Implemented sdo_upload command.
authorFlorian Pose <fp@igh-essen.com>
Fri, 06 Jun 2008 15:13:25 +0000
changeset 968 b0e894257743
parent 967 93807963b906
child 969 e259df107c92
Implemented sdo_upload command.
TODO
master/cdev.c
master/ioctl.h
tools/Master.cpp
tools/Master.h
tools/main.cpp
--- a/TODO	Fri Jun 06 13:03:56 2008 +0000
+++ b/TODO	Fri Jun 06 15:13:25 2008 +0000
@@ -9,8 +9,8 @@
 Version 1.4.0:
 
 * Slaves as array.
+* ioctl() rights.
 * Replace all Sysfs files via the new ethercat tool.
-    - Sdo entry value read
     - Sdo entry value write
     - Slave alias write
     - Slave SII write
--- a/master/cdev.c	Fri Jun 06 13:03:56 2008 +0000
+++ b/master/cdev.c	Fri Jun 06 15:13:25 2008 +0000
@@ -137,7 +137,7 @@
     long retval = 0;
 
     if (master->debug_level)
-        EC_DBG("ioctl(filp = %x, cmd = %u, arg = %u)\n",
+        EC_DBG("ioctl(filp = %x, cmd = %u, arg = %x)\n",
                 (u32) filp, (u32) cmd, (u32) arg);
 
     // FIXME lock
@@ -562,19 +562,29 @@
                     break;
                 }
 
-                if (!(sdo = ec_slave_get_sdo_by_pos_const(
-                                slave, data.sdo_position))) {
-                    EC_ERR("Sdo %u does not exist in slave %u!\n",
-                            data.sdo_position, data.slave_position);
-                    retval = -EINVAL;
-                    break;
+                if (data.sdo_spec <= 0) {
+                    if (!(sdo = ec_slave_get_sdo_by_pos_const(
+                                    slave, -data.sdo_spec))) {
+                        EC_ERR("Sdo %u does not exist in slave %u!\n",
+                                -data.sdo_spec, data.slave_position);
+                        retval = -EINVAL;
+                        break;
+                    }
+                } else {
+                    if (!(sdo = ec_slave_get_sdo_const(
+                                    slave, data.sdo_spec))) {
+                        EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
+                                data.sdo_spec, data.slave_position);
+                        retval = -EINVAL;
+                        break;
+                    }
                 }
 
                 if (!(entry = ec_sdo_get_entry_const(
                                 sdo, data.sdo_entry_subindex))) {
-                    EC_ERR("Sdo entry %u does not exist in Sdo %u "
-                            "in slave %u!\n", data.sdo_entry_subindex,
-                            data.sdo_position, data.slave_position);
+                    EC_ERR("Sdo entry 0x%04X:%02X does not exist "
+                            "in slave %u!\n", sdo->index,
+                            data.sdo_entry_subindex, data.slave_position);
                     retval = -EINVAL;
                     break;
                 }
@@ -598,6 +608,77 @@
                 break;
             }
 
+        case EC_IOCTL_SDO_UPLOAD:
+            {
+                ec_ioctl_sdo_upload_t data;
+                ec_master_sdo_request_t request;
+
+                if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
+                    retval = -EFAULT;
+                    break;
+                }
+                
+                if (!(request.slave = ec_master_find_slave(
+                                master, 0, data.slave_position))) {
+                    EC_ERR("Slave %u does not exist!\n", data.slave_position);
+                    retval = -EINVAL;
+                    break;
+                }
+
+                ec_sdo_request_init(&request.req);
+                ec_sdo_request_address(&request.req,
+                        data.sdo_index, data.sdo_entry_subindex);
+                ecrt_sdo_request_read(&request.req);
+
+                // schedule request.
+                down(&master->sdo_sem);
+                list_add_tail(&request.list, &master->slave_sdo_requests);
+                up(&master->sdo_sem);
+
+                // wait for processing through FSM
+                if (wait_event_interruptible(master->sdo_queue,
+                            request.req.state != EC_REQUEST_QUEUED)) {
+                    // interrupted by signal
+                    down(&master->sdo_sem);
+                    if (request.req.state == EC_REQUEST_QUEUED) {
+                        list_del(&request.req.list);
+                        up(&master->sdo_sem);
+                        retval = -EINTR;
+                        break;
+                    }
+                    // request already processing: interrupt not possible.
+                    up(&master->sdo_sem);
+                }
+
+                // wait until master FSM has finished processing
+                wait_event(master->sdo_queue, request.req.state != EC_REQUEST_BUSY);
+
+                if (request.req.state != EC_REQUEST_SUCCESS) {
+                    retval = -EIO;
+                    break;
+                }
+
+                if (request.req.data_size > data.target_size) {
+                    EC_ERR("Buffer too small.\n");
+                    retval = -EOVERFLOW;
+                    break;
+                }
+                data.data_size = request.req.data_size;
+
+                if (copy_to_user((void __user *) data.target,
+                            request.req.data, data.data_size)) {
+                    retval = -EFAULT;
+                    break;
+                }
+                if (__copy_to_user((void __user *) arg, &data, sizeof(data))) {
+                    retval = -EFAULT;
+                    break;
+                }
+
+                ec_sdo_request_clear(&request.req);
+                break;
+            }
+
         default:
             retval = -ENOIOCTLCMD;
     }
--- a/master/ioctl.h	Fri Jun 06 13:03:56 2008 +0000
+++ b/master/ioctl.h	Fri Jun 06 15:13:25 2008 +0000
@@ -57,6 +57,7 @@
     EC_IOCTL_SLAVE_STATE,
     EC_IOCTL_SDO,
     EC_IOCTL_SDO_ENTRY,
+    EC_IOCTL_SDO_UPLOAD,
 };
 
