"]) + # self.TxRate2.SetValue(self.MasterState["TXrate2"]) + # self.TxRate3.SetValue(self.MasterState["TXrate3"]) + # self.LossRate1.SetValue(self.MasterState["loss1"]) + # self.LossRate2.SetValue(self.MasterState["loss2"]) + # self.LossRate3.SetValue(self.MasterState["loss3"]) + # self.FrameLoss1.SetValue(self.MasterState["frameloss1"]) + # self.FrameLoss2.SetValue(self.MasterState["frameloss2"]) + # self.FrameLoss3.SetValue(self.MasterState["frameloss3"]) class LibraryEditorSizer(wx.FlexGridSizer): @@ -1289,5 +1390,4 @@ self.ModuleLibraryEditor.SetScrollbars(SCROLLBAR_UNIT, SCROLLBAR_UNIT, maxx / SCROLLBAR_UNIT, maxy / SCROLLBAR_UNIT, posx, posy) event.Skip() - - + \ No newline at end of file diff -r 015dab6a915f -r e6946c298a42 etherlab/EtherCATManagementEditor.py --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/EtherCATManagementEditor.py Wed Apr 02 15:03:32 2014 +0200 @@ -0,0 +1,2223 @@ +#!/usr/bin/env python +# -*- coding: utf-8 -*- + +#This file is part of Beremiz, a Integrated Development Environment for +#programming IEC 61131-3 automates supporting EtherCAT. +# +#Copyright (C) 2013: Real-Time & Embedded Systems (RTES) Lab., University of Seoul +# +#See COPYING file for copyrights details. +# +#This library is free software; you can redistribute it and/or +#modify it under the terms of the GNU General Public +#License as published by the Free Software Foundation; either +#version 2.1 of the License, or (at your option) any later version. +# +#This library is distributed in the hope that it will be useful, +#but WITHOUT ANY WARRANTY; without even the implied warranty of +#MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU +#General Public License for more details. +# +#You should have received a copy of the GNU General Public +#License along with this library; if not, write to the Free Software +#Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + + +import os + +import wx +import wx.grid +import wx.gizmos +import wx.lib.buttons + +# -------------------------------------------------------------------- +from controls import CustomGrid, CustomTable +# -------------------------------------------------------------------- + +# ------------ for SDO Management -------------------- +import string +import wx.grid as gridlib +#------------------------------------------------------------- + +# ------------ for register management --------------- +from xml.dom import minidom +#------------------------------------------------------------- + +# ----------------------------- For Sync Manager Table ----------------------------------- +def GetSyncManagersTableColnames(): + """ + Returns column names of SyncManager Table in Slave state panel. + """ + _ = lambda x : x + return ["#", _("Name"), _("Start Address"), _("Default Size"), _("Control Byte"), _("Enable")] + +#------------------------------------------------------------------------------- +# Sync Managers Table +#------------------------------------------------------------------------------- +class SyncManagersTable(CustomTable): + def GetValue(self, row, col): + if row < self.GetNumberRows(): + if col == 0: + return row + return self.data[row].get(self.GetColLabelValue(col, False), "") + +#------------------------------------------------------------------------------- +# EtherCAT Management Treebook +#------------------------------------------------------------------------------- +class EtherCATManagementTreebook(wx.Treebook): + def __init__(self, parent, controler, node_editor): + """ + Constructor + @param parent: Reference to the parent wx.ScrolledWindow object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param node_editor: Reference to Beremiz frame + """ + wx.Treebook.__init__(self, parent, -1, size=wx.DefaultSize, style=wx.BK_DEFAULT) + self.parent = parent + self.Controler = controler + self.NodeEditor = node_editor + + self.EtherCATManagementClassObject = {} + + # fill EtherCAT Management Treebook + for pname, pclass, subs in [ + ("Slave State", SlaveStatePanelClass, []), + ("SDO Management", SDOPanelClass, []), + ("PDO Monitoring", PDOPanelClass, []), + ("ESC Management", EEPROMAccessPanel, [ + ("Smart View", SlaveSiiSmartView), + ("Hex View", HexView)]), + ("Register Access", RegisterAccessPanel, [])]: + self.AddPage(pclass(self, self.Controler), pname) + for spname, spclass in subs: + self.AddSubPage(spclass(self, self.Controler), spname) + + self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_TREEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = event.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = event.GetSelection() + event.Skip() + +#------------------------------------------------------------------------------- +# For SlaveState Panel +#------------------------------------------------------------------------------- +class SlaveStatePanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1, (0, 0), size=wx.DefaultSize, style = wx.SUNKEN_BORDER) + self.Controler = controler + self.parent = parent + + # initialize SlaveStatePanel UI dictionaries + self.StaticBoxDic = {} + self.StaticTextDic = {} + self.TextCtrlDic = {} + self.ButtonDic = {} + + # iniitalize BoxSizer and FlexGridSizer + self.SizerDic = { + "SlaveState_main_sizer" : wx.BoxSizer(wx.VERTICAL), + "SlaveState_inner_main_sizer" : wx.FlexGridSizer(cols=1, hgap=50, rows=3, vgap=10), + "SlaveInfosDetailsInnerSizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10), + "SyncManagerInnerSizer" : wx.FlexGridSizer(cols=1, hgap=5, rows=1, vgap=5), + "SlaveState_sizer" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10), + "SlaveState_up_sizer" : wx.FlexGridSizer(cols=4, hgap=10, rows=2, vgap=10), + "SlaveState_down_sizer" : wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10)} + + # initialize StaticBox and StaticBoxSizer + for box_name, box_label in [ + ("SlaveInfosDetailsBox", "Slave Informations"), + ("SyncManagerBox", "Sync Manager"), + ("SlaveStateBox", "Slave State Transition && Monitoring")]: + self.StaticBoxDic[box_name] = wx.StaticBox(self, label=_(box_label)) + self.SizerDic[box_name] = wx.StaticBoxSizer(self.StaticBoxDic[box_name]) + + for statictext_name, statictext_label, textctrl_name in [ + ("VendorLabel", "Vendor:", "vendor"), + ("ProductcodeLabel", "Product code:", "product_code"), + ("RevisionnumberLabel", "Slave Count:", "revision_number"), + ("PhysicsLabel", "Physics:", "physics")]: + self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label)) + self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.SizerDic["SlaveInfosDetailsInnerSizer"].AddMany([self.StaticTextDic[statictext_name], + self.TextCtrlDic[textctrl_name]]) + + self.SizerDic["SlaveInfosDetailsBox"].AddSizer(self.SizerDic["SlaveInfosDetailsInnerSizer"]) + + self.SyncManagersGrid = CustomGrid(self, size=wx.Size(605,155), style=wx.VSCROLL) + + self.SizerDic["SyncManagerInnerSizer"].Add(self.SyncManagersGrid) + self.SizerDic["SyncManagerBox"].Add(self.SizerDic["SyncManagerInnerSizer"]) + + for button_name, button_id, button_label, button_tooltipstring, event_method, sub_item in [ + ("InitButton", 0, "INIT", "State Transition to \"Init\" State", self.OnButtonClick, []), + ("PreOPButton", 1, "PREOP", "State Transition to \"PreOP\" State", self.OnButtonClick, [ + ("TargetStateLabel", "Target State:" , "TargetState")]), + ("SafeOPButton", 2, "SAFEOP", "State Transition to \"SafeOP\" State", self.OnButtonClick, []), + ("OPButton", 3, "OP", "State Transition to \"OP\" State", self.OnButtonClick, [ + ("CurrentStateLabel", "Current State:", "CurrentState")])]: + self.ButtonDic[button_name] = wx.Button(self, id=button_id ,label=_(button_label)) + self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method) + self.ButtonDic[button_name].SetToolTipString(button_tooltipstring) + self.SizerDic["SlaveState_up_sizer"].Add(self.ButtonDic[button_name]) + for statictext_name, statictext_label, textctrl_name in sub_item : + self.StaticTextDic[statictext_name] = wx.StaticText(self, label=_(statictext_label)) + self.TextCtrlDic[textctrl_name] = wx.TextCtrl(self, size=wx.DefaultSize, style=wx.TE_READONLY) + self.SizerDic["SlaveState_up_sizer"].AddMany([self.StaticTextDic[statictext_name], + self.TextCtrlDic[textctrl_name]]) + + for button_name, button_label, button_tooltipstring, event_method in [ + ("StartTimerButton", "Start State Monitoring", "Slave State Update Restart", self.StartTimer), + ("StopTimerButton", "Stop State Monitoring", "Slave State Update Stop", self.CurrentStateThreadStop)]: + self.ButtonDic[button_name] = wx.Button(self, label=_(button_label)) + self.ButtonDic[button_name].Bind(wx.EVT_BUTTON, event_method) + self.ButtonDic[button_name].SetToolTipString(button_tooltipstring) + self.SizerDic["SlaveState_down_sizer"].Add(self.ButtonDic[button_name]) + + self.SizerDic["SlaveState_sizer"].AddMany([self.SizerDic["SlaveState_up_sizer"], + self.SizerDic["SlaveState_down_sizer"]]) + + self.SizerDic["SlaveStateBox"].Add(self.SizerDic["SlaveState_sizer"]) + + self.SizerDic["SlaveState_inner_main_sizer"].AddMany([ + self.SizerDic["SlaveInfosDetailsBox"], self.SizerDic["SyncManagerBox"], + self.SizerDic["SlaveStateBox"]]) + + self.SizerDic["SlaveState_main_sizer"].Add(self.SizerDic["SlaveState_inner_main_sizer"]) + + self.SetSizer(self.SizerDic["SlaveState_main_sizer"]) + + # register a timer for periodic exectuion of slave state update (period: 1000 ms) + self.Bind(wx.EVT_TIMER, self.GetCurrentState) + + self.CreateSyncManagerTable() + + self.Centre() + + def CreateSyncManagerTable(self): + """ + Create grid for "SyncManager" + """ + # declare Table object + self.SyncManagersTable = SyncManagersTable(self, [], GetSyncManagersTableColnames()) + self.SyncManagersGrid.SetTable(self.SyncManagersTable) + # set grid alignment attr. (CENTER) + self.SyncManagersGridColAlignements = [wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, + wx.ALIGN_CENTRE, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE] + # set grid size + self.SyncManagersGridColSizes = [40, 150, 100, 100, 100, 100] + self.SyncManagersGrid.SetRowLabelSize(0) + for col in range(self.SyncManagersTable.GetNumberCols()): + attr = wx.grid.GridCellAttr() + attr.SetAlignment(self.SyncManagersGridColAlignements[col], wx.ALIGN_CENTRE) + self.SyncManagersGrid.SetColAttr(col, attr) + self.SyncManagersGrid.SetColMinimalWidth(col, self.SyncManagersGridColSizes[col]) + self.SyncManagersGrid.AutoSizeColumn(col, False) + + self.RefreshSlaveInfos() + + def RefreshSlaveInfos(self): + """ + Fill data in "Slave Information" and "SyncManager" + """ + slave_infos = self.Controler.GetSlaveInfos() + sync_manager_section = ["vendor", "product_code", "revision_number", "physics"] + if slave_infos is not None: + # this method is same as "TextCtrl.SetValue" + for textctrl_name in sync_manager_section: + self.TextCtrlDic[textctrl_name].SetValue(slave_infos[textctrl_name]) + self.SyncManagersTable.SetData(slave_infos["sync_managers"]) + self.SyncManagersTable.ResetView(self.SyncManagersGrid) + else: + for textctrl_name in sync_manager_section: + self.TextCtrlDic[textctrl_name].SetValue("") + self.SyncManagersTable.SetData([]) + self.SyncManagersTable.ResetView(self.SyncManagersGrid) + + def OnButtonClick(self, event): + """ + Event handler for slave state transition button click (Init, PreOP, SafeOP, OP button) + @param event : wx.EVT_BUTTON object + """ + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag : + state_dic = ["INIT", "PREOP", "SAFEOP", "OP"] + + # If target state is one of {INIT, PREOP, SAFEOP}, request slave state transition immediately. + if event.GetId() < 3 : + self.Controler.CommonMethod.RequestSlaveState(state_dic[event.GetId()]) + self.TextCtrlDic["TargetState"].SetValue(state_dic[event.GetId()]) + + # If target state is OP, first check "PLC status". + # (1) If current PLC status is "Started", then request slave state transition + # (2) Otherwise, show error message and return + else : + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status == "Started" : + self.Controler.CommonMethod.RequestSlaveState("OP") + self.TextCtrlDic["TargetState"].SetValue("OP") + else : + self.Controler.CommonMethod.CreateErrorDialog("PLC is Not Started") + + def GetCurrentState(self, event): + """ + Timer event handler for periodic slave state monitoring (Default period: 1 sec = 1000 msec). + @param event : wx.TIMER object + """ + check_connect_flag = self.Controler.CommonMethod.CheckConnect(True) + if check_connect_flag: + returnVal = self.Controler.CommonMethod.GetSlaveStateFromSlave() + line = returnVal.split("\n") + try : + self.SetCurrentState(line[self.Controler.GetSlavePos()]) + except : + pass + + def SetCurrentState(self, line): + """ + Show current slave state using the executiob result of "ethercat slaves" command. + @param line : result of "ethercat slaves" command + """ + state_array = ["INIT", "PREOP", "SAFEOP", "OP"] + try : + # parse the execution result of "ethercat slaves" command + # Result example : 0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100) + token = line.split(" ") + if token[2] in state_array: + self.TextCtrlDic["CurrentState"].SetValue(token[2]) + except : + pass + + def StartTimer(self, event): + """ + Event handler for "Start State Monitoring" button. + - start slave state monitoring thread + @param event : wx.EVT_BUTTON object + """ + self.SlaveStateThread = wx.Timer(self) + # set timer period (1000 ms) + self.SlaveStateThread.Start(1000) + + def CurrentStateThreadStop(self, event): + """ + Event handler for "Stop State Monitoring" button. + - stop slave state monitoring thread + @param event : wx.EVT_BUTTON object + """ + try: + self.SlaveStateThread.Stop() + except: + pass + +#------------------------------------------------------------------------------- +# For SDO Management Panel +#------------------------------------------------------------------------------- +class SDOPanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + + self.DatatypeDescription, self.CommunicationObject, self.ManufacturerSpecific, \ + self.ProfileSpecific, self.Reserved, self.AllSDOData = range(6) + + self.Controler = controler + + self.SDOManagementMainSizer = wx.BoxSizer(wx.VERTICAL) + self.SDOManagementInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10) + + self.SDOUpdate = wx.Button(self, label=_('update')) + self.SDOUpdate.Bind(wx.EVT_BUTTON, self.SDOInfoUpdate) + + self.CallSDONoteBook = SDONoteBook(self, controler=self.Controler) + self.SDOManagementInnerMainSizer.Add(self.SDOUpdate) + self.SDOManagementInnerMainSizer.Add(self.CallSDONoteBook, wx.ALL | wx.EXPAND) + + self.SDOManagementMainSizer.Add(self.SDOManagementInnerMainSizer) + + self.SetSizer(self.SDOManagementMainSizer) + + def SDOInfoUpdate(self, event): + """ + Evenet handler for SDO "update" button. + - Load SDO data from current slave + @param event : wx.EVT_BUTTON object + """ + self.Controler.CommonMethod.SaveSDOData = [] + self.Controler.CommonMethod.ClearSDODataSet() + self.SDOFlag = False + + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.SDOs = self.Controler.CommonMethod.GetSlaveSDOFromSlave() + # SDOFlag is "False", user click "Cancel" button + self.SDOFlag = self.SDOParser() + + if self.SDOFlag : + self.CallSDONoteBook.CreateNoteBook() + self.Refresh() + + def SDOParser(self): + """ + Parse SDO data set that obtain "SDOInfoUpdate" Method + @return True or False + """ + + slaveSDO_progress = wx.ProgressDialog("Slave SDO Monitoring", "Now Uploading...", + maximum = len(self.SDOs.splitlines()), parent=self, + style = wx.PD_CAN_ABORT | wx.PD_APP_MODAL | wx.PD_ELAPSED_TIME | + wx.PD_ESTIMATED_TIME | wx.PD_REMAINING_TIME | + wx.PD_AUTO_HIDE | wx.PD_SMOOTH) + + # If keep_going flag is False, SDOParser method is stop and return "False". + keep_going = True + count = 0 + + # SDO data example + # SDO 0x1000, "Device type" + # 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474 + for details_line in self.SDOs.splitlines(): + count += 1 + line_token = details_line.split("\"") + # len(line_token[2]) case : SDO 0x1000, "Device type" + if len(line_token[2]) == 0: + title_name = line_token[1] + # else case : 0x1000:00,r-r-r-,uint32,32 bit,"Device type",0x00020192, 131474 + else : + # line_token = ['0x1000:00,r-r-r-,uint32,32 bit,', 'Device type', ',0x00020192, 131474'] + token_head, name, token_tail = line_token + + # token_head = ['0x1000:00', 'r-r-r-', 'uint32', '32 bit', ''] + token_head = token_head.split(",") + ful_idx, access, type, size, empty = token_head + # ful_idx.split(":") = ['0x1000', '00'] + idx, sub_idx = ful_idx.split(":") + + # token_tail = ['', '0x00020192', '131474'] + token_tail = token_tail.split(",") + try : + empty, hex_val, dec_val = token_tail + + # SDO data is not return "dec value" + # line example : + # 0x1702:01,rwr-r-,uint32,32 bit," 1st mapping", ---- + except : + empty, hex_val = token_tail + + name_after_check = self.StringTest(name) + + # convert hex type + sub_idx = "0x" + sub_idx + + if type == "octet_string": + hex_val = ' ---- ' + + # SResult of SlaveSDO data parsing. (data type : dictionary) + self.Data = {'idx':idx.strip(), 'subIdx':sub_idx.strip(), 'access':access.strip(), + 'type':type.strip(), 'size':size.strip(), 'name':name_after_check.strip("\""), + 'value':hex_val.strip(), "category":title_name.strip("\"")} + + category_divide_value = [0x1000, 0x2000, 0x6000, 0xa000, 0xffff] + + for count in range(len(category_divide_value)) : + if int(idx, 0) < category_divide_value[count]: + self.Controler.CommonMethod.SaveSDOData[count].append(self.Data) + break + + self.Controler.CommonMethod.SaveSDOData[self.AllSDOData].append(self.Data) + + if count >= len(self.SDOs.splitlines()) / 2: + (keep_going, skip) = slaveSDO_progress.Update(count, "Please waiting a moment!!") + else: + (keep_going, skip) = slaveSDO_progress.Update(count) + + # If user click "Cancel" loop suspend immediately + if (keep_going == False): + break + + slaveSDO_progress.Destroy() + return keep_going + + def StringTest(self, check_string): + """ + Test value 'name' is alphanumeric + @param check_string : input data for check + @return result : output data after check + """ + # string.printable is print this result + #'0123456789abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ + #!"#$%&\'()*+,-./:;<=>?@[\\]^_`{|}~ \t\n\r\x0b\x0c + allow_range = string.printable + result = check_string + for i in range(0, len(check_string)): + # string.isalnum() is check whether string is alphanumeric or not + if check_string[len(check_string)-1-i:len(check_string)-i] in allow_range : + result = check_string[:len(check_string) - i] + break + return result + + +#------------------------------------------------------------------------------- +# For SDO Notebook (divide category) +#------------------------------------------------------------------------------- +class SDONoteBook(wx.Notebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent SDOPanelClass class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id = -1, size=(850,500)) + self.Controler = controler + self.parent = parent + + self.CreateNoteBook() + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def CreateNoteBook(self): + """ + Create each NoteBook page, divided SDO index + According to EtherCAT Communication(03/2011), 158p + """ + self.Data = [] + count = 1 + + page_texts = [("all", self.parent.AllSDOData), + ("0x0000 - 0x0ff", self.parent.DatatypeDescription), + ("0x1000 - 0x1fff", self.parent.CommunicationObject), + ("0x2000 - 0x5fff", self.parent.ManufacturerSpecific), + ("0x6000 - 0x9fff", self.parent.ProfileSpecific), + ("0xa000 - 0xffff", self.parent.Reserved)] + + page_tooltip_string = ["SDO Index 0x0000 - 0x0fff : Data Type Description", + "SDO Index 0x1000 - 0x1fff : Communication object", + "SDO Index 0x2000 - 0x5fff : Manufacturer specific", + "SDO Index 0x6000 - 0x9fff : Profile specific", + "SDO Index 0xa000 - 0xffff : Reserved", + "All SDO Object"] + + self.DeleteAllPages() + + for txt, count in page_texts: + self.Data = self.Controler.CommonMethod.SaveSDOData[count] + self.Win = SlaveSDOTable(self, self.Data) + self.AddPage(self.Win, txt) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + +#------------------------------------------------------------------------------- +# For SDO Grid (fill index, subindex, etc...) +#------------------------------------------------------------------------------- +class SlaveSDOTable(wx.grid.Grid): + def __init__(self, parent, data): + """ + Constructor + @param parent: Reference to the parent SDOPanelClass class + @param data: SDO data after parsing "SDOParser" method + """ + wx.grid.Grid.__init__(self, parent, -1, size=(830,490), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + self.Controler = parent.Controler + self.parent = parent + self.SDOFlag = True + if data is None : + self.SDOs = [] + else : + self.SDOs = data + + self.CreateGrid(len(self.SDOs), 8) + SDOCellSize = [(0, 65), (1, 65), (2, 50), (3, 55), + (4, 40), (5, 200), (6, 250), (7, 85)] + + for (index, size) in SDOCellSize: + self.SetColSize(index, size) + + self.SetRowLabelSize(0) + + SDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Access"), + (3, "Type"), (4, "Size"), (5, "Category"), + (6, "Name"), (7, "Value")] + + for (index, label) in SDOTableLabel: + self.SetColLabelValue(index, label) + self.SetColLabelAlignment(index, wx.ALIGN_CENTRE) + + attr = wx.grid.GridCellAttr() + + # for SDO download + self.Bind(gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.SDOModifyDialog) + + for i in range(7): + self.SetColAttr(i,attr) + + self.SetColLabelAlignment(wx.ALIGN_CENTER, wx.ALIGN_CENTER) + + self.SetTableValue() + + def SetTableValue(self): + """ + Cell is filled by new parsing data + """ + sdo_list = ['idx', 'subIdx', 'access', 'type', 'size', 'category', 'name', 'value'] + for row_idx in range(len(self.SDOs)): + for col_idx in range(len(self.SDOs[row_idx])): + self.SetCellValue(row_idx, col_idx, self.SDOs[row_idx][sdo_list[col_idx]]) + self.SetReadOnly(row_idx, col_idx, True) + if col_idx < 5 : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE) + + def CheckSDODataAccess(self, row): + """ + CheckSDODataAccess method is checking that access data has "w" + Access field consist 6 char, if mean + rw rw rw + (preop) (safeop) (op) + Example Access field : rwrwrw, rwrw-- + @param row : Selected cell by user + @return Write_flag : If data has "w", flag is true + """ + write_flag = False + check = self.SDOs[row]['access'] + if check[1:2] == 'w' : + self.Controler.CommonMethod.Check_PREOP = True + write_flag = True + if check[3:4] == 'w' : + self.Controler.CommonMethod.Check_SAFEOP = True + write_flag = True + if check[5:] =='w' : + self.Controler.CommonMethod.Check_OP = True + write_flag = True + + return write_flag + + def DecideSDODownload(self, state): + """ + compare current state and "access" field, + result notify SDOModifyDialog method + @param state : current slave state + @return True or False + """ + # Example of 'state' parameter : "0 0:0 PREOP + EL9800 (V4.30) (PIC24, SPI, ET1100)" + state = state[self.Controler.GetSlavePos()].split(" ")[2] + if state == "PREOP" and self.Controler.CommonMethod.Check_PREOP : + return True + elif state == "SAFEOP" and self.Controler.CommonMethod.Check_SAFEOP : + return True + elif state == "OP" and self.Controler.CommonMethod.Check_OP : + return True + + return False + + def ClearStateFlag(self): + """ + Initialize StateFlag + StateFlag is notice SDOData access each slave state + """ + self.Controler.CommonMethod.Check_PREOP = False + self.Controler.CommonMethod.Check_SAFEOP = False + self.Controler.CommonMethod.Check_OP = False + + def SDOModifyDialog (self, event): + """ + Create dialog for SDO value modify + if user enter data, perform command "ethercat download" + @param event : gridlib.EVT_GRID_CELL_LEFT_DCLICK object + """ + self.ClearStateFlag() + + # CheckSDODataAccess is checking that OD(Object Dictionary) has "w" + if event.GetCol() == 7 and self.CheckSDODataAccess(event.GetRow()) : + dlg = wx.TextEntryDialog (self, "Enter hex or dec value (if enter dec value, it automatically conversed hex value)", + "SDOModifyDialog", style = wx.OK | wx.CANCEL) + + start_value = self.GetCellValue(event.GetRow(), event.GetCol()) + dlg.SetValue(start_value) + + if dlg.ShowModal() == wx.ID_OK: + try : + int(dlg.GetValue(), 0) + # check "Access" field + if self.DecideSDODownload(self.Controler.CommonMethod.SlaveState[self.Controler.GetSlavePos()]) : + # Request "SDODownload" + self.Controler.CommonMethod.SDODownload(self.SDOs[event.GetRow()]['type'], self.SDOs[event.GetRow()]['idx'], + self.SDOs[event.GetRow()]['subIdx'], dlg.GetValue()) + self.SetCellValue(event.GetRow(), event.GetCol(), hex(int(dlg.GetValue(), 0))) + else : + self.Controler.CommonMethod.CreateErrorDialog('You cannot SDO download this state') + # Error occured process of "int(variable)" + # User input is not hex, dec value + except ValueError: + self.Controler.CommonMethod.CreateErrorDialog('You can input only hex, dec value') + + +#------------------------------------------------------------------------------- +# For PDO Monitoring Panel +# PDO Class UI : Panel -> Choicebook (RxPDO, TxPDO) -> +# Notebook (PDO Index) -> Grid (PDO entry) +#------------------------------------------------------------------------------- +class PDOPanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.Controler = controler + + self.PDOMonitoringEditorMainSizer = wx.BoxSizer(wx.VERTICAL) + self.PDOMonitoringEditorInnerMainSizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10) + + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler) + self.PDOMonitoringEditorInnerMainSizer.Add(self.CallPDOChoicebook, wx.ALL) + + self.PDOMonitoringEditorMainSizer.Add(self.PDOMonitoringEditorInnerMainSizer) + + self.SetSizer(self.PDOMonitoringEditorMainSizer) + + def PDOInfoUpdate(self): + """ + Call RequestPDOInfo method and create Choicebook + """ + self.Controler.CommonMethod.RequestPDOInfo() + self.CallPDOChoicebook.Destroy() + self.CallPDOChoicebook = PDOChoicebook(self, controler=self.Controler) + self.Refresh() + + +#------------------------------------------------------------------------------- +# For PDO Choicebook (divide Tx, Rx PDO) +#------------------------------------------------------------------------------- +class PDOChoicebook(wx.Choicebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent PDOPanelClass class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Choicebook.__init__(self, parent, id=-1, size=(500, 500), style=wx.CHB_DEFAULT) + self.Controler = controler + + RxWin = PDONoteBook(self, controler=self.Controler, name="Rx") + TxWin = PDONoteBook(self, controler=self.Controler, name="Tx") + self.AddPage(RxWin, "RxPDO") + self.AddPage(TxWin, "TxPDO") + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For PDO Notebook (divide PDO index) +#------------------------------------------------------------------------------- +class PDONoteBook(wx.Notebook): + def __init__(self, parent, name, controler): + """ + Constructor + @param parent: Reference to the parent PDOChoicebook class + @param name: identifier whether RxPDO or TxPDO + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id=-1, size=(640, 400)) + self.Controler = controler + + count = 0 + page_texts = [] + + self.Controler.CommonMethod.RequestPDOInfo() + + if name == "Tx" : + # obtain pdo_info and pdo_entry + # pdo_info include (PDO index, name, number of entry) + pdo_info = self.Controler.CommonMethod.GetTxPDOCategory() + pdo_entry = self.Controler.CommonMethod.GetTxPDOInfo() + for tmp in pdo_info : + title = str(hex(tmp['pdo_index'])) + page_texts.append(title) + # RX PDO case + else : + pdo_info = self.Controler.CommonMethod.GetRxPDOCategory() + pdo_entry = self.Controler.CommonMethod.GetRxPDOInfo() + for tmp in pdo_info : + title = str(hex(tmp['pdo_index'])) + page_texts.append(title) + + # Add page depending on the number of pdo_info + for txt in page_texts: + win = PDOEntryTable(self, pdo_info, pdo_entry, count) + self.AddPage(win, txt) + count += 1 + + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_CHOICEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For PDO Grid (fill entry index, subindex etc...) +#------------------------------------------------------------------------------- +class PDOEntryTable(wx.grid.Grid): + def __init__(self, parent, info, entry, count): + """ + Constructor + @param parent: Reference to the parent PDONoteBook class + @param info : data structure including entry index, sub index, name, length, type + @param entry : data structure including index, name, entry number + @param count : page number + """ + wx.grid.Grid.__init__(self, parent, -1, size=(500, 400), pos=wx.Point(0,0), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + self.Controler = parent.Controler + + self.PDOInfo = info + self.PDOEntry = entry + self.Count = count + + self.CreateGrid(self.PDOInfo[self.Count]['number_of_entry'], 5) + self.SetColLabelSize(25) + self.SetRowLabelSize(0) + + PDOTableLabel = [(0, "Index"), (1, "Subindex"), (2, "Length"), + (3, "Type"), (4, "Name")] + + for (index, label) in PDOTableLabel: + self.SetColLabelValue(index, label) + + PDOCellSize = [(0, 45), (1, 65), (2, 55), (3, 40), (4, 300)] + + for (index, size) in PDOCellSize: + self.SetColSize(index, size) + self.SetColLabelAlignment(index, wx.ALIGN_LEFT) + + attr = wx.grid.GridCellAttr() + + for i in range(5): + self.SetColAttr(i, attr) + + self.SetTableValue() + + def SetTableValue(self): + """ + Cell is filled by new parsing data in XML + """ + list_index = 0 + # number of entry + for i in range(self.Count + 1) : + list_index += self.PDOInfo[i]['number_of_entry'] + + start_value = list_index - self.PDOInfo[self.Count]['number_of_entry'] + + pdo_list = ['entry_index', 'subindex', 'bitlen', 'type', 'name'] + for row_idx in range(self.PDOInfo[self.Count]['number_of_entry']): + for col_idx in range(len(self.PDOEntry[row_idx])): + # entry index is converted hex value. + if col_idx == 0 : + self.SetCellValue(row_idx, col_idx, hex(self.PDOEntry[start_value][pdo_list[col_idx]])) + else : + self.SetCellValue(row_idx, col_idx, str(self.PDOEntry[start_value][pdo_list[col_idx]])) + if col_idx != 4 : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_CENTRE, wx.ALIGN_CENTRE) + else : + self.SetCellAlignment(row_idx, col_idx, wx.ALIGN_LEFT, wx.ALIGN_CENTRE) + self.SetReadOnly(row_idx, col_idx, True) + self.SetRowSize(row_idx, 25) + start_value += 1 + + +#------------------------------------------------------------------------------- +# For EEPROM Access Main Panel +# (This class explain EEPROM Access) +#------------------------------------------------------------------------------- +class EEPROMAccessPanel(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + sizer = wx.FlexGridSizer(cols=1, hgap=20,rows=3, vgap=20) + + line = wx.StaticText(self, -1, "\n EEPROM Access is composed to SmartView and HexView. \ + \n\n - SmartView shows Config Data, Device Identity, Mailbox settings, etc. \ + \n\n - HexView shows EEPROM's contents.") + + sizer.Add(line) + + self.SetSizer(sizer) + + +#------------------------------------------------------------------------------- +# For Smart View Panel +#------------------------------------------------------------------------------- +class SlaveSiiSmartView(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.parent = parent + self.Controler = controler + + self.PDIType = {0 :['none', '00000000'], + 4 :['Digital I/O', '00000100'], + 5 :['SPI Slave', '00000101'], + 7 :['EtherCAT Bridge (port3)', '00000111'], + 8 :['uC async. 