--- a/TODO Tue Jun 10 12:52:08 2008 +0000
+++ b/TODO Wed Jun 11 13:01:21 2008 +0000
@@ -9,7 +9,6 @@
Version 1.4.0:
* Replace all Sysfs files via the new ethercat tool.
- - Slave info (mailbox, general)
- Config info (alias, position, type, Pdos, Sdos)
* Slaves as array.
* Remove the end state of the master state machine.
--- a/master/cdev.c Tue Jun 10 12:52:08 2008 +0000
+++ b/master/cdev.c Wed Jun 11 13:01:21 2008 +0000
@@ -192,6 +192,15 @@
data.revision_number = slave->sii.revision_number;
data.serial_number = slave->sii.serial_number;
data.alias = slave->sii.alias;
+ data.rx_mailbox_offset = slave->sii.rx_mailbox_offset;
+ data.rx_mailbox_size = slave->sii.rx_mailbox_size;
+ data.tx_mailbox_offset = slave->sii.tx_mailbox_offset;
+ data.tx_mailbox_size = slave->sii.tx_mailbox_size;
+ data.mailbox_protocols = slave->sii.mailbox_protocols;
+ data.has_general_category = slave->sii.has_general;
+ data.coe_details = slave->sii.coe_details;
+ data.general_flags = slave->sii.general_flags;
+ data.current_on_ebus = slave->sii.current_on_ebus;
data.state = slave->current_state;
data.error_flag = slave->error_flag;
--- a/master/globals.h Tue Jun 10 12:52:08 2008 +0000
+++ b/master/globals.h Wed Jun 11 13:01:21 2008 +0000
@@ -99,6 +99,59 @@
/** Size of an FMMU configuration page. */
#define EC_FMMU_PAGE_SIZE 16
+/** Slave state mask.
+ *
+ * Apply this mask to a slave state byte to get the slave state without
+ * the error flag.
+ */
+#define EC_SLAVE_STATE_MASK 0x0F
+
+/** State of an EtherCAT slave.
+ */
+typedef enum {
+ EC_SLAVE_STATE_UNKNOWN = 0x00,
+ /**< unknown state */
+ EC_SLAVE_STATE_INIT = 0x01,
+ /**< INIT state (no mailbox communication, no IO) */
+ EC_SLAVE_STATE_PREOP = 0x02,
+ /**< PREOP state (mailbox communication, no IO) */
+ EC_SLAVE_STATE_SAFEOP = 0x04,
+ /**< SAFEOP (mailbox communication and input update) */
+ EC_SLAVE_STATE_OP = 0x08,
+ /**< OP (mailbox communication and input/output update) */
+ EC_SLAVE_STATE_ACK_ERR = 0x10
+ /**< Acknowledge/Error bit (no actual state) */
+} ec_slave_state_t;
+
+/** Supported mailbox protocols.
+ */
+enum {
+ EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
+ EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
+ EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
+ EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
+ EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
+ EC_MBOX_VOE = 0x20 /**< Vendor specific */
+};
+
+/** Slave information interface CANopen-over-EtherCAT details flags.
+ */
+typedef struct {
+ uint8_t enable_sdo : 1; /**< Enable Sdo access. */
+ uint8_t enable_sdo_info : 1; /**< SDO information service available. */
+ uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
+ uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
+ uint8_t enable_upload_at_startup : 1; /**< ?. */
+ uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
+} ec_sii_coe_details_t;
+
+/** Slave information interface general flags.
+ */
+typedef struct {
+ uint8_t enable_safeop : 1; /**< ?. */
+ uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
+} ec_sii_general_flags_t;
+
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
--- a/master/ioctl.h Tue Jun 10 12:52:08 2008 +0000
+++ b/master/ioctl.h Wed Jun 11 13:01:21 2008 +0000
@@ -43,6 +43,8 @@
#include <linux/ioctl.h>
+#include "globals.h"
+
/*****************************************************************************/
#define EC_IOCTL_TYPE 0xa4
@@ -85,7 +87,7 @@
/*****************************************************************************/
-#define EC_IOCTL_SLAVE_NAME_SIZE 99
+#define EC_IOCTL_SLAVE_NAME_SIZE 77
typedef struct {
// input
@@ -97,6 +99,15 @@
uint32_t revision_number;
uint32_t serial_number;
uint16_t alias;
+ uint16_t rx_mailbox_offset;
+ uint16_t rx_mailbox_size;
+ uint16_t tx_mailbox_offset;
+ uint16_t tx_mailbox_size;
+ uint16_t mailbox_protocols;
+ uint8_t has_general_category;
+ ec_sii_coe_details_t coe_details;
+ ec_sii_general_flags_t general_flags;
+ int16_t current_on_ebus;
uint8_t state;
uint8_t error_flag;
uint8_t sync_count;
--- a/master/slave.h Tue Jun 10 12:52:08 2008 +0000
+++ b/master/slave.h Wed Jun 11 13:01:21 2008 +0000
@@ -54,69 +54,6 @@
/*****************************************************************************/
-/** Slave state mask.