 /*****************************************************************************/
@@ -211,7 +212,7 @@
 typedef struct {
     // inputs
     uint16_t slave_position;
-    uint16_t sdo_position;
+    int sdo_spec; // positive: index, negative: list position
     uint8_t sdo_entry_subindex;
 
     // outputs
@@ -222,4 +223,18 @@
 
 /*****************************************************************************/
 
+typedef struct {
+    // inputs
+    uint16_t slave_position;
+    uint16_t sdo_index;
+    uint8_t sdo_entry_subindex;
+    unsigned int target_size;
+    uint8_t *target;
+
+    // outputs
+    unsigned int data_size;
+} ec_ioctl_sdo_upload_t;
+
+/*****************************************************************************/
+
 #endif
--- a/tools/Master.cpp	Fri Jun 06 13:03:56 2008 +0000
+++ b/tools/Master.cpp	Fri Jun 06 15:13:25 2008 +0000
@@ -18,6 +18,72 @@
 
 #include "Master.h"
 
+#if __BYTE_ORDER == __LITTLE_ENDIAN
+
+#define le16tocpu(x) x
+#define le32tocpu(x) x
+
+#elif __BYTE_ORDER == __BIG_ENDIAN
+
+#define le16tocpu(x) \
+        ((uint16_t)( \
+        (((uint16_t)(x) & 0x00ffU) << 8) | \
+        (((uint16_t)(x) & 0xff00U) >> 8) ))
+#define le32tocpu(x) \
+        ((uint32_t)( \
+        (((uint32_t)(x) & 0x000000ffUL) << 24) | \
+        (((uint32_t)(x) & 0x0000ff00UL) <<  8) | \
+        (((uint32_t)(x) & 0x00ff0000UL) >>  8) | \
+        (((uint32_t)(x) & 0xff000000UL) >> 24) ))
+
+#endif
+
+/****************************************************************************/
+
+struct CoEDataType {
+    const char *name;
+    uint16_t coeCode;
+    unsigned int byteSize;
+};
+
+static const CoEDataType dataTypes[] = {
+    {"int8",   0x0002, 1},
+    {"int16",  0x0003, 2},
+    {"int32",  0x0004, 4},
+    {"uint8",  0x0005, 1},
+    {"uint16", 0x0006, 2},
+    {"uint32", 0x0007, 4},
+    {"string", 0x0009, 0},
+    {"raw",    0xffff, 0},
+    {}
+};
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(const string &str)
+{
+    const CoEDataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (str == d->name)
+            return d;
+
+    return NULL;
+}
+
+/****************************************************************************/
+
+const CoEDataType *findDataType(uint16_t code)
+{
+    const CoEDataType *d;
+    
+    for (d = dataTypes; d->name; d++)
+        if (code == d->coeCode)
+            return d;
+
+    return NULL;
+}
+
 /****************************************************************************/
 