16bit', '00001000'], + 9 :['uC async. 8bit', '00001001'], + 10 :['uC sync. 16bit', '00001010'], + 11 :['uC sync. 8bit', '00001011'], + 16 :['32 Digtal Input and 0 Digital Output', '00010000'], + 17 :['24 Digtal Input and 8 Digital Output', '00010001'], + 18 :['16 Digtal Input and 16 Digital Output','00010010'], + 19 :['8 Digtal Input and 24 Digital Output', '00010011'], + 20 :['0 Digtal Input and 32 Digital Output', '00010100'], + 128:['On-chip bus', '11111111'] + } + + sizer = wx.FlexGridSizer(cols=1, hgap=5, rows=2, vgap=5) + button_sizer = wx.FlexGridSizer(cols=2, hgap=5, rows=1, vgap=5) + + for button, mapping_method in [("Write EEPROM", self.WriteToEEPROM), + ("Read EEPROM", self.ReadFromEEPROM)]: + btn = wx.Button(self, -1, button, size=(150, 40)) + button_sizer.Add(btn, border=10, flag=wx.ALL) + btn.Bind(wx.EVT_BUTTON, mapping_method) + + self.TreeListCtrl = SmartViewTreeListCtrl(self, self.Controler) + + sizer.Add(button_sizer, border=10, flag=wx.ALL) + sizer.Add(self.TreeListCtrl, border=10, flag=wx.ALL) + self.SetSizer(sizer) + + self.Create_SmartView() + + def Create_SmartView(self): + """ + SmartView shows information based on XML as initial value. + """ + self.Controler.CommonMethod.SmartViewInfosFromXML = self.Controler.CommonMethod.GetSmartViewInfos() + self.SetXMLData() + + def WriteToEEPROM(self, event): + """ + Open binary file (user select) and write the selected binary data to EEPROM + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not, and whether status is "Started" or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status is not "Started": + dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "", _("bin files (*.bin)|*.bin"), wx.OPEN) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + try: + binfile = open(filepath,"rb") + self.SiiBinary = binfile.read() + dialog.Destroy() + + self.Controler.CommonMethod.SiiWrite(self.SiiBinary) + # refresh data structure kept by master + self.Controler.CommonMethod.Rescan() + # save binary data as inner global data of beremiz + # for fast loading when slave plugin node is reopened. + self.Controler.CommonMethod.SiiData = self.SiiBinary + self.SetEEPROMData() + except: + self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!') + dialog.Destroy() + + def ReadFromEEPROM(self, event): + """ + Refresh displayed data based on slave EEPROM and save binary file through dialog + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.SiiBinary = self.Controler.CommonMethod.LoadData() + self.SetEEPROMData() + dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), + "slave0.bin", _("bin files (*.bin)|*.bin|All files|*.*"), + wx.SAVE|wx.OVERWRITE_PROMPT) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + binfile = open(filepath,"wb") + binfile.write(self.SiiBinary) + binfile.close() + + dialog.Destroy() + + def SetXMLData(self): + """ + Set data based on XML initially + """ + # Config Data: EEPROM Size, PDI Type, Device Emulation + # Find PDI Type in pdiType dictionary + cnt_pdi_type = self.Controler.CommonMethod.SmartViewInfosFromXML["pdi_type"] + for i in self.PDIType.keys(): + if cnt_pdi_type == i: + cnt_pdi_type = self.PDIType[i][0] + break + # Set Config Data + for treelist, data in [("EEPROM Size (Bytes)", + str(self.Controler.CommonMethod.SmartViewInfosFromXML["eeprom_size"])), + ("PDI Type", + cnt_pdi_type), + ("Device Emulation", + self.Controler.CommonMethod.SmartViewInfosFromXML["device_emulation"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1) + + # Device Identity: Vendor ID, Product Code, Revision No., Serial No. + # Set Device Identity + for treelist, data in [("Vendor ID", self.Controler.CommonMethod.SmartViewInfosFromXML["vendor_id"]), + ("Product Code", self.Controler.CommonMethod.SmartViewInfosFromXML["product_code"]), + ("Revision No.", self.Controler.CommonMethod.SmartViewInfosFromXML["revision_no"]), + ("Serial No.", self.Controler.CommonMethod.SmartViewInfosFromXML["serial_no"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1) + + # Mailbox: Supported Mailbox, Bootstrap Configuration, Standard Configuration + # Set Mailbox + for treelist, data in [("Supported Mailbox", self.Controler.CommonMethod.SmartViewInfosFromXML["supported_mailbox"]), + ("Bootstrap Configuration", ""), + ("Standard Configuration", "")]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1) + # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outstart"]), + ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_outlength"]), + ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_instart"]), + ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_bootstrapconf_inlength"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1) + # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outstart"]), + ("Receive Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_outlength"]), + ("Send Offset", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_instart"]), + ("Send Size", self.Controler.CommonMethod.SmartViewInfosFromXML["mailbox_standardconf_inlength"])]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1) + + def SetEEPROMData(self): + """ + Set data based on slave EEPROM. + """ + # sii_dict = { Parameter : (WordAddress, WordSize) } + sii_dict= { 'PDIControl' : ( '0', 1), + 'PDIConfiguration' : ( '1', 1), + 'PulseLengthOfSYNCSignals' : ( '2', 1), + 'ExtendedPDIConfiguration' : ( '3', 1), + 'ConfiguredStationAlias' : ( '4', 1), + 'Checksum' : ( '7', 1), + 'VendorID' : ( '8', 2), + 'ProductCode' : ( 'a', 2), + 'RevisionNumber' : ( 'c', 2), + 'SerialNumber' : ( 'e', 2), + 'Execution Delay' : ('10', 1), + 'Port0Delay' : ('11', 1), + 'Port1Delay' : ('12', 1), + 'BootstrapReceiveMailboxOffset' : ('14', 1), + 'BootstrapReceiveMailboxSize' : ('15', 1), + 'BootstrapSendMailboxOffset' : ('16', 1), + 'BootstrapSendMailboxSize' : ('17', 1), + 'StandardReceiveMailboxOffset' : ('18', 1), + 'StandardReceiveMailboxSize' : ('19', 1), + 'StandardSendMailboxOffset' : ('1a', 1), + 'StandardSendMailboxSize' : ('1b', 1), + 'MailboxProtocol' : ('1c', 1), + 'Size' : ('3e', 1), + 'Version' : ('3f', 1), + 'First Category Type/Vendor Specific' : ('40', 1), + 'Following Category Word Size' : ('41', 1), + 'Category Data' : ('42', 1), + } + + # Config Data: EEPROM Size, PDI Type, Device Emulation + # EEPROM's data in address '0x003f' is Size of EEPROM in KBit-1 + eeprom_size = str((int(self.GetWordAddressData( sii_dict.get('Size'),10 ))+1)/8*1024) + # Find PDI Type in pdiType dictionary + cnt_pdi_type = int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ).split('x')[1][2:4], 16) + for i in self.PDIType.keys(): + if cnt_pdi_type == i: + cnt_pdi_type = self.PDIType[i][0] + break + # Get Device Emulation + device_emulation = str(bool(int("{:0>16b}".format(int(self.GetWordAddressData( sii_dict.get('PDIControl'),16 ), 16))[7]))) + # Set Config Data + for treelist, data in [("EEPROM Size (Bytes)", eeprom_size), + ("PDI Type", cnt_pdi_type), + ("Device Emulation", device_emulation)]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.ConfigData[treelist], data, 1) + + # Device Identity: Vendor ID, Product Code, Revision No., Serial No. + # Set Device Identity + for treelist, data in [("Vendor ID", self.GetWordAddressData( sii_dict.get('VendorID'),16 )), + ("Product Code", self.GetWordAddressData( sii_dict.get('ProductCode'),16 )), + ("Revision No.", self.GetWordAddressData( sii_dict.get('RevisionNumber'),16 )), + ("Serial No.", self.GetWordAddressData( sii_dict.get('SerialNumber'),16 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.DeviceIdentity[treelist], data, 1) + + # Mailbox + # EEORPOM's word address '1c' indicates supported mailbox protocol. + # each value of mailbox protocol : + # VoE(0x0020), SoE(0x0010), FoE(0x0008), CoE(0x0004), EoE(0x0002), AoE(0x0001) + supported_mailbox = "" + mailbox_protocol=["VoE, ", "SoE, ", "FoE, ", "CoE, ", "EoE, ", "AoE, "] + mailbox_data = "{:0>8b}".format(int(self.GetWordAddressData( sii_dict.get('MailboxProtocol'),16 ), 16)) + for protocol in range(6): + if mailbox_data[protocol+2] == '1': + supported_mailbox += mailbox_protocol[protocol] + supported_mailbox = supported_mailbox.strip(", ") + # Set Mailbox + for treelist, data in [("Supported Mailbox", supported_mailbox), + ("Bootstrap Configuration", ""), + ("Standard Configuration", "")]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.Mailbox[treelist], data, 1) + # Set Bootstrap Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxOffset'),10 )), + ("Receive Size", self.GetWordAddressData( sii_dict.get('BootstrapReceiveMailboxSize'),10 )), + ("Send Offset", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxOffset'),10 )), + ("Send Size", self.GetWordAddressData( sii_dict.get('BootstrapSendMailboxSize'),10 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.BootstrapConfig[treelist], data, 1) + # Set Standard Configuration: Receive Offset, Receive Size, Send Offset, Send Size + for treelist, data in [("Receive Offset", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxOffset'),10 )), + ("Receive Size", self.GetWordAddressData( sii_dict.get('StandardReceiveMailboxSize'),10 )), + ("Send Offset", self.GetWordAddressData( sii_dict.get('StandardSendMailboxOffset'),10 )), + ("Send Size", self.GetWordAddressData( sii_dict.get('StandardSendMailboxSize'),10 ))]: + self.TreeListCtrl.Tree.SetItemText(self.TreeListCtrl.StandardConfig[treelist], data, 1) + + def MakeStaticBoxSizer(self, boxlabel): + """ + Make StaticBoxSizer + @param boxlabel : label of box sizer + @return sizer : the StaticBoxSizer labeled 'boxlabel' + """ + box = wx.StaticBox(self, -1, boxlabel) + sizer = wx.StaticBoxSizer(box, wx.VERTICAL) + + return sizer + + def GetWordAddressData(self, dict_tuple, format): + """ + This method converts word address data from EEPROM binary. + @param dict_tuple : element of 'sii_dict' dictionary in SetEEPROMData() + @param format : format of data. It can be 16(hex), 10(decimal) and 2(binary). + @return formatted value + """ + offset = int(str(dict_tuple[0]), 16) * 2 + length = int(str(dict_tuple[1]), 16) * 2 + list = [] + data = '' + for index in range(length): + hexdata = hex(ord(self.SiiBinary[offset + index]))[2:] + list.append(hexdata.zfill(2)) + + list.reverse() + data = list[0:length] + + if format == 16: + return '0x' + ''.join(data) + elif format == 10: + return str(int(str(''.join(data)), 16)) + elif format == 2: + ''.join(data) + + +#------------------------------------------------------------------------------- +# For Smart View TreeListCtrl +#------------------------------------------------------------------------------- +class SmartViewTreeListCtrl(wx.Panel): + def __init__(self, parent, Controler): + """ + Constructor + @param parent: Reference to the parent SlaveSiiSmartView class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + + wx.Panel.__init__(self, parent, -1, size=(350, 500)) + + self.Tree = wx.gizmos.TreeListCtrl(self, -1, size=(350, 500), + style=wx.TR_DEFAULT_STYLE + |wx.TR_FULL_ROW_HIGHLIGHT + |wx.TR_HIDE_ROOT + |wx.TR_COLUMN_LINES + |wx.TR_ROW_LINES) + + self.Tree.AddColumn("Description", width=200) + self.Tree.AddColumn("Value", width=140) + self.Tree.SetMainColumn(0) + + self.Root = self.Tree.AddRoot("") + + # Add item + # Level 1 nodes + self.Level1Nodes = {} + for lv1 in ["Config Data", "Device Identity", "Mailbox"]: + self.Level1Nodes[lv1] = self.Tree.AppendItem(self.Root, lv1) + + # Level 2 nodes + # Config Data + self.ConfigData = {} + for lv2 in ["EEPROM Size (Bytes)", "PDI Type", "Device Emulation"]: + self.ConfigData[lv2] = self.Tree.AppendItem(self.Level1Nodes["Config Data"], lv2) + # Device Identity + self.DeviceIdentity = {} + for lv2 in ["Vendor ID", "Product Code", "Revision No.", "Serial No."]: + self.DeviceIdentity[lv2] = self.Tree.AppendItem(self.Level1Nodes["Device Identity"], lv2) + # Mailbox + self.Mailbox = {} + for lv2 in ["Supported Mailbox", "Bootstrap Configuration", "Standard Configuration"]: + self.Mailbox[lv2] = self.Tree.AppendItem(self.Level1Nodes["Mailbox"], lv2) + + # Level 3 nodes + # Children of Bootstrap Configuration + self.BootstrapConfig = {} + for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]: + self.BootstrapConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Bootstrap Configuration"], lv3) + # Children of Standard Configuration + self.StandardConfig = {} + for lv3 in ["Receive Offset", "Receive Size", "Send Offset", "Send Size"]: + self.StandardConfig[lv3] = self.Tree.AppendItem(self.Mailbox["Standard Configuration"], lv3) + + # Expand Tree + for tree in [self.Root, + self.Level1Nodes["Config Data"], + self.Level1Nodes["Device Identity"], + self.Level1Nodes["Mailbox"], + self.Mailbox["Bootstrap Configuration"], + self.Mailbox["Standard Configuration"]]: + self.Tree.Expand(tree) + + +#------------------------------------------------------------------------------- +# For Hex View Panel +# shows EEPROM binary as hex data and characters. +#------------------------------------------------------------------------------- +class HexView(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: Reference to the parent EtherCATManagementTreebook class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1) + self.parent = parent + self.Controler = controler + + self.HexRow = 8 + self.HexCol = 17 + + self.HexViewSizer = {"view" : wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=10), + "siiButton" : wx.BoxSizer()} + self.HexViewButton = {} + + for key, evt_handler in [("Sii Upload", self.OnButtonSiiUpload), + ("Sii Download", self.OnButtonSiiDownload), + ("Write to File", self.OnButtonWriteToBinFile), + ("Read from File", self.OnButtonReadFromBinFile), + ("XML to EEPROM Image", self.OnButtonXmlToEEPROMImg)]: + self.HexViewButton[key] = wx.Button(self, -1, key) + self.HexViewButton[key].Bind(wx.EVT_BUTTON, evt_handler) + self.HexViewSizer["siiButton"].Add(self.HexViewButton[key]) + + self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.SiiGrid = SiiGridTable(self, self.Controler, self.HexRow, self.HexCol) + self.HexViewSizer["view"].AddMany([self.HexViewSizer["siiButton"], self.SiiGrid]) + self.SiiGrid.CreateGrid(self.HexRow, self.HexCol) + self.SetSizer(self.HexViewSizer["view"]) + self.HexViewSizer["view"].FitInside(self.parent.parent) + self.parent.parent.FitInside() + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + def UpdateSiiGridTable(self, row, col): + """ + Destroy existing grid and recreate + @param row, col : Hex View grid size + """ + self.HexViewSizer["view"].Detach(self.SiiGrid) + self.SiiGrid.Destroy() + self.SiiGrid = SiiGridTable(self, self.Controler, row, col) + self.HexViewSizer["view"].Add(self.SiiGrid) + self.SiiGrid.CreateGrid(row, col) + self.SetSizer(self.HexViewSizer["view"]) + self.HexViewSizer["view"].FitInside(self.parent.parent) + self.parent.parent.FitInside() + + def OnButtonSiiUpload(self, event): + """ + Load EEPROM data from slave and refresh Hex View grid + Binded to 'Sii Upload' button. + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + # load from EEPROM data and parsing + self.SiiBinary = self.Controler.CommonMethod.LoadData() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + def OnButtonSiiDownload(self, event): + """ + Write current EEPROM data to slave and refresh data structure kept by master + Binded to 'Sii Download' button. + @param event : wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not, + # and whether status is "Started" or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + status, count = self.Controler.GetCTRoot()._connector.GetPLCstatus() + if status is not "Started": + self.Controler.CommonMethod.SiiWrite(self.SiiBinary) + self.Controler.CommonMethod.Rescan() + + def OnButtonWriteToBinFile(self, event): + """ + Save current EEPROM data to binary file through FileDialog + Binded to 'Write to File' button. + @param event : wx.EVT_BUTTON object + """ + dialog = wx.FileDialog(self, _("Save as..."), os.getcwd(), "slave0.bin", + _("bin files (*.bin)|*.bin|All files|*.