- *
- * Apply this mask to a slave state byte to get the slave state without
- * the error flag.
- */
-#define EC_SLAVE_STATE_MASK 0x0F
-
-/*****************************************************************************/
-
-/** State of an EtherCAT slave.
- */
-typedef enum {
- EC_SLAVE_STATE_UNKNOWN = 0x00,
- /**< unknown state */
- EC_SLAVE_STATE_INIT = 0x01,
- /**< INIT state (no mailbox communication, no IO) */
- EC_SLAVE_STATE_PREOP = 0x02,
- /**< PREOP state (mailbox communication, no IO) */
- EC_SLAVE_STATE_SAFEOP = 0x04,
- /**< SAFEOP (mailbox communication and input update) */
- EC_SLAVE_STATE_OP = 0x08,
- /**< OP (mailbox communication and input/output update) */
- EC_SLAVE_STATE_ACK_ERR = 0x10
- /**< Acknowledge/Error bit (no actual state) */
-} ec_slave_state_t;
-
-/*****************************************************************************/
-
-/** Supported mailbox protocols.
- */
-enum {
- EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
- EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
- EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
- EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
- EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
- EC_MBOX_VOE = 0x20 /**< Vendor specific */
-};
-
-/*****************************************************************************/
-
-/** Slave information interface CANopen-over-EtherCAT details flags.
- */
-typedef struct {
- uint8_t enable_sdo : 1; /**< Enable Sdo access. */
- uint8_t enable_sdo_info : 1; /**< SDO information service available. */
- uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
- uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
- uint8_t enable_upload_at_startup : 1; /**< ?. */
- uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
-} ec_sii_coe_details_t;
-
-/*****************************************************************************/
-
-/** Slave information interface general flags.
- */
-typedef struct {
- uint8_t enable_safeop : 1; /**< ?. */
- uint8_t enable_not_lrw : 1; /**< Slave does not support LRW. */
-} ec_sii_general_flags_t;
-
-/*****************************************************************************/
-
/** Slave information interface data.
*/
typedef struct {
--- a/tools/Master.cpp Tue Jun 10 12:52:08 2008 +0000
+++ b/tools/Master.cpp Wed Jun 11 13:01:21 2008 +0000
@@ -713,6 +713,23 @@
/****************************************************************************/
+void Master::showSlaves(int slavePosition)
+{
+ open(Read);
+
+ if (slavePosition == -1) {
+ unsigned int numSlaves = slaveCount(), i;
+
+ for (i = 0; i < numSlaves; i++) {
+ showSlave(i);
+ }
+ } else {
+ showSlave(slavePosition);
+ }
+}
+
+/****************************************************************************/
+
void Master::siiRead(int slavePosition)
{
ec_ioctl_sii_t data;
@@ -1199,6 +1216,103 @@
/****************************************************************************/
+void Master::showSlave(uint16_t slavePosition)
+{
+ ec_ioctl_slave_t slave;
+ list<string> protoList;
+ list<string>::const_iterator protoIter;
+
+ getSlave(&slave, slavePosition);
+
+ cout << "Slave " << dec << slavePosition << endl
+ << "Alias: 0x" << hex << setfill('0') << setw(4) << slave.alias << endl
+ << "State: " << slaveState(slave.state) << endl
+ << "Flag: " << (slave.error_flag ? 'E' : '+') << endl
+ << "Identity:" << endl
+ << " Vendor Id: 0x"
+ << hex << setfill('0') << setw(8) << slave.vendor_id << endl
+ << " Product code: 0x"
+ << setw(8) << slave.product_code << endl
+ << " Revision number: 0x"
+ << setw(8) << slave.revision_number << endl
+ << " Serial number: 0x"
+ << setw(8) << slave.serial_number << endl;
+
+ if (slave.mailbox_protocols) {
+ cout << "Mailboxes:" << endl
+ << " RX: 0x"
+ << hex << setw(4) << slave.rx_mailbox_offset << "/"
+ << dec << slave.rx_mailbox_size
+ << ", TX: 0x"
+ << hex << setw(4) << slave.tx_mailbox_offset << "/"
+ << dec << slave.tx_mailbox_size << endl
+ << " Supported protocols: ";
+
+ if (slave.mailbox_protocols & EC_MBOX_AOE) {