 Master::Master()
@@ -239,6 +305,139 @@
 
 /****************************************************************************/
 
+void Master::sdoUpload(
+        int slavePosition,
+        const string &dataTypeStr,
+        const vector<string> &commandArgs
+        )
+{
+    stringstream strIndex, strSubIndex;
+    int number, sval;
+    ec_ioctl_sdo_upload_t data;
+    unsigned int i, uval;
+    const CoEDataType *dataType = NULL;
+
+    if (slavePosition < 0) {
+        stringstream err;
+        err << "'sdo_upload' requires a slave! Please specify --slave.";
+        throw MasterException(err.str());
+    }
+    data.slave_position = slavePosition;
+
+    if (commandArgs.size() != 2) {
+        stringstream err;
+        err << "'sdo_upload' takes two arguments!";
+        throw MasterException(err.str());
+    }
+
+    strIndex << commandArgs[0];
+    strIndex >> hex >> number;
+    if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
+        stringstream err;
+        err << "Invalid Sdo index '" << commandArgs[0] << "'!";
+        throw MasterException(err.str());
+    }
+    data.sdo_index = number;
+
+    strSubIndex << commandArgs[1];
+    strSubIndex >> hex >> number;
+    if (strSubIndex.fail() || number < 0x00 || number > 0xff) {
+        stringstream err;
+        err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
+        throw MasterException(err.str());
+    }
+    data.sdo_entry_subindex = number;
+
+    if (dataTypeStr != "") { // data type specified
+        if (!(dataType = findDataType(dataTypeStr))) {
+            stringstream err;
+            err << "Invalid data type '" << dataTypeStr << "'!";
+            throw MasterException(err.str());
+        }
+    } else { // no data type specified: fetch from dictionary
+        ec_ioctl_sdo_entry_t entry;
+        unsigned int entryByteSize;
+        try {
+            getSdoEntry(&entry, slavePosition,
+                    data.sdo_index, data.sdo_entry_subindex);
+        } catch (MasterException &e) {
+            stringstream err;
+            err << "Failed to determine Sdo entry data type. "
+                << "Please specify --type.";
+            throw MasterException(err.str());
+        }
+        if (!(dataType = findDataType(entry.data_type))) {
+            stringstream err;
+            err << "Pdo entry has unknown data type 0x"
+                << hex << setfill('0') << setw(4) << entry.data_type << "!"
+                << " Please specify --type.";
+            throw MasterException(err.str());
+        }
+    }
+
+    if (dataType->byteSize) {
+        data.target_size = dataType->byteSize;
+    } else {
+        data.target_size = DefaultTargetSize;
+    }
+
+    data.target = new uint8_t[data.target_size + 1];
+
+    if (ioctl(fd, EC_IOCTL_SDO_UPLOAD, &data) < 0) {
+        stringstream err;
+        err << "Failed to upload Sdo: " << strerror(errno);
+        delete [] data.target;
+        throw MasterException(err.str());
+    }
+
+    if (dataType->byteSize && data.data_size != dataType->byteSize) {
+        stringstream err;
+        err << "Data type mismatch. Expected " << dataType->name
+            << " with " << dataType->byteSize << " byte(s), but got "
+            << data.data_size << " byte(s).";
+        throw MasterException(err.str());
+    }
+
+    cout << setfill('0');
+    switch (dataType->coeCode) {
+        case 0x0002: // int8
+            sval = *(int8_t *) data.target;
+            cout << sval << " 0x" << hex << setw(2) << sval << endl;
+            break;
+        case 0x0003: // int16
+            sval = le16tocpu(*(int16_t *) data.target);
+            cout << sval << " 0x" << hex << setw(4) << sval << endl;
+            break;
+        case 0x0004: // int32
+            sval = le32tocpu(*(int32_t *) data.target);
+            cout << sval << " 0x" << hex << setw(8) << sval << endl;
+            break;
+        case 0x0005: // uint8
+            uval = (unsigned int) *(uint8_t *) data.target;
+            cout << uval << " 0x" << hex << setw(2) << uval << endl;
+            break;
+        case 0x0006: // uint16
+            uval = le16tocpu(*(uint16_t *) data.target);
+            cout << uval << " 0x" << hex << setw(4) << uval << endl;
+            break;
+        case 0x0007: // uint32
+            uval = le32tocpu(*(uint32_t *) data.target);
+            cout << uval << " 0x" << hex << setw(8) << uval << endl;
+            break;
+        case 0x0009: // string
+            cout << string((const char *) data.target, data.data_size)
+                << endl;
+            break;
+        default:
+            printRawData(data.target, data.data_size);
+            break;
+    }
+
+    delete [] data.target;
+}
+
+/****************************************************************************/
+
 void Master::requestStates(
         int slavePosition,
         const vector<string> &commandArgs
@@ -474,7 +673,7 @@
             continue;
 
         for (j = 0; j <= sdo.max_subindex; j++) {
-            getSdoEntry(&entry, slavePosition, i, j);
+            getSdoEntry(&entry, slavePosition, -i, j);
 
             cout << "  Entry 0x"
                 << hex << setfill('0') << setw(2)
@@ -807,25 +1006,18 @@
 void Master::getSdoEntry(
         ec_ioctl_sdo_entry_t *entry,
         uint16_t slaveIndex,
-        uint16_t sdoPosition,
+        int sdoSpec,
         uint8_t entrySubindex
         )
 {
     entry->slave_position = slaveIndex;
-    entry->sdo_position = sdoPosition;
+    entry->sdo_spec = sdoSpec;
     entry->sdo_entry_subindex = entrySubindex;
 
     if (ioctl(fd, EC_IOCTL_SDO_ENTRY, entry)) {
         stringstream err;
         err << "Failed to get Sdo entry: ";
-        if (errno == EINVAL)
-            err << "Either slave " << slaveIndex << " does not exist, "
-                << "or it contains less than " << sdoPosition + 1
-                << " Sdos, or the Sdo at position " << sdoPosition
-                << " contains less than " << (unsigned int) entrySubindex + 1
-                << " entries!" << endl;
-        else
-            err << strerror(errno);
+        err << strerror(errno);
         throw MasterException(err.str());
     }
 }
@@ -867,3 +1059,18 @@
 }
 