*"), wx.SAVE|wx.OVERWRITE_PROMPT) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + binfile = open(filepath,"wb") + binfile.write(self.SiiBinary) + binfile.close() + + dialog.Destroy() + + def OnButtonReadFromBinFile(self, event): + """ + Load binary file through FileDialog + Binded to 'Read from File' button. + @param event : wx.EVT_BUTTON object + """ + dialog = wx.FileDialog(self, _("Choose a binary file"), os.getcwd(), "", + _("bin files (*.bin)|*.bin"), wx.OPEN) + + if dialog.ShowModal() == wx.ID_OK: + filepath = dialog.GetPath() + + try: + binfile = open(filepath, "rb") + self.SiiBinary = binfile.read() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + except: + self.Controler.CommonMethod.CreateErrorDialog('The file does not exist!') + + dialog.Destroy() + + def OnButtonXmlToEEPROMImg(self, event): + """ + Create EEPROM data based XML data that current imported + Binded to 'XML to EEPROM' button. + @param event : wx.EVT_BUTTON object + """ + self.SiiBinary = self.Controler.CommonMethod.XmlToEeprom() + self.HexCode, self.HexRow, self.HexCol = self.Controler.CommonMethod.HexRead(self.SiiBinary) + self.UpdateSiiGridTable(self.HexRow, self.HexCol) + self.SiiGrid.SetValue(self.HexCode) + self.SiiGrid.Update() + + +#------------------------------------------------------------------------------- +# For Hex View grid (fill hex data) +#------------------------------------------------------------------------------- +class SiiGridTable(wx.grid.Grid): + def __init__(self, parent, controler, row, col): + """ + Constructor + @param parent: Reference to the parent HexView class + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param row, col: Hex View grid size + """ + self.parent = parent + self.Controler = controler + self.Row = row + self.Col = col + + wx.grid.Grid.__init__(self, parent, -1, size=(830,450), + style=wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + def SetValue(self, value): + """ + Set data in the table + @param value: EEPROM data list of which element is 1 Byte hex data + """ + # set label name and size + self.SetRowLabelSize(100) + for col in range(self.Col): + if col == 16: + self.SetColLabelValue(16, "Text View") + self.SetColSize(16, (self.GetSize().x-120)*4/20) + else: + self.SetColLabelValue(col, '%s'%col) + self.SetColSize(col, (self.GetSize().x-120)/20) + + # set data into table + row = col = 0 + for row_idx in value: + col = 0 + self.SetRowLabelValue(row, "0x"+"{:0>4x}".format(row*(self.Col-1))) + for hex in row_idx: + self.SetCellValue(row, col, hex) + + if col == 16: + self.SetCellAlignment(row, col, wx.ALIGN_LEFT, wx.ALIGN_CENTER) + else: + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + +#------------------------------------------------------------------------------- +# For Register Access Panel +#------------------------------------------------------------------------------- +class RegisterAccessPanel(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: EEPROMAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.parent = parent + self.Controler = controler + self.__init_data() + + wx.Panel.__init__(self, parent, -1) + + sizer = wx.FlexGridSizer(cols=1, hgap=20, rows=2, vgap=5) + button_sizer = wx.FlexGridSizer(cols=2, hgap=10, rows=1, vgap=10) + + self.ReloadButton = wx.Button(self, -1, "Reload") + self.CompactViewCheckbox = wx.CheckBox(self, -1, "Compact View") + self.RegisterNotebook = RegisterNotebook(self, self.Controler) + + button_sizer.AddMany([self.ReloadButton, self.CompactViewCheckbox]) + sizer.AddMany([button_sizer, self.RegisterNotebook]) + self.SetSizer(sizer) + + self.ReloadButton.Bind(wx.EVT_BUTTON, self.OnReloadButton) + self.CompactViewCheckbox.Bind(wx.EVT_CHECKBOX, self.ToggleCompactViewCheckbox) + + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.CreateGrid(self.MainRow[index], self.MainCol) + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512) + + # data default setting + if self.Controler.CommonMethod.RegData == "": + self.CompactViewCheckbox.Disable() + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, 0, index*512, (index+1)*512) + else: # If data was saved, + self.BasicSetData() + self.ParseData() + for index in range(4): + self.RegisterNotebook.RegPage[index].MainTable.SetValue(self, self.RegMonitorData, index*512, (index+1)*512) + + def __init_data(self): + """ + Declare initial data. + """ + # flag for compact view + self.CompactFlag = False + + # main grid의 rows and cols + self.MainRow = [512, 512, 512, 512] + self.MainCol = 4 + + # main grids' data range + self.PageRange = [] + for index in range(4): + self.PageRange.append([512*index, 512*(index+1)]) + + # Previous value of register data for register description configuration + self.PreRegSpec = {"ESCType": "", + "FMMUNumber": "", + "SMNumber": "", + "PDIType": ""} + + def LoadData(self): + """ + Get data from the register. + """ + self.Controler.CommonMethod.RegData = "" + #ethercat reg_read + #ex : ethercat reg_read -p 0 0x0000 0x0001 + #return value : 0x11 + for index in range(4): + self.Controler.CommonMethod.RegData = self.Controler.CommonMethod.RegData + " " + self.Controler.CommonMethod.RegRead("0x"+"{:0>4x}".format(index*1024), "0x0400") + + # store previous value + # (ESC type, port number of FMMU, port number of SM, and PDI type)) + for reg_spec in ["ESCType","FMMUNumber","SMNumber", "PDIType"]: + self.PreRegSpec[reg_spec] = self.Controler.CommonMethod.CrtRegSpec[reg_spec] + + # update registers' description + # (ESC type, port number of FMMU, port number of SM, and PDI type) + for reg_spec, address in [("ESCType", "0x0000"), + ("FMMUNumber", "0x0004"), + ("SMNumber", "0x0005"), + ("PDIType", "0x0140")]: + self.Controler.CommonMethod.CrtRegSpec[reg_spec] = self.Controler.CommonMethod.RegRead(address, "0x0001") + + # Enable compactView checkbox + self.CompactViewCheckbox.Enable() + + def BasicSetData(self): + """ + Get and save the description of registers. + It's done by parsing register_information.xml. + """ + # parse the above register's value + # If the value is 0x12, the result is 12 + self.ESCType = self.Controler.CommonMethod.CrtRegSpec["ESCType"].split('x')[1] + self.PDIType = self.Controler.CommonMethod.CrtRegSpec["PDIType"].split('x')[1] + # If the value is 0x12, the result is 18 (It's converted to decimal value) + self.FMMUNumber = int(self.Controler.CommonMethod.CrtRegSpec["FMMUNumber"], 16) + self.SMNumber = int(self.Controler.CommonMethod.CrtRegSpec["SMNumber"], 16) + + # initialize description dictionary of register main table and register sub table. + self.RegisterDescriptionDict = {} + self.RegisterSubGridDict = {} + + # ./EthercatMaster/register_information.xml contains register description. + if wx.Platform == '__WXMSW__': + reg_info_file = open("../../EthercatMaster/register_information.xml", 'r') + else: + reg_info_file = open("./EthercatMaster/register_information.xml", 'r') + reg_info_tree = minidom.parse(reg_info_file) + reg_info_file.close() + + # parse register description + for register_info in reg_info_tree.childNodes: + for register in register_info.childNodes: + if register.nodeType == reg_info_tree.ELEMENT_NODE and register.nodeName == "Register": + # If it depends on the property(ESC type, PDI type, FMMU number, SM number) + for property, type, value in [("esc", "type", self.ESCType), + ("pdi", "type", self.PDIType), + ("fmmu", "number", self.FMMUNumber), + ("sm", "number", self.SMNumber)]: + if property in register.attributes.keys(): + if type == "type": + if register.attributes[property].value == value: + self.GetRegisterInfo(reg_info_tree, register) + break + else: # type == "number" + if register.attributes[property].value < value: + self.GetRegisterInfo(reg_info_tree, register) + break + else: + self.GetRegisterInfo(reg_info_tree, register) + break + + def GetRegisterInfo(self, reg_info_tree, register): + """ + Save the register's description into the dictionary. + reg_info_tree is based on the register_information.xml. + @param reg_info_tree: XML tree + @param register: register which you want to get the description + """ + # temporary variables for register main table idescription dictionary + reg_index = "" + reg_main_description = "" + + for data in register.childNodes: + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Index": + for index in data.childNodes: + reg_index = index.nodeValue + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Description": + for description in data.childNodes: + reg_main_description = description.nodeValue + + # Add description for register main table + if reg_index is not "" and reg_main_description is not "": + self.RegisterDescriptionDict[reg_index] = reg_main_description + + if data.nodeType == reg_info_tree.ELEMENT_NODE and data.nodeName == "Details": + # declare register sub table description dictionary about this index + self.RegisterSubGridDict[reg_index] = [] + + for detail in data.childNodes: + if detail.nodeType == reg_info_tree.ELEMENT_NODE and detail.nodeName == "Detail": + # If it depends on the property(ESC type, PDI type, FMMU number, SM number) + for property, type, value in [("esc", "type", self.ESCType), + ("pdi", "type", self.PDIType), + ("fmmu", "number", self.FMMUNumber), + ("sm", "number", self.SMNumber)]: + if property in detail.attributes.keys(): + if type == "type": + if detail.attributes[property].value == value: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + else: # type == "number" + if detail.attributes[property].value < value: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + else: + self.GetRegisterDetailInfo(reg_info_tree, reg_index, detail) + break + + def GetRegisterDetailInfo(self, reg_info_tree, reg_index, detail): + """ + Get the resgister's detailed description(for sub table) from the reg_info_tree. + @param reg_info_tree: XML tree (register_information.xml) + @param reg_index: index of the register + @param detail: description of the register + """ + # temporary variables for register sub table description dictionary + # - It is initialized in every sub description + reg_bit_range = "" + reg_sub_description = "" + reg_enum_dictionary = {} + + for detail_data in detail.childNodes: + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Range": + for range in detail_data.childNodes: + reg_bit_range = range.nodeValue + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Description": + for description in detail_data.childNodes: + reg_sub_description = description.nodeValue + + if detail_data.nodeType == reg_info_tree.ELEMENT_NODE and detail_data.nodeName == "Enum": + for enum in detail_data.childNodes: + if enum.nodeType == reg_info_tree.ELEMENT_NODE and enum.nodeName == "item": + + # temporary variables for a description of each value + # For example, if the bit is 1, it is 'enabled'('On', 'True', etc.), + # otherwise 'disabled'('Off', 'False', etc.). + reg_sub_value = "" + reg_sub_value_description = "" + + for item in enum.childNodes: + if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "value": + for value in item.childNodes: + reg_sub_value = value.nodeValue + if item.nodeType == reg_info_tree.ELEMENT_NODE and item.nodeName == "Description": + for description in item.childNodes: + reg_sub_value_description = description.nodeValue + + # Add a description of each value to register enum dictionary + if reg_sub_value is not "" and reg_sub_value_description is not "": + reg_enum_dictionary[reg_sub_value] = reg_sub_value_description + + # add a description to register sub table description dictionary + if reg_bit_range is not "" and reg_sub_description is not "": + self.RegisterSubGridDict[reg_index].append([reg_bit_range, + reg_sub_description, reg_enum_dictionary]) + + def ParseData(self): + """ + Transform the data into dec, hex, string, and description + """ + row_data = [] + self.RegMonitorData = [] + reg_word = "" + + reg_data = self.Controler.CommonMethod.RegData.split() + + # loop for register(0x0000:0x0fff) + for address in range(0x1000): + # arrange 2 Bytes of register data + reg_word = reg_data[address].split('x')[1] + reg_word + if (address%2) == 1: + # append address + hex_address = "{:0>4x}".format(address-1) + row_data.append(hex_address) + + # append description + if self.RegisterDescriptionDict.has_key(hex_address): + row_data.append(self.RegisterDescriptionDict[hex_address]) + else: + row_data.append("") + + # append Decimal value + row_data.append(str(int(reg_word, 16))) + + # append Hex value + row_data.append('0x'+reg_word) + + # append ASCII value + char_data = "" + for iter in range(2): + if int(reg_word[iter*2:iter*2+2], 16)>=32 and int(reg_word[iter*2:iter*2+2], 16)<=126: + char_data = char_data + chr(int(reg_word[iter*2:iter*2+2], 16)) + else: + char_data = char_data + "." + row_data.append(char_data) + + self.RegMonitorData.append(row_data) + reg_word = "" # initialize regWord + row_data = [] + + def OnReloadButton(self, event): + """ + Handle the click event of the 'Reload' button. + Get the data from registers again, and update the table. + @param event: wx.EVT_BUTTON object + """ + # Check