+ protoList.push_back("AoE");
+ }
+ if (slave.mailbox_protocols & EC_MBOX_EOE) {
+ protoList.push_back("EoE");
+ }
+ if (slave.mailbox_protocols & EC_MBOX_COE) {
+ protoList.push_back("CoE");
+ }
+ if (slave.mailbox_protocols & EC_MBOX_FOE) {
+ protoList.push_back("FoE");
+ }
+ if (slave.mailbox_protocols & EC_MBOX_SOE) {
+ protoList.push_back("SoE");
+ }
+ if (slave.mailbox_protocols & EC_MBOX_VOE) {
+ protoList.push_back("VoE");
+ }
+
+ for (protoIter = protoList.begin(); protoIter != protoList.end();
+ protoIter++) {
+ if (protoIter != protoList.begin())
+ cout << ", ";
+ cout << *protoIter;
+ }
+ cout << endl;
+ }
+
+ if (slave.has_general_category) {
+ cout << "General:" << endl
+ << " Name: " << slave.name << endl;
+
+ if (slave.mailbox_protocols & EC_MBOX_COE) {
+ cout << " CoE details:" << endl
+ << " Enable Sdo: "
+ << (slave.coe_details.enable_sdo ? "yes" : "no") << endl
+ << " Enable Sdo Info: "
+ << (slave.coe_details.enable_sdo_info ? "yes" : "no") << endl
+ << " Enable Pdo Assign: "
+ << (slave.coe_details.enable_pdo_assign
+ ? "yes" : "no") << endl
+ << " Enable Pdo Configuration: "
+ << (slave.coe_details.enable_pdo_configuration
+ ? "yes" : "no") << endl
+ << " Enable Upload at startup: "
+ << (slave.coe_details.enable_upload_at_startup
+ ? "yes" : "no") << endl
+ << " Enable Sdo complete access: "
+ << (slave.coe_details.enable_sdo_complete_access
+ ? "yes" : "no") << endl;
+ }
+
+ cout << " Flags:" << endl
+ << " Enable SafeOp: "
+ << (slave.general_flags.enable_safeop ? "yes" : "no") << endl
+ << " Enable notLRW: "
+ << (slave.general_flags.enable_not_lrw ? "yes" : "no") << endl
+ << " Current consumption: "
+ << dec << slave.current_on_ebus << " mA" << endl << sizeof(slave);
+ }
+ cout << endl;
+}
+
+/****************************************************************************/
+
void Master::generateSlaveXml(uint16_t slavePosition)
{
ec_ioctl_slave_t slave;
--- a/tools/Master.h Tue Jun 10 12:52:08 2008 +0000
+++ b/tools/Master.h Wed Jun 11 13:01:21 2008 +0000
@@ -51,6 +51,7 @@
void listSdos(int, bool = false);
void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
+ void showSlaves(int);
void siiRead(int);
void siiWrite(int, bool, const vector<string> &);
void requestStates(int, const vector<string> &);
@@ -66,6 +67,7 @@
void showDomain(unsigned int);
void listSlavePdos(uint16_t, bool = false, bool = false);
void listSlaveSdos(uint16_t, bool = false, bool = false);
+ void showSlave(uint16_t);
void generateSlaveXml(uint16_t);
unsigned int domainCount();
unsigned int slaveCount();
--- a/tools/main.cpp Tue Jun 10 12:52:08 2008 +0000
+++ b/tools/main.cpp Wed Jun 11 13:01:21 2008 +0000
@@ -37,12 +37,13 @@
<< " data Output binary domain process data." << endl
<< " debug Set the master debug level." << endl
<< " domain Show domain information." << endl
- << " list (ls, slaves) List all slaves (former 'lsec')." << endl
+ << " list (ls) List all slaves (former 'lsec')." << endl
<< " master Show master information." << endl
<< " pdos List Pdo mapping." << endl
<< " sdos List Sdo dictionaries." << endl
<< " sdo_download (sd) Write an Sdo entry." << endl
<< " sdo_upload (su) Read an Sdo entry." << endl
+ << " slave Show slave information." << endl
<< " sii_read (sr) Output a slave's SII contents." << endl
<< " sii_write (sw) Write slave's SII contents." << endl
<< " state Request slave states." << endl
@@ -183,7 +184,7 @@
master.setDebug(commandArgs);
} else if (command == "domain") {
master.showDomains(domainIndex);
- } else if (command == "list" || command == "ls" || command == "slaves") {
+ } else if (command == "list" || command == "ls") {
master.listSlaves();
} else if (command == "master") {
master.showMaster();
@@ -195,6 +196,8 @@
master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
+ } else if (command == "slave") {
+ master.showSlaves(slavePosition);
} else if (command == "sii_read" || command == "sr") {
master.siiRead(slavePosition);
} else if (command == "sii_write" || command == "sw") {