 /****************************************************************************/
+
+void Master::printRawData(
+        const uint8_t *data,
+        unsigned int size)
+{
+    cout << hex << setfill('0');
+    while (size--) {
+        cout << "0x" << setw(2) << (unsigned int) *data++;
+        if (size)
+            cout << " ";
+    }
+    cout << endl;
+}
+
+/****************************************************************************/
--- a/tools/Master.h	Fri Jun 06 13:03:56 2008 +0000
+++ b/tools/Master.h	Fri Jun 06 15:13:25 2008 +0000
@@ -49,6 +49,7 @@
         void showMaster();
         void listPdos(int, bool = false);
         void listSdos(int, bool = false);
+        void sdoUpload(int, const string &, const vector<string> &);
         void requestStates(int, const vector<string> &);
         void generateXml(int);
 
@@ -72,12 +73,15 @@
         void getPdoEntry(ec_ioctl_pdo_entry_t *, uint16_t, uint8_t, uint8_t,
                 uint8_t);
         void getSdo(ec_ioctl_sdo_t *, uint16_t, uint16_t);
-        void getSdoEntry(ec_ioctl_sdo_entry_t *, uint16_t, uint16_t, uint8_t);
+        void getSdoEntry(ec_ioctl_sdo_entry_t *, uint16_t, int, uint8_t);
         void requestState(uint16_t, uint8_t);
 
         static string slaveState(uint8_t);
+        static void printRawData(const uint8_t *, unsigned int);
         
     private:
+        enum {DefaultTargetSize = 1024};
+
         unsigned int index;
         int fd;
 };
--- a/tools/main.cpp	Fri Jun 06 13:03:56 2008 +0000
+++ b/tools/main.cpp	Fri Jun 06 15:13:25 2008 +0000
@@ -16,16 +16,14 @@
 /*****************************************************************************/
 
 #define DEFAULT_MASTER 0
-#define DEFAULT_COMMAND "slaves"
-#define DEFAULT_SLAVEPOSITION -1
-#define DEFAULT_DOMAININDEX -1
 
 static unsigned int masterIndex = DEFAULT_MASTER;
-static int slavePosition = DEFAULT_SLAVEPOSITION;
-static int domainIndex = DEFAULT_DOMAININDEX;
-static string command = DEFAULT_COMMAND;
+static int slavePosition = -1;
+static int domainIndex = -1;
+static string command;
 vector<string> commandArgs;
 static bool quiet = false;
+string dataTypeStr;
 
 /*****************************************************************************/
 
@@ -41,6 +39,7 @@
         << "  master             Show master information." << endl
         << "  pdos               List Pdo mapping." << endl
         << "  sdos               List Sdo dictionaries." << endl
+        << "  sdo_upload (su)    Read Sdo entries." << endl
         << "  state              Request slave states." << endl
         << "  xml                Generate slave information xmls." << endl
 		<< "Global options:" << endl
@@ -54,6 +53,7 @@
         << endl
         << "                         or 'all' for all domains (default)."
         << endl
+        << "  --type    -t <type>    Forced Sdo data type." << endl
         << "  --quiet   -q           Show less output." << endl
         << "  --help    -h           Show this help." << endl;
 }
@@ -70,13 +70,14 @@
         {"master", required_argument, NULL, 'm'},
         {"slave",  required_argument, NULL, 's'},
         {"domain", required_argument, NULL, 'd'},
+        {"type",   required_argument, NULL, 't'},
         {"quiet",  no_argument,       NULL, 'q'},
         {"help",   no_argument,       NULL, 'h'},
         {}
     };
 
     do {
-        c = getopt_long(argc, argv, "m:s:d:qh", longOptions, &optionIndex);
+        c = getopt_long(argc, argv, "m:s:d:t:qh", longOptions, &optionIndex);
 
         switch (c) {
             case 'm':
@@ -120,6 +121,10 @@
                 }
                 break;
 
+            case 't':
+                dataTypeStr = optarg;
+                break;
+
             case 'q':
                 quiet = true;
                 break;
@@ -173,6 +178,8 @@
             master.listPdos(slavePosition, quiet);
         } else if (command == "sdos") {
             master.listSdos(slavePosition, quiet);
+        } else if (command == "sdo_upload" || command == "su") {
+            master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
         } else if (command == "state") {
             master.requestStates(slavePosition, commandArgs);
         } else if (command == "xml") {