whether beremiz connected or not. + check_connect_flag = self.Controler.CommonMethod.CheckConnect(False) + if check_connect_flag: + self.LoadData() + self.BasicSetData() + self.ParseData() + # set data into UI + if self.CompactFlag: + self.ToggleCompactViewCheckbox(True) + else : + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + self.RegMonitorData) + + def ToggleCompactViewCheckbox(self, event): + """ + Handles the event of the 'Compact view' check box. + If it's checked, show only the registers that have a description. + If not, show all the registers. + @param event: wx.EVT_CHECKBOX object + """ + + # If "Compact View" Checkbox is True + ## 'event' is argument of this method or event of checkbox. + if event==True or event.GetEventObject().GetValue(): + self.CompactFlag = True + + reg_compact_data = [] + page_row = [0, 0, 0, 0] + for index in range(4): + self.PageRange[index] = [0, 0] + + for reg_row_data in self.RegMonitorData: + if reg_row_data[1] is not "": + # data structure for "compact view" + reg_compact_data.append(reg_row_data) + # count for each register notebooks' row + # It compare with register's address. + for index in range(4): + if int('0x'+reg_row_data[0], 16) < (index+1)*1024: + page_row[index] += 1 + break + + # Setting tables' rows and cols, range for compact view + for index in range(4): + self.MainRow[index] = page_row[index] + self.PageRange[index][1] = page_row[index] + for iter in range(index): + self.PageRange[index][0] += page_row[iter] + self.PageRange[index][1] += page_row[iter] + + # Update table + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + reg_compact_data) + + # Compact View Checkbox is False + else: + self.CompactFlag = False + # Setting original rows, cols and range + self.MainRow = [512, 512, 512, 512] + self.PageRange = [] + + for index in range(4): + self.PageRange.append([512*index, 512*(index+1)]) + + # Update table + for index in range(4): + self.RegisterNotebook.RegPage[index].UpdateMainTable(self.MainRow[index], self.MainCol, + self.PageRange[index][0], self.PageRange[index][1], + self.RegMonitorData) + + +#------------------------------------------------------------------------------- +# For Register Access Notebook (divide index range) +#------------------------------------------------------------------------------- +class RegisterNotebook(wx.Notebook): + def __init__(self, parent, controler): + """ + Constructor + @param parent: RegisterAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Notebook.__init__(self, parent, id = -1) + + self.parent = parent + self.Controler = controler + + # Initialize pages + self.RegPage = [] + for iter in range(4): + self.RegPage.append(None) + + for index in range(4): + self.RegPage[index] = RegisterNotebookPanel(self, self.Controler, + parent.MainRow[index], parent.MainCol) + self.AddPage(self.RegPage[index], + "0x"+"{:0>4x}".format(index*1024)+" - 0x"+"{:0>4x}".format((index+1)*1024-1)) + + self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGED, self.OnPageChanged) + self.Bind(wx.EVT_NOTEBOOK_PAGE_CHANGING, self.OnPageChanging) + + def OnPageChanged(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + def OnPageChanging(self, event): + old = event.GetOldSelection() + new = event.GetSelection() + sel = self.GetSelection() + event.Skip() + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel +# (Main UI : including main, sub table) +#------------------------------------------------------------------------------- +class RegisterNotebookPanel(wx.Panel): + def __init__(self, parent, controler, row, col): + """ + Constructor + @param parent: RegisterAccessPanel object + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + @param row, col: size of the table + """ + wx.Panel.__init__(self, parent, -1) + + self.parent = parent + self.Controler = controler + self.Row = row + self.Col = col + sub_row = 0 + sub_col = 4 + + self.Sizer = wx.FlexGridSizer(cols=1, hgap=10, rows=2, vgap=30) + + self.MainTable = RegisterMainTable(self, self.Row, self.Col, self.Controler) + self.SubTable = RegisterSubTable(self, sub_row, sub_col) + + self.SubTable.CreateGrid(sub_row, sub_col) + self.SubTable.SetValue(self, []) + + self.Sizer.AddMany([self.MainTable, self.SubTable]) + + self.SetSizer(self.Sizer) + + def UpdateMainTable(self, row, col, low_index, high_index, data): + """ + Updates main table. + It's done by deleting the main table and creating it again. + @param row, col: size of the table + @param low_index: the lowest index of the page + @param high_index: the highest index of the page + @param data: data + """ + self.MainTable.Destroy() + self.MainTable = RegisterMainTable(self, row, col, self.Controler) + self.Sizer.Detach(self.SubTable) + self.Sizer.AddMany([self.MainTable, self.SubTable]) + self.SetSizer(self.Sizer) + self.MainTable.CreateGrid(row, col) + self.MainTable.SetValue(self, data, low_index, high_index) + self.MainTable.Update() + + def UpdateSubTable(self, row, col, data): + """ + Updates sub table. + It's done by deleting the sub table and creating it again. + @param row, col: size of the table + @param data: data + """ + self.SubTable.Destroy() + self.SubTable = RegisterSubTable(self, row, col) + self.Sizer.Detach(self.MainTable) + self.Sizer.AddMany([self.MainTable, self.SubTable]) + self.Sizer.Layout() + self.SetSizer(self.Sizer) + self.SubTable.CreateGrid(row, col) + self.SubTable.SetValue(self, data) + self.SubTable.Update() + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel (Main Table) +#------------------------------------------------------------------------------- +class RegisterMainTable(wx.grid.Grid): + def __init__(self, parent, row, col, controler): + """ + Constructor + @param parent: RegisterNotebook object + @param row, col: size of the table + @param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + self.parent = parent + self.Data = {} + self.Row = row + self.Col = col + self.Controler = controler + self.RegisterAccessPanel = self.parent.parent.parent + + wx.grid.Grid.__init__(self, parent, -1, size=(820,300), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + for evt, mapping_method in [(gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell), + (gridlib.EVT_GRID_CELL_LEFT_CLICK, self.OnSelectCell), + (gridlib.EVT_GRID_CELL_LEFT_DCLICK, self.OnRegModifyDialog)]: + self.Bind(evt, mapping_method) + + def SetValue(self, parent, reg_monitor_data, low_index, high_index): + """ + Set the RegMonitorData into the main table. + @param parent: RegisterNotebook object + @param reg_monitor_data: data + @param low_index: the lowest index of the page + @param high_index: the highest index of the page + """ + self.RegMonitorData = reg_monitor_data + + # set label name and size + register_maintable_label = [(0, "Description"), (1, "Dec"), + (2, "Hex"), (3, "Char")] + + for (index, label) in register_maintable_label: + self.SetColLabelValue(index, label) + + self.SetColSize(0, 200) + + # if reg_monitor_data is 0, it is initialization of register access. + if reg_monitor_data == 0: + return 0 + + # set data into UI + row = col = 0 + for row_index in reg_monitor_data[low_index:high_index]: + col = 0 + self.SetRowLabelValue(row, row_index[0]) + for data_index in range(4): + self.SetCellValue(row, col, row_index[data_index+1]) + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + def OnSelectCell(self, event): + """ + Handles the event of the cell of the main table. + @param event: gridlib object (left click) + """ + # if reg_monitor_data is 0, it is initialization of register access. + if self.RegMonitorData == 0: + event.Skip() + return 0 + + sub_row = 0 + sub_col = 4 + + address = self.GetRowLabelValue(event.GetRow()) + + reg_sub_grid_data = [] + + BIT_RANGE, NAME, DESCRIPTIONS = range(3) + + # Check if this register's detail description is exist or not, + # and create data structure for the detail description table ; sub grid + if address in self.RegisterAccessPanel.RegisterSubGridDict: + for element in self.RegisterAccessPanel.RegisterSubGridDict[address]: + row_data =[] + row_data.append(element[BIT_RANGE]) + row_data.append(element[NAME]) + bin_data = "{:0>16b}".format(int(self.GetCellValue(event.GetRow(), 1))) + value_range = element[BIT_RANGE].split('-') + value = (bin_data[8:16][::-1]+bin_data[0:8][::-1])[int(value_range[0]):(int(value_range[-1])+1)][::-1] + row_data.append(str(int(('0b'+str(value)), 2))) + if value in element[DESCRIPTIONS]: + row_data.append(element[DESCRIPTIONS][value]) + else: + row_data.append('') + reg_sub_grid_data.append(row_data) + sub_row = sub_row + 1 + + self.parent.UpdateSubTable(sub_row, sub_col, reg_sub_grid_data) + # event.Skip() updates UI of selecting cell + event.Skip() + + def OnRegModifyDialog(self, event): + """ + Handle the event of the cell of the main table. + Display the window where the user modifies the value of the cell. + @param event: gridlib object (double click) + """ + # user can enter a value in case that user double-clicked 'Dec' or 'Hex' value. + if event.GetCol() == 1 or event.GetCol() == 2: + dlg = wx.TextEntryDialog(self, "Enter hex(0xnnnn) or dec(n) value", + "Register Modify Dialog", style = wx.OK|wx.CANCEL) + + # Setting value in initial dialog value + start_value = self.GetCellValue(event.GetRow(), event.GetCol()) + dlg.SetValue(start_value) + + if dlg.ShowModal() == wx.ID_OK: + try: + # It int(input) success, this input is dev or hex value. + # Otherwise, it's error, so it goes except. + int(dlg.GetValue(), 0) + + # reg_write + # ex) ethercat reg_write -p 0 -t uint16 0x0000 0x0000 + return_val = self.Controler.CommonMethod.RegWrite('0x'+self.GetRowLabelValue(event.GetRow()), dlg.GetValue()) + + if len(return_val)==0: + # set dec + self.SetCellValue(event.GetRow(), 1, str(int(dlg.GetValue(), 0))) + # set hex + hex_data = '0x'+"{:0>4x}".format(int(dlg.GetValue(), 0)) + self.SetCellValue(event.GetRow(), 2, hex_data) + # set char + char_data = "" + # If hex_data is been able to convert to ascii code, append ascii code. + for iter in range(2): + if int(hex_data[(iter+1)*2:(iter+2)*2], 16)>=32 and int(hex_data[(iter+1)*2:(iter+2)*2], 16)<=126: + char_data = char_data + chr(int(hex_data[(iter+1)*2:(iter+2)*2], 16)) + else: + char_data = char_data + "." + + self.SetCellValue(event.GetRow(), 3, char_data) + + else: + self.Controler.CommonMethod.CreateErrorDialog('You can\'t modify it. This register is read-only or it\'s not connected.') + + except ValueError: + self.Controler.CommonMethod.CreateErrorDialog('You entered wrong value. You can enter dec or hex value only.') + + +#------------------------------------------------------------------------------- +# For Register Access Notebook Panel (Sub Table) +#------------------------------------------------------------------------------- +class RegisterSubTable(wx.grid.Grid): + def __init__(self, parent, row, col): + """ + Constructor + @param parent: RegisterNotebook object + @param row, col: size of the table + """ + self.parent = parent + self.Data = {} + self.Row = row + self.Col = col + + wx.grid.Grid.__init__(self, parent, -1, size=(820,150), + style=wx.EXPAND|wx.ALIGN_CENTRE_HORIZONTAL|wx.ALIGN_CENTER_VERTICAL) + + def SetValue(self, parent, data): + """ + Set the data into the subtable. + @param parent: RegisterNotebook object + @param data: data + """ + # lset label name and size + Register_SubTable_Label = [(0, "Bits"), (1, "Name"), + (2, "Value"), (3, "Enum")] + + for (index, label) in Register_SubTable_Label: + self.SetColLabelValue(index, label) + + self.SetColSize(1, 200) + self.SetColSize(3, 200) + + # set data into table + row = col = 0 + for rowData in data: + col = 0 + for element in rowData: + self.SetCellValue(row, col, element) + self.SetCellAlignment(row, col, wx.ALIGN_CENTRE, wx.ALIGN_CENTER) + self.SetReadOnly(row, col, True) + col = col + 1 + row = row + 1 + + +#------------------------------------------------------------------------------- +# For Master State Panel +#------------------------------------------------------------------------------- +class MasterStatePanelClass(wx.Panel): + def __init__(self, parent, controler): + """ + Constructor + @param parent: wx.ScrollWindow object + @Param controler: _EthercatSlaveCTN class in EthercatSlave.py + """ + wx.Panel.__init__(self, parent, -1, (0, 0), + size=wx.DefaultSize, style = wx.SUNKEN_BORDER) + self.Controler = controler + self.parent = parent + self.StaticBox = {} + self.StaticText = {} + self.TextCtrl = {} + + # ----------------------- Main Sizer and Update Button -------------------------------------------- + self.MasterStateSizer = {"main" : wx.BoxSizer(wx.VERTICAL)} + for key, attr in [ + ("innerMain", [1, 10, 2, 10]), + ("innerTopHalf", [2, 10, 1, 10]), + ("innerBottomHalf", [2, 10, 1, 10]), + ("innerMasterState", [2, 10, 3, 10]), + ("innerDeviceInfo", [4, 10, 3, 10]), + ("innerFrameInfo", [4, 10, 5, 10])]: + self.MasterStateSizer[key] = wx.FlexGridSizer(cols=attr[0], hgap=attr[1], rows=attr[2], vgap=attr[3]) + + + self.UpdateButton = wx.Button(self, label=_('Update')) + self.UpdateButton.Bind(wx.EVT_BUTTON, self.OnButtonClick) + + for key, label in [ + ('masterState', 'EtherCAT Master State'), + ('deviceInfo', 'Ethernet Network Card Information'), + ('frameInfo', 'Network Frame Information')]: + self.StaticBox[key] = wx.StaticBox(self, label=_(label)) + self.MasterStateSizer[key] = wx.StaticBoxSizer(self.StaticBox[key]) + + + # ----------------------- Master State ----------------------------------------------------------- + for key, label in [ + ('Phase', 'Phase:'), + ('Active', 'Active:'), + ('Slaves', 'Slave Count:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerMasterState'].AddMany([self.StaticText[key], self.TextCtrl[key]]) + + self.MasterStateSizer['masterState'].AddSizer(self.MasterStateSizer['innerMasterState']) + + # ----------------------- Ethernet Network Card Information --------------------------------------- + for key, label in [ + ('Main', 'MAC Address:'), + ('Link', 'Link State:'), + ('Tx frames', 'Tx Frames:'), + ('Rx frames', 'Rx Frames:'), + ('Lost frames', 'Lost Frames:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.TextCtrl[key] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerDeviceInfo'].AddMany([self.StaticText[key], self.TextCtrl[key]]) + + self.MasterStateSizer['deviceInfo'].AddSizer(self.MasterStateSizer['innerDeviceInfo']) + + # ----------------------- Network Frame Information ----------------------------------------------- + for key, label in [ + ('Tx frame rate [1/s]', 'Tx Frame Rate [1/s]:'), + ('Rx frame rate [1/s]', 'Tx Rate [kByte/s]:'), + ('Loss rate [1/s]', 'Loss Rate [1/s]:'), + ('Frame loss [%]', 'Frame Loss [%]:')]: + self.StaticText[key] = wx.StaticText(self, label=_(label)) + self.MasterStateSizer['innerFrameInfo'].Add(self.StaticText[key]) + self.TextCtrl[key] = {} + for index in ['0', '1', '2']: + self.TextCtrl[key][index] = wx.TextCtrl(self, size=wx.Size(130, 24), style=wx.TE_READONLY) + self.MasterStateSizer['innerFrameInfo'].Add(self.TextCtrl[key][index]) + + self.MasterStateSizer['frameInfo'].AddSizer(self.MasterStateSizer['innerFrameInfo']) + + # --------------------------------- Main Sizer ---------------------------------------------------- + for key, sub, in [ + ('innerTopHalf', [ + 'masterState', 'deviceInfo']), + ('innerBottomHalf', [ + 'frameInfo']), + ('innerMain', [ + 'innerTopHalf', 'innerBottomHalf'])]: + for key2 in sub: + self.MasterStateSizer[key].AddSizer(self.MasterStateSizer[key2]) + + self.MasterStateSizer['main'].AddSizer(self.UpdateButton) + self.MasterStateSizer['main'].AddSizer(self.MasterStateSizer['innerMain']) + + self.SetSizer(self.MasterStateSizer['main']) + + def OnButtonClick(self, event): + """ + Handle the event of the 'Update' button. + Update the data of the master state. + @param event: wx.EVT_BUTTON object + """ + if self.Controler.GetCTRoot()._connector is not None: + self.MasterState = self.Controler.CommonMethod.GetMasterState() + # Update each TextCtrl + if self.MasterState: + for key in self.TextCtrl: + if isinstance(self.TextCtrl[key], dict): + for index in self.TextCtrl[key]: + self.TextCtrl[key][index].SetValue(self.MasterState[key][int(index)]) + else: + self.TextCtrl[key].SetValue(self.MasterState[key][0]) + else : + self.Controler.CommonMethod.CreateErrorDialog('PLC not connected!') diff -r 015dab6a915f -r e6946c298a42 etherlab/EthercatCIA402Slave.py --- a/etherlab/EthercatCIA402Slave.py Mon Jun 03 08:24:08 2013 +0200 +++ b/etherlab/EthercatCIA402Slave.py Wed Apr 02 15:03:32 2014 +0200 @@ -5,9 +5,13 @@ from PLCControler import LOCATION_CONFNODE, LOCATION_MODULE, LOCATION_GROUP, LOCATION_VAR_INPUT, LOCATION_VAR_OUTPUT, LOCATION_VAR_MEMORY from MotionLibrary import Headers, AxisXSD -from EthercatSlave import _EthercatSlaveCTN +from EthercatSlave import _EthercatSlaveCTN, _CommonSlave from ConfigEditor import CIA402NodeEditor +#------------------------------------------ +#from CommonSlave import _CommonSlave +#------------------------------------------ + NODE_VARIABLES = [ ("ControlWord", 0x6040, 0x00, "UINT", "Q"), ("TargetPosition", 0x607a, 0x00, "DINT", "Q"), @@ -102,7 +106,15 @@ "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"), "method" : "_getCIA402AxisRef", "push": True}, - ] + ] + +#-------------------------------------------------- +# class code +#-------------------------------------------------- + + def __init__(self): + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) def GetIconName(self): return "CIA402Slave" @@ -268,3 +280,4 @@ cia402nodefile.close() return [(Gen_CIA402Nodefile_path, '"-I%s"'%os.path.abspath(self.GetCTRoot().GetIECLibPath()))],"",True + \ No newline at end of file diff -r 015dab6a915f -r e6946c298a42 etherlab/EthercatMaster.py --- a/etherlab/EthercatMaster.py Mon Jun 03 08:24:08 2013 +0200 +++ b/etherlab/EthercatMaster.py Wed Apr 02 15:03:32 2014 +0200 @@ -11,7 +11,7 @@ from dialogs import BrowseValuesLibraryDialog from IDEFrame import TITLE, FILEMENU, PROJECTTREE -from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION +from EthercatSlave import _EthercatSlaveCTN, ExtractHexDecValue, GenerateHexDecValue, TYPECONVERSION, VARCLASSCONVERSION, _CommonSlave from EthercatCFileGenerator import _EthercatCFileGenerator from ConfigEditor import MasterEditor from POULibrary import POULibrary @@ -73,6 +73,7 @@ ethelabfile.write(etherlab_ext_code) ethelabfile.close() + runtimefile_path = os.path.join(os.path.split(__file__)[0], "runtime_etherlab.py") return ((["etherlab_ext"], [(Gen_etherlabfile_path, IECCFLAGS)], True), "", ("runtime_etherlab.py", file(GetLocalPath("runtime_etherlab.py")))) @@ -208,7 +209,7 @@ ProcessVariablesClasses = GenerateClassesFromXSDstring(ProcessVariablesXSD) class _EthercatCTN: - + CTNChildrenTypes = [("EthercatSlave", _EthercatSlaveCTN, "Ethercat Slave")] if HAS_MCL: CTNChildrenTypes.append(("EthercatCIA402Slave", _EthercatCIA402SlaveCTN, "Ethercat CIA402 Slave")) @@ -246,6 +247,9 @@ else: self.CreateBuffer(False) self.OnCTNSave() + + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) def GetIconName(self): return "Ethercat" @@ -539,6 +543,7 @@ device, module_extra_params = self.GetModuleInfos(type_infos) if device is not None: entries = device.GetEntriesList(limits) + #print entries entries_list = entries.items() entries_list.sort() entries = [] diff -r 015dab6a915f -r e6946c298a42 etherlab/EthercatSlave.py --- a/etherlab/EthercatSlave.py Mon Jun 03 08:24:08 2013 +0200 +++ b/etherlab/EthercatSlave.py Wed Apr 02 15:03:32 2014 +0200 @@ -5,6 +5,11 @@ from ConfigEditor import NodeEditor +#------------------------------------------ +from CommonEtherCATFunction import _CommonSlave +#------------------------------------------ + + TYPECONVERSION = {"BOOL" : "X", "SINT" : "B", "INT" : "W", "DINT" : "D", "LINT" : "L", "USINT" : "B", "UINT" : "W", "UDINT" : "D", "ULINT" : "L", "BYTE" : "B", "WORD" : "W", "DWORD" : "D", "LWORD" : "L"} @@ -42,15 +47,19 @@ return name.getcontent() return default + #-------------------------------------------------- # Ethercat Node #-------------------------------------------------- class _EthercatSlaveCTN: - NODE_PROFILE = None EditorType = NodeEditor + def __init__(self): + # ----------- call ethercat mng. function -------------- + self.CommonMethod = _CommonSlave(self) + def GetIconName(self): return "Slave" @@ -97,12 +106,18 @@ return params def SetParamsAttribute(self, path, value): + self.GetSlaveInfos() position = self.BaseParams.getIEC_Channel() if path == "SlaveParams.Type": self.CTNParent.SetSlaveType(position, value) slave_type = self.CTNParent.GetSlaveType(self.GetSlavePos()) value = (slave_type["device_type"], slave_type) + #if self._View is not None: + #wx.CallAfter(self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos()) + #self._View.EtherCATManagementTreebook.SlaveStatePanel.RefreshSlaveInfos() + #self._View.EtherCATManagementTreebook.PDOMonitoringPanel.PDOInfoUpdate() + #self._View.EtherCATManagementTreebook.SmartView.Create_SmartView() return value, True elif path == "SlaveParams.Alias": self.CTNParent.SetSlaveAlias(position, value) diff -r 015dab6a915f -r e6946c298a42 etherlab/etherlab.py --- a/etherlab/etherlab.py Mon Jun 03 08:24:08 2013 +0200 +++ b/etherlab/etherlab.py Wed Apr 02 15:03:32 2014 +0200 @@ -159,7 +159,7 @@ "BitSize": object.getBitSize(), "Access": entry_access, "PDOMapping": entry_pdomapping} - + for TxPdo in self.getTxPdo(): ExtractPdoInfos(TxPdo, "Transmit", entries, limits) for RxPdo in self.getRxPdo(): @@ -167,7 +167,7 @@ return entries setattr(cls, "GetEntriesList", GetEntriesList) - + def GetSyncManagers(self): sync_managers = [] for sync_manager in self.getSm(): @@ -287,33 +287,36 @@ xml_tree = minidom.parse(xmlfile) xmlfile.close() - modules_infos = None + self.modules_infos = None for child in xml_tree.childNodes: if child.nodeType == xml_tree.ELEMENT_NODE and child.nodeName == "EtherCATInfo": - modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]() - modules_infos.loadXMLTree(child) + self.modules_infos = EtherCATInfoClasses["EtherCATInfo.xsd"]["EtherCATInfo"]() + self.modules_infos.loadXMLTree(child) - if modules_infos is not None: - vendor = modules_infos.getVendor() + if self.modules_infos is not None: + vendor = self.modules_infos.getVendor() vendor_category = self.Library.setdefault(ExtractHexDecValue(vendor.getId()), {"name": ExtractName(vendor.getName(), _("Miscellaneous")), "groups": {}}) - for group in modules_infos.getDescriptions().getGroups().getGroup(): + for group in self.modules_infos.getDescriptions().getGroups().getGroup(): group_type = group.getType() vendor_category["groups"].setdefault(group_type, {"name": ExtractName(group.getName(), group_type), "parent": group.getParentGroup(), "order": group.getSortOrder(), + "value": group.getcontent()["value"], "devices": []}) - for device in modules_infos.getDescriptions().getDevices().getDevice(): + for device in self.modules_infos.getDescriptions().getDevices().getDevice(): device_group = device.getGroupType() if not vendor_category["groups"].has_key(device_group): raise ValueError, "Not such group \"%\"" % device_group vendor_category["groups"][device_group]["devices"].append((device.getType().getcontent(), device)) + return self.Library + def GetModulesLibrary(self, profile_filter=None): if self.Library is None: self.LoadModules() @@ -375,6 +378,8 @@ revision_number = ExtractHexDecValue(device_infos.getType().getRevisionNo()) if (product_code == ExtractHexDecValue(module_infos["product_code"]) and revision_number == ExtractHexDecValue(module_infos["revision_number"])): + self.cntdevice = device_infos + self.cntdeviceType = device_type return device_infos, self.GetModuleExtraParams(vendor, product_code, revision_number) return None, None @@ -459,7 +464,8 @@ CTNChildrenTypes = [("EthercatNode",_EthercatCTN,"Ethercat Master")] EditorType = LibraryEditor - + + def __init__(self): self.ModulesLibrary = None self.LoadModulesLibrary() @@ -502,4 +508,3 @@ def GetModuleInfos(self, module_infos): return self.ModulesLibrary.GetModuleInfos(module_infos) - diff -r 015dab6a915f -r e6946c298a42 etherlab/register_information.xml --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/etherlab/register_information.xml Wed Apr 02 15:03:32 2014 +0200 @@ -0,0 +1,7114 @@ + + + + + 0000 + ESC Rev/Type +
+ + 0-7 + Type + + + 00000010 + ESC10/ESC20 + + + 00000100 + IP Core + + + 00010001 + ET1100 + + + 00010010 + ET1200 + + + + + 8-15 + Revision + +
+ + + 0002 + ESC Build +
+ + 0-3 + Maintenance version + + + 4-7 + Minor version + +
+ + + 0004 + SM/FMMU Cnt +
+ + 0-7 + FMMU cnt + + + 8-15 + SM cnt + +
+ + + 0006 + Ports/DPRAM +
+ + 0-7 + DPRAM (Kbyte) + + + 8-9 + Port A + + + 00 + Not implemented + + + 01 + Not configured (EEPROM) + + + 10 + EBUS + + + 11 + MII/RMII + + + + + 10-11 + Port B + + + 00 + Not implemented + + + 01 + Not configured (EEPROM) + + + 10 + EBUS + + + 11 + MII/RMII + + + + + 12-13 + Port C + + + 00 + Not implemented + + + 01 + Not configured (EEPROM) + + + 10 + EBUS + + + 11 + MII/RMII + + + + + 14-15 + Port D + + + 00 + Not implemented + + + 01 + Not configured (EEPROM) + + + 10 + EBUS + + + 11 + MII/RMII + + + +
+ + + 0008 + Features +
+ + 0 + FMMU Operation + + + 0 + Bit oriented + + + 1 + Byte oriented + + + + + 2 + DC support + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + DC 64 bit support + + + 0 + FALSE + + + 1 + TRUE + + + + + + 4 + E-Bus low jitter + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + E-Bus ext. link detection + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + MII ext. link detection + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + Separate Handling of FCS Errors + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + DC SYNC ext. Activation + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + EtherCAT LRW cmd. support + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + EtherCAT R/W cmd. support + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + Fixed FMMU/SM Cfg. + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + + 0010 + Phys Addr + + + 0012 + Configured Station Alias + + + + 0020 + Register Protect + + + 0030 + Access Protect + + + + 0040 + ESC Reset +
+ + 0-7 + ESC reset ECAT + + + 8-15 + ESC reset PDI + +
+ + + 0100 + ESC Ctrl +
+ + 0 + Kill non EtherCATframes + + + 1 + Temporary loop control + + + 0 + Permanent use + + + 1 + Use for about 1 sec. + + + + + 8-9 + Port A + + + 00 + Auto loop + + + 01 + Auto close + + + 10 + Loop open + + + 11 + Loop closed + + + + + 10-11 + Port B + + + 00 + Auto loop + + + 01 + Auto close + + + 10 + Loop open + + + 11 + Loop closed + + + + + 12-13 + Port C + + + 00 + Auto loop + + + 01 + Auto close + + + 10 + Loop open + + + 11 + Loop closed + + + + + 14-15 + Port D + + + 00 + Auto loop + + + 01 + Auto close + + + 10 + Loop open + + + 11 + Loop closed + + + +
+ + + 0102 + ESC Ctrl Ext +
+ + 0-2 + RX FIFO size + + + 3 + EBUS Low jitter + + + 0 + Normal jitter + + + 1 + Reducedjitter + + + + + 6 + EBUSremote link down signaling time + + + 0 + Default + + + 1 + Reduced + + + + + 9 + Station alias + + + 0 + Ignore + + + 1 + Available + + + +
+ + + 0108 + Phys. RW Offset + + + 0110 + ESC Status +
+ + 0 + Operation + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + PDI watchdog + + + 0 + expired + + + 1 + reloaded + + + + + 2 + Enh. Link Detection + + + 0 + Deactive + + + 1 + Active + + + + + 4 + Physical link Port A + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + Physical link Port B + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + Physical link Port C + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + Physical link Port D + + + 0 + FALSE + + + 1 + TRUE + + + + + 8-9 + Port A + + + 00 + Loop Open, no link + + + 01 + Loop closed, no link + + + 10 + Loop open, with link + + + 11 + Loop closed, with link + + + + + 10-11 + Port B + + + 00 + Loop Open, no link + + + 01 + Loop closed, no link + + + 10 + Loop open, with link + + + 11 + Loop closed, with link + + + + + 12-13 + Port C + + + 00 + Loop Open, no link + + + 01 + Loop closed, no link + + + 10 + Loop open, with link + + + 11 + Loop closed, with link + + + + + 14-15 + Port D + + + 00 + Loop Open, no link + + + 01 + Loop closed, no link + + + 10 + Loop open, with link + + + 11 + Loop closed, with link + + + +
+ + + + 0120 + AL Ctrl +
+ + 0-3 + AL Ctrl + + + 0000 + INIT + + + 0011 + Bootstrap + + + 0010 + PREOP + + + 0100 + SAFEOP + + + 1000 + OP + + + + + 4 + Error Ack + + + 5 + Device Identification + + + 0 + No request + + + 1 + Device Identification request + + + +
+ + + 0130 + AL Status +
+ + 0-3 + AL Status + + + 0000 + INIT + + + 0011 + Bootstrap + + + 0010 + PREOP + + + 0100 + SAFEOP + + + 1000 + OP + + + + + 4 + Error + + + 5 + Device Identification + + + 0 + not valid + + + 1 + loaded + + + +
+ + + 0134 + AL Status Code + + + 0138 + RUN/ERR LED Override +
+ + 0-3 + RUN LED Code + + + 0000 + Off + + + 0001 + Flash 1x + + + 0010 + Flash 2x + + + 0011 + Flash 3x + + + 0100 + Flash 4x + + + 0101 + Flash 5x + + + 0110 + Flash 6x + + + 0111 + Flash 7x + + + 1000 + Flash 8x + + + 1001 + Flash 9x + + + 1010 + Flash 10x + + + 1011 + Flash 11x + + + 1100 + Flash 12x + + + 1101 + Blinking + + + 1110 + Flickering + + + 1111 + On + + + + + 4 + Enable RUN LED Override + + + 0 + Disabled + + + 1 + Enabled + + + + + 8-11 + ERR LED Code + + + 0000 + Off + + + 0001 + Flash 1x + + + 0010 + Flash 2x + + + 0011 + Flash 3x + + + 0100 + Flash 4x + + + 0101 + Flash 5x + + + 0110 + Flash 6x + + + 0111 + Flash 7x + + + 1000 + Flash 8x + + + 1001 + Flash 9x + + + 1010 + Flash 10x + + + 1011 + Flash 11x + + + 1100 + Flash 12x + + + 1101 + Blinking + + + 1110 + Flickering + + + 1111 + On + + + + + 12 + Enable ERR LED Override + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + + 0140 + PDI Ctrl +
+ + 0-7 + PDI + + + 00000000 + none + + + 00000001 + 4 Digital Input + + + 00000010 + 4 Digital Output + + + 00000011 + 2 DI and 2 DO + + + 00000100 + Digital I/O + + + 00000101 + SPI Slave + + + 00000110 + Oversampling I/O + + + 00000111 + EtherCAT Bridge (port3) + + + 00001000 + uC async. 16bit + + + 00001001 + uC async. 8bit + + + 00001010 + uC sync. 16bit + + + 00001011 + uC sync. 8bit + + + 00010000 + 32 Digital Input and 0 Digital Output + + + 00010001 + 24 Digital Input and 8 Digital Output + + + 00010010 + 16 Digital Input and 16 Digital Output + + + 00010011 + 8 Digital Input and 24 Digital Output + + + 00010100 + 0 Digital Input and 32 Digital Output + + + 11111111 + On-chip bus + + + + + 8 + Device emulation + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Enhanced link detection all ports + + + 0 + Disabled + + + 1 + Enabled + + + + + 10 + DC SYNC Out Unit + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + DC Latch In Unit + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + Enhanced link port 0 + + + 0 + Disabled + + + 1 + Enabled + + + + + 13 + Enhanced link port 1 + + + 0 + Disabled + + + 1 + Enabled + + + + + 14 + Enhanced link port 2 + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + Enhanced link port 3 + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 014e + PDI Information +
+ + 0 + PDI register function ack. by write + + + 0 + Disabled + + + 1 + Enabled + + + + + 1 + PDI configured + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + PDI Active + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + PDI config. invalid + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0150 + PDI Cfg +
+ + 0 + OUTVALID polarity + + + 0 + Active high + + + 1 + Active low + + + + + 1 + OUTVALID mode + + + 0 + Output event signaling + + + 1 + WD_TRIG signaling + + + + + 2 + mode of direction + + + 0 + Unidirectional + + + 1 + Bidirectional + + + + + 3 + Watchdog behavior + + + 0 + Immediately output reset + + + 1 + Wait output reset + + + + + 4-5 + Input data is sampled at + + + 00 + Start of Frame + + + 01 + Rising edge of LATCH_IN + + + 10 + DC SYNC0 event + + + 11 + DC SYNC1 event + + + + + 6-7 + Input data is sampled at + + + 00 + End of Frame + + + 01 + DC SYNC0 event + + + 11 + DC SYNC1 event + + + +
+ + + 0150 + PDI Cfg +
+ + 0-1 + SPI mode + + + 2 + SPI IRQ output driver + + + 0 + Push-Pull + + + 1 + Open + + + + + 3 + SPI IRQ polarity + + + 0 + Active low + + + 1 + Active high + + + + + 4 + SPI SEL polarity + + + 0 + Active low + + + 1 + Active high + + + + + 5 + Data output sample mode + + + 0 + Normal + + + 1 + Late + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0-1 + BUSY output driver/polarity + + + 00 + Push-Pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-Pull active high + + + 11 + Open source (Active high) + + + + + 2-3 + IRQ output driver/polarity + + + 00 + Push-Pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-Pull active high + + + 11 + Open source (Active high) + + + + + 4 + BHE polarity + + + 0 + Active low + + + 1 + Active high + + + + + 7 + RD polarity + + + 0 + Active low + + + 1 + Active high + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0-1 + BUSY output driver/polarity + + + 00 + Push-Pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-Pull active high + + + 11 + Open source (Active high) + + + + + 2-3 + IRQ output driver/polarity + + + 00 + Push-Pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-Pull active high + + + 11 + Open source (Active high) + + + + + 4 + BHE polarity + + + 0 + Active low + + + 1 + Active high + + + + + 7 + RD polarity + + + 0 + Active low + + + 1 + Active high + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0-1 + TA output driver/polarity + + + 00 + Push-pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-pull active high + + + 11 + Open Source (Active high) + + + + + 2-3 + IRQ output driver/polarity + + + 00 + Push-pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-pull active high + + + 11 + Open Source (Active high) + + + + + 4 + BHE polarity + + + 0 + Active low + + + 1 + Active high + + + + + 5 + ADR(0) polarity + + + 0 + Active low + + + 1 + Active high + + + + + 6 + Byte accessmode + + + 0 + BHE or Byte select mode + + + 1 + Transfer size mode + + + + + 7 + TS polarity + + + 0 + Active low + + + 1 + Active high + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0-1 + TA output driver/polarity + + + 00 + Push-pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-pull active high + + + 11 + Open Source (Active high) + + + + + 2-3 + IRQ output driver/polarity + + + 00 + Push-pull active low + + + 01 + Open Drain (Active low) + + + 10 + Push-pull active high + + + 11 + Open Source (Active high) + + + + + 4 + BHE polarity + + + 0 + Active low + + + 1 + Active high + + + + + 5 + ADR(0) polarity + + + 0 + Active low + + + 1 + Active high + + + + + 6 + Byte accessmode + + + 0 + BHE or Byte select mode + + + 1 + Transfer size mode + + + + + 7 + TS polarity + + + 0 + Active low + + + 1 + Active high + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0 + Bridge port physical layer + + + 0 + EBUS + + + 1 + MII + + + + + 8 + SYNC output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0150 + PDI Cfg +
+ + 0-6 + Bus clock multiplication factor + + + 7 + On-chip bus + + + 0 + Altera Avalon + + + 1 + Xilinx OPB + + + + + 8 + SYNC0 output + + + 0 + Push pull + + + 1 + Open + + + + + 9 + SYNC0 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 10 + SYNC0 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + SYNC0 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + SYNC1 output + + + 0 + Push pull + + + 1 + Open + + + + + 13 + SYNC1 polarity + + + 0 + Active low + + + 1 + Active high + + + + + 14 + SYNC1 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 15 + SYNC1 to AL event + + + 0 + Disabled + + + 1 + Enabled + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 0 + Direction of I/O[1:0] + + + 0 + Input + + + 1 + Output + + + + + 1 + Direction of I/O[3:2] + + + 0 + Input + + + 1 + Output + + + + + 2 + Direction of I/O[5:4] + + + 0 + Input + + + 1 + Output + + + + + 3 + Direction of I/O[7:6] + + + 0 + Input + + + 1 + Output + + + + + 4 + Direction of I/O[9:8] + + + 0 + Input + + + 1 + Output + + + + + 5 + Direction of I/O[11:10] + + + 0 + Input + + + 1 + Output + + + + + 6 + Direction of I/O[13:12] + + + 0 + Input + + + 1 + Output + + + + + 7 + Direction of I/O[15:14] + + + 0 + Input + + + 1 + Output + + + + + 8 + Direction of I/O[17:16] + + + 0 + Input + + + 1 + Output + + + + + 9 + Direction of I/O[19:18] + + + 0 + Input + + + 1 + Output + + + + + 10 + Direction of I/O[21:20] + + + 0 + Input + + + 1 + Output + + + + + 11 + Direction of I/O[23:22] + + + 0 + Input + + + 1 + Output + + + + + 12 + Direction of I/O[25:24] + + + 0 + Input + + + 1 + Output + + + + + 13 + Direction of I/O[27:26] + + + 0 + Input + + + 1 + Output + + + + + 14 + Direction of I/O[29:28] + + + 0 + Input + + + 1 + Output + + + + + 15 + Direction of I/O[31:30] + + + 0 + Input + + + 1 + Output + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 0 + Read BUSY delay + + + 0 + Normal read + + + 1 + Delayed read + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 0 + Read BUSY delay + + + 0 + Normal read + + + 1 + Delayed read + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 8 + Write data valid + + + 0 + Oneclock cycle after CS + + + 1 + Together with CS + + + + + 9 + Read mode + + + 0 + Use Byte Select + + + 1 + Always read 16 bit + + + + + 10 + CS mode + + + 0 + Sample with rising edge + + + 1 + Sample with falling edge + + + + + 11 + TA/IRQ mode + + + 0 + Update with rising edge + + + 1 + Update with falling edge + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 8 + Write data valid + + + 0 + Oneclock cycle after CS + + + 1 + Together with CS + + + + + 9 + Read mode + + + 0 + Use Byte Select + + + 1 + Always read 16 bit + + + + + 10 + CS mode + + + 0 + Sample with rising edge + + + 1 + Sample with falling edge + + + + + 11 + TA/IRQ mode + + + 0 + Update with rising edge + + + 1 + Update with falling edge + + + +
+ + + 0152 + PDI Cfg Ext +
+ + 0-1 + Data bus width + + + 00 + 4Bytes + + + 01 + 1Byte + + + 10 + 2Bytes + + + +
+ + + + 0200 + ECAT IRQ Mask +
+ + 0 + Latch event + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + ESC Status event + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + AL Status event + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM0 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + SM1 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + SM2 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + SM3 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + SM4 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + SM5 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + SM6 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + SM7 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0204 + PDI IRQ Mask L +
+ + 0 + AL Ctrl + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + Latch input + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + SYNC 0 + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + SYNC 1 + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM Changed + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + EEPROM command pending + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + SM0 + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + SM1 + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + SM2 + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + SM3 + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + SM4 + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + SM5 + + + 0 + FALSE + + + 1 + TRUE + + + + + 14 + SM6 + + + 0 + FALSE + + + 1 + TRUE + + + + + 15 + SM7 + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0206 + PDI IRQ Mask H +
+ + 0 + SM8 + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + SM9 + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + SM10 + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + SM11 + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM12 + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + SM13 + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + SM14 + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + SM15 + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0210 + ECAT IRQ +
+ + 0 + Latch event + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + ESC Status event + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + AL Status event + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM0 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + SM1 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + SM2 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + SM3 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + SM4 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + SM5 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + SM6 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + SM7 IRQ + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0220 + PDI IRQ 1 +
+ + 0 + AL Ctrl + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + Latch input + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + DC SYNC 0 + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + DC SYNC 1 + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM activation reg. changed + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + EEPROM command pending + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + Watchdog Process Data expired + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + SM0 + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + SM1 + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + SM2 + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + SM3 + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + SM4 + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + SM5 + + + 0 + FALSE + + + 1 + TRUE + + + + + 14 + SM6 + + + 0 + FALSE + + + 1 + TRUE + + + + + 15 + SM7 + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0222 + PDI IRQ 2 +
+ + 0 + SM8 + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + SM9 + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + SM10 + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + SM11 + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + SM12 + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + SM13 + + + 0 + FALSE + + + 1 + TRUE + + + + + 6 + SM14 + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + SM15 + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + + 0300 + CRC A +
+ + 0-7 + Invalid frame + + + 8-15 + RX error + +
+ + + 0302 + CRC B +
+ + 0-7 + Invalid frame + + + 8-15 + RX error + +
+ + + 0304 + CRC C +
+ + 0-7 + Invalid frame + + + 8-15 + RX error + +
+ + + 0306 + CRC D +
+ + 0-7 + Invalid frame + + + 8-15 + RX error + +
+ + + 0308 + Forw. CRC A/B +
+ + 0-7 + Port A + + + 8-15 + Port B + +
+ + + 030a + Forw. CRC C/D +
+ + 0-7 + Port C + + + 8-15 + Port D + +
+ + + 030c + Proc. CRC/PDI Err +
+ + 0-7 + Process unit error + + + 8-15 + PDI error + +
+ + + 030e + PDI Error Code +
+ + 0-2 + Number of SPI CLK cycles of whole access + + + 3 + Busy violation during read access + + + 4 + Read termination missing + + + 5 + Access continued + + + 6-7 + SPI command + +
+ + + 030e + PDI Error Code +
+ + 0 + Busy violation during read access + + + 1 + Busy violation during write access + + + 2 + Addressing error for a read access + + + 3 + Addressing error for a write access + +
+ + + 030e + PDI Error Code +
+ + 0 + Busy violation during read access + + + 1 + Busy violation during write access + + + 2 + Addressing error for a read access + + + 3 + Addressing error for a write access + +
+ + + 030e + PDI Error Code +
+ + 0 + Busy violation during read access + + + 1 + Busy violation during write access + + + 2 + Addressing error for a read access + + + 3 + Addressing error for a write access + +
+ + + 030e + PDI Error Code +
+ + 0 + Busy violation during read access + + + 1 + Busy violation during write access + + + 2 + Addressing error for a read access + + + 3 + Addressing error for a write access + +
+ + + 0310 + Link Lost A/B +
+ + 0-7 + Port A + + + 8-15 + Port B + +
+ + + 0312 + Link Lost C/D +
+ + 0-7 + Port C + + + 8-15 + Port D + +
+ + + + 0400 + WD Divisor + + + 0410 + WD Time PDI + + + 0420 + WD Time SM + + + 0440 + WD Status +
+ + 0 + PD watchdog + + + 0 + expired + + + 1 + active or disabled + + + +
+ + + 0442 + WD PDI/SM Counter +
+ + 0-7 + SM watchdog cnt + + + 8-15 + PDI watchdog cnt + +
+ + + + 0500 + EEPROM Assign +
+ + 0 + EEPROM access ctrl + + + 0 + ECAT + + + 1 + PDI + + + + + 1 + Reset PDIaccess + + + 0 + Do not change Bit 501.0 + + + 1 + Reset Bit 501.0 to 0 + + + + + 8 + EEPROM access status + + + 0 + ECAT + + + 1 + PDI + + + +
+ + + 0502 + EEPROM Ctrl/Status +
+ + 0 + Write access + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + EEPROM emulation + + + 0 + Normal operation + + + 1 + PDI emulates EEPROM + + + + + 6 + 8 byte access + + + 0 + FALSE + + + 1 + TRUE + + + + + 7 + 2 byte address + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + Read access + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Write access + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + Reload access + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + CRC error + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + Load error + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + Cmd error + + + 0 + FALSE + + + 1 + TRUE + + + + + 14 + Write error + + + 0 + FALSE + + + 1 + TRUE + + + + + 15 + Busy + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0504 + EEPROM Address L + + + 0506 + EEPROM Address H + + + 0508 + EEPROM Data 0 + + + 050a + EEPROM Data 1 + + + 050c + EEPROM Data 2 + + + 050e + EEPROM Data 3 + + + + 0510 + Phy MIO Ctrl/Status +
+ + 0 + Write enable + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + PDI control possible + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + Link detection active + + + 0 + FALSE + + + 1 + TRUE + + + + + 3-7 + Phy address offset + + + 8 + Read access + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Write access + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + Read error occured + + + 0 + FALSE + + + 1 + TRUE + + + + + 14 + Write error occured + + + 0 + FALSE + + + 1 + TRUE + + + + + 15 + Busy + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0512 + Phy MIO Address +
+ + 0-4 + Phy address + + + 8-11 + MIO address + +
+ + + 0514 + Phy MIO Data + + + 0516 + MIO Access +
+ + 0 + ECAT claims exclusive access + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + PDI hasaccess to MII management + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Force PDI to reset 517.0 + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0518 + MIO Port Status A/B +
+ + 0 + Port A: Physical link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + Port A: Link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + Port A: Link status error + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + Port A: Read error + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + Port A: Link partner error + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + Port A: Phy config updated + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + Port B: Physical link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Port B: Link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + Port B: Link status error + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + Port B: Read error + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + Port B: Link partner error + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + Port B: Phy config updated + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 051a + MIO Port Status C/D +
+ + 0 + Port C: Physical link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + Port C: Link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + Port C: Link status eror + + + 0 + FALSE + + + 1 + TRUE + + + + + 3 + Port C: Read error + + + 0 + FALSE + + + 1 + TRUE + + + + + 4 + Port C: Link partner error + + + 0 + FALSE + + + 1 + TRUE + + + + + 5 + Port C: Phy config updated + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + Port D: Physical link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Port D: Link detected + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + Port D: Link status error + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + Port D: Read error + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + Port D: Link partner error + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + Port D: Phy config updated + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + + 0600 + F0 lStart L + + + 0602 + F0 lStart H + + + 0604 + F0 lLength + + + 0606 + F0 lStartEndBit + + + 0608 + F0 pStart + + + 060a + F0 pStartBit/Dir + + + 060c + F0 Enable + + + 0610 + F1 lStart L + + + 0612 + F1 lStart H + + + 0614 + F1 lLength + + + 0616 + F1 lStartEndBit + + + 0618 + F1 pStart + + + 061a + F01 pStartBit/Dir + + + 061c + F1 Enable + + + 0620 + F2 lStart L + + + 0622 + F2 lStart H + + + 0624 + F2 lLength + + + 0626 + F2 lStartEndBit + + + 0628 + F2 pStart + + + 062a + F2 pStartBit/Dir + + + 062c + F2 Enable + + + 0630 + F3 lStart L + + + 0632 + F3 lStart H + + + 0634 + F3 lLength + + + 0636 + F3 lStartEndBit + + + 0638 + F3 pStart + + + 063a + F3 pStartBit/Dir + + + 063c + F3 Enable + + + 0640 + F4 lStart L + + + 0642 + F4 lStart H + + + 0644 + F4 lLength + + + 0646 + F4 lStartEndBit + + + 0648 + F4 pStart + + + 064a + F4 pStartBit/Dir + + + 064c + F4 Enable + + + 0650 + F5 lStart L + + + 0652 + F5 lStart H + + + 0654 + F5 lLength + + + 0656 + F5 lStartEndBit + + + 0658 + F5 pStart + + + 065a + F5 pStartBit/Dir + + + 065c + F5 Enable + + + 0660 + F6 lStart L + + + 0662 + F6 lStart H + + + 0664 + F6 lLength + + + 0666 + F6 lStartEndBit + + + 0668 + F6 pStart + + + 066a + F6 pStartBit/Dir + + + 066c + F6 Enable + + + 0670 + F7 lStart L + + + 0672 + F7 lStart H + + + 0674 + F7 lLength + + + 0676 + F7 lStartEndBit + + + 0678 + F7 pStart + + + 067a + F7 pStartBit/Dir + + + 067c + F7 Enable + + + 0680 + F8 lStart L + + + 0682 + F8 lStart H + + + 0684 + F8 lLength + + + 0686 + F8 lStartEndBit + + + 0688 + F8 pStart + + + 068a + F8 pStartBit/Dir + + + 068c + F8 Enable + + + 0690 + F9 lStart L + + + 0692 + F9 lStart H + + + 0694 + F9 lLength + + + 0696 + F9 lStartEndBit + + + 0698 + F9 pStart + + + 069a + F9 pStartBit/Dir + + + 069c + F9 Enable + + + 06a0 + F10 lStart L + + + 06a2 + F10 lStart H + + + 06a4 + F10 lLength + + + 06a6 + F10 lStartEndBit + + + 06a8 + F10 pStart + + + 06aa + F10 pStartBit/Dir + + + 06ac + F10 Enable + + + 06b0 + F11 lStart L + + + 06b2 + F11 lStart H + + + 06b4 + F11 lLength + + + 06b6 + F11 lStartEndBit + + + 06b8 + F11 pStart + + + 06ba + F11 pStartBit/Dir + + + 06bc + F11 Enable + + + 06c0 + F12 lStart L + + + 06c2 + F12 lStart H + + + 06c4 + F12 lLength + + + 06c6 + F12 lStartEndBit + + + 06c8 + F12 pStart + + + 06ca + F12 pStartBit/Dir + + + 06cc + F12 Enable + + + 06d0 + F13 lStart L + + + 06d2 + F13 lStart H + + + 06d4 + F13 lLength + + + 06d6 + F13 lStartEndBit + + + 06d8 + F13 pStart + + + 06da + F13 pStartBit/Dir + + + 06dc + F13 Enable + + + 06e0 + F14 lStart L + + + 06e2 + F14 lStart H + + + 06e4 + F14 lLength + + + 06e6 + F14 lStartEndBit + + + 06e8 + F14 pStart + + + 06ea + F14 pStartBit/Dir + + + 06ec + F14 Enable + + + 06f0 + F15 lStart L + + + 06f2 + F15 lStart H + + + 06f4 + F15 lLength + + + 06f6 + F15 lStartEndBit + + + 06f8 + F15 pStart + + + 06fa + F15 pStartBit/Dir + + + 06fc + F15 Enable + + + + 0800 + SM0 Start + + + 0802 + SM0 Length + + + 0804 + SM0 Ctrl/Status + + + 0806 + SM0 Enable + + + 0808 + SM1 Start + + + 080a + SM1 Length + + + 080c + SM1 Ctrl/Status + + + 080e + SM1 Enable + + + 0810 + SM2 Start + + + 0812 + SM2 Length + + + 0814 + SM2 Ctrl/Status + + + 0816 + SM2 Enable + + + 0818 + SM3 Start + + + 081a + SM3 Length + + + 081c + SM3 Ctrl/Status + + + 081e + SM3 Enable + + + 0820 + SM4 Start + + + 0822 + SM4 Length + + + 0824 + SM4 Ctrl/Status + + + 0826 + SM4 Enable + + + 0828 + SM5 Start + + + 082a + SM5 Length + + + 082c + SM5 Ctrl/Status + + + 082e + SM5 Enable + + + 0830 + SM6 Start + + + 0832 + SM6 Length + + + 0834 + SM6 Ctrl/Status + + + 0836 + SM6 Enable + + + 0838 + SM7 Start + + + 083a + SM7 Length + + + 083c + SM7 Ctrl/Status + + + 083e + SM7 Enable + + + 0840 + SM8 Start + + + 0842 + SM8 Length + + + 0844 + SM8 Ctrl/Status + + + 0846 + SM8 Enable + + + 0848 + SM9 Start + + + 084a + SM9 Length + + + 084c + SM9 Ctrl/Status + + + 084e + SM9 Enable + + + 0850 + SM10 Start + + + 0852 + SM10 Length + + + 0854 + SM10 Ctrl/Status + + + 0856 + SM10 Enable + + + 0858 + SM11 Start + + + 085a + SM11 Length + + + 085c + SM11 Ctrl/Status + + + 085e + SM11 Enable + + + 0860 + SM12 Start + + + 0862 + SM12 Length + + + 0864 + SM12 Ctrl/Status + + + 0866 + SM12 Enable + + + 0868 + SM13 Start + + + 086a + SM13 Length + + + 086c + SM13 Ctrl/Status + + + 086e + SM13 Enable + + + 0870 + SM14 Start + + + 0872 + SM14 Length + + + 0874 + SM14 Ctrl/Status + + + 0876 + SM14 Enable + + + 0878 + SM15 Start + + + 087a + SM15 Length + + + 087c + SM15 Ctrl/Status + + + 087e + SM15 Enable + + + + 0900 + DC RecvTimeL_A + + + 0902 + DC RecvTimeH_A + + + 0904 + DC RecvTimeL_B + + + 0906 + DC RecvTimeH_B + + + 0908 + DC RecvTimeL_C + + + 090a + DC RecvTimeH_C + + + 090c + DC RecvTimeL_D + + + 090e + DC RecvTimeH_D + + + + 0910 + DC SysTimeLL + + + 0912 + DC SysTimeLH + + + 0914 + DC SysTimeHL + + + 0916 + DC SysTimeHH + + + 0918 + DC RecvTimeLL_A + + + 091a + DC RecvTimeLH_A + + + 091c + DC RecvTimeHL_A + + + 091e + DC RecvTimeHH_A + + + 0920 + DC SysTimeOffsLL + + + 0922 + DC SysTimeOffsLH + + + 0924 + DC SysTimeOffsHL + + + 0926 + DC SysTimeOffsHH + + + + 0928 + DC SysTimeDelayL + + + 092a + DC SysTimeDelayH + + + 092c + DC CtrlErrorL + + + 092e + DC CtrlErrorH + + + 0930 + DC SpeedStart + + + 0932 + DC SpeedDiff + + + 0934 + DC FiltExp +
+ + 0-7 + System time diff + + + 8-15 + Speed counter + +
+ + + 0936 + Receive Time Latch Mode +
+ + 0 + Receive Time Latch Mode + + + 0 + Forwarding mode + + + 1 + Reverse mode + + + +
+ + + 0936 + Receive Time Latch Mode +
+ + 0 + Receive Time Latch Mode + + + 0 + Forwarding mode + + + 1 + Reverse mode + + + +
+ + + + 0980 + DC Assign/Active +
+ + 0 + Write access cyclic + + + 0 + ECAT + + + 1 + PDI + + + + + 4 + Write access Latch 0 + + + 0 + ECAT + + + 1 + PDI + + + + + 5 + Write access Latch 1 + + + 0 + ECAT + + + 1 + PDI + + + + + 8 + Sync out unit activation + + + 0 + Deactivated + + + 1 + Activated + + + + + 9 + Generate SYNC 0 + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + Generate SYNC 1 + + + 0 + FALSE + + + 1 + TRUE + + + + + 11 + Auto activation + + + 0 + FALSE + + + 1 + TRUE + + + + + 12 + Start time extension 32->64 + + + 0 + FALSE + + + 1 + TRUE + + + + + 13 + Start time check + + + 0 + FALSE + + + 1 + TRUE + + + + + 14 + Half range + + + 0 + FALSE + + + 1 + TRUE + + + + + 15 + Debuspulse + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0982 + DC CycImpulse + + + 0984 + DC Activation Status +
+ + 0 + SYNC0 pending + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + SYNC1 pending + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + Start Time + + + 0 + Within near future + + + 1 + Out of near future + + + +
+ + + 098e + DC CycSync State +
+ + 0 + SYNC 0 triggered + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + SYNC 1 triggered + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 0990 + DC StartTime0 LL + + + 0992 + DC StartTime0 LH + + + 0994 + DC StartTime0 HL + + + 0996 + DC StartTime0 HH + + + 0998 + DC StartTime1 LL + + + 099a + DC StartTime1 LH + + + 099c + DC StartTime1 HL + + + 099e + DC StartTime1 HH + + + 09a0 + DC CycTime0 L + + + 09a2 + DC CycTime0 H + + + 09a4 + DC CycTime1 L + + + 09a6 + DC CycTime1 H + + + + 09a8 + DC Latch Ctrl +
+ + 0 + Latch 0 pos + + + 0 + Continuous + + + 1 + Single event + + + + + 1 + Latch 0 neg + + + 0 + Continuous + + + 1 + Single event + + + + + 8 + Latch 1 pos + + + 0 + Continuous + + + 1 + Single event + + + + + 9 + Latch 1 neg + + + 0 + Continuous + + + 1 + Single event + + + +
+ + + 09ae + DC Latch Status +
+ + 0 + Event Latch 0 pos + + + 0 + FALSE + + + 1 + TRUE + + + + + 1 + Event Latch 0 neg + + + 0 + FALSE + + + 1 + TRUE + + + + + 2 + Latch 0 pin state + + + 0 + FALSE + + + 1 + TRUE + + + + + 8 + Event Latch 1 pos + + + 0 + FALSE + + + 1 + TRUE + + + + + 9 + Event Latch 1 neg + + + 0 + FALSE + + + 1 + TRUE + + + + + 10 + Latch 1 pin state + + + 0 + FALSE + + + 1 + TRUE + + + +
+ + + 09b0 + DC Latch0 Pos LL + + + 09b2 + DC Latch0 Pos LH + + + 09b4 + DC Latch0 Pos HL + + + 09b6 + DC Latch0 Pos HH + + + 09b8 + DC Latch0 Neg LL + + + 09ba + DC Latch0 Neg LH + + + 09bc + DC Latch0 Neg HL + + + 09be + DC Latch0 Neg HH + + + 09c0 + DC Latch1 Pos LL + + + 09c2 + DC Latch1 Pos LH + + + 09c4 + DC Latch1 Pos HL + + + 09c6 + DC Latch1 Pos HH + + + 09c8 + DC Latch1 Neg LL + + + 09ca + DC Latch1 Neg LH + + + 09cc + DC Latch1 Neg HL + + + 09ce + DC Latch1 Neg HH + + + + 09f0 + DC RecvSMChange L + + + 09f2 + DC RecvSMChange H + + + 09f8 + DC PDISMStart L + + + 09fa + DC PDISMStart H + + + 09fc + DC PDISMChange L + + + 09fe + DC PDISMChange H + + + + 0e00 + Product ID + + + 0e02 + Product ID + + + 0e04 + Product ID + + + + 0e06 + Product ID + + + 0e08 + Vendor ID + + + + 0e0a + Vendor ID + + + 0e0c + Vendor ID + + + 0e0e + Vendor ID + + + 0e00 + Power On +
+ + 0-1 + Port mode + + + 00 + Port 0, 1 + + + 01 + Port 0, 1, 2 + + + 10 + Port 0, 1, 3 + + + 11 + Port 0, 1, 2, 3 + + + + + 2 + Logical port 0 + + + 0 + EBUS + + + 1 + MII + + + + + 3 + Logical port 1 + + + 0 + EBUS + + + 1 + MII + + + + + 4 + Logical port 2 + + + 0 + EBUS + + + 1 + MII + + + + + 5 + Logical port 3 + + + 0 + EBUS + + + 1 + MII + + + + + 6-7 + CPU clock output + + + 00 + Off - PDI[7] available as PDI port + + + 01 + PDI[7]=25MHz + + + 10 + PDI[7]=20MHz + + + 11 + PDI[7]=10MHz + + + + + 8-9 + TX signal shift + + + 00 + MII TX shifted 0 + + + 01 + MII TX shifted 90 + + + 10 + MII TX shifted 180 + + + 11 + MII TX shifted 270 + + + + + 10 + Clock 25 output + + + 0 + Disabled + + + 1 + Enabled + + + + + 11 + Transparent mode MII + + + 0 + Disabled + + + 1 + Enabled + + + + + 12 + Digital Ctrl/Status move + + + 0 + PDI[39:32] + + + 1 + the highest available PDI Byte + + + + + 13 + Phy offset + + + 0 + No offset + + + 1 + 16 offset + + + + + 14 + Phy link polarity + + + 0 + Active low + + + 1 + Active high + + + +
+ + + 0e00 + Power On +
+ + 0-1 + Chip mode + + + 00 + Port0:EBUS, Port1:EBUS, 18bit PDI + + + 10 + Port0:MII, Port1:EBUS, 8bit PDI + + + 11 + Port0:EBUS, Port1:MII, 8bit PDI + + + + + 2-3 + CPU clock output + + + 00 + Off - PDI[7] available as PDI port + + + 01 + PDI[7]=25MHz + + + 10 + PDI[7]=20MHz + + + 11 + PDI[7]=10MHz + + + + + 4-5 + TX signal shift + + + 00 + MII TX signals shifted by 0 + + + 01 + MII TX signals shifted by 90 + + + 10 + MII TX signals shifted by 180 + + + 11 + MII TX signals shifted by 270 + + + + + 6 + CLK25 Output Enable + + + 0 + Disabled + + + 1 + Enabled + + + + + 7 + Phy address offset + + + 0 + No offset + + + 1 + 16 offset + + + +
+ + + + 0f00 + Digital Out L + + + 0f02 + Digital Out H + + + 0f10 + GPO LL + + + 0f12 + GPO LH + + + 0f14 + GPO HL + + + 0f16 + GPO HH + + + 0f18 + GPI LL + + + 0f1a + GPI LH + + + 0f1c + GPI HL + + + 0f1e + GPI HH + + + + 0f80 + User Ram + + + 0f82 + User Ram + + + 0f84 + User Ram + + + 0f86 + User Ram + + + 0f88 + User Ram + + + 0f8a + User Ram + + + 0f8c + User Ram + + + 0f8e + User Ram + + + 0f90 + User Ram + + + 0f92 + User Ram + + + 0f94 + User Ram + + + 0f96 + User Ram + + + 0f98 + User Ram + + + 0f9a + User Ram + + + 0f9c + User Ram + + + 0f9e + User Ram + + + 0fa0 + User Ram + + + 0fa2 + User Ram + + + 0fa4 + User Ram + + + 0fa6 + User Ram + + + 0fa8 + User Ram + + + 0faa + User Ram + + + 0fac + User Ram + + + 0fae + User Ram + + + 0fb0 + User Ram + + + 0fb2 + User Ram + + + 0fb4 + User Ram + + + 0fb6 + User Ram + + + 0fb8 + User Ram + + + 0fba + User Ram + + + 0fbc + User Ram + + + 0fbe + User Ram + + + 0fc0 + User Ram + + + 0fc2 + User Ram + + + 0fc4 + User Ram + + + 0fc6 + User Ram + + + 0fc8 + User Ram + + + 0fca + User Ram + + + 0fcc + User Ram + + + 0fce + User Ram + + + 0fd0 + User Ram + + + 0fd2 + User Ram + + + 0fd4 + User Ram + + + 0fd6 + User Ram + + + 0fd8 + User Ram + + + 0fda + User Ram + + + 0fdc + User Ram + + + 0fde + User Ram + + + 0fe0 + User Ram + + + 0fe2 + User Ram + + + 0fe4 + User Ram + + + 0fe6 + User Ram + + + 0fe8 + User Ram + + + 0fea + User Ram + + + 0fec + User Ram + + + 0fee + User Ram + + + 0ff0 + User Ram + + + 0ff2 + User Ram + + + 0ff4 + User Ram + + + 0ff6 + User Ram + + + 0ff8 + User Ram + + + 0ffa + User Ram + + + 0ffc + User Ram + + + 0ffe + User Ram + + \ No newline at end of file