--- a/NEWS Tue Apr 07 12:53:37 2009 +0000
+++ b/NEWS Wed Apr 08 08:13:33 2009 +0000
@@ -27,6 +27,7 @@
* Going to the Bootstrap state is now supported by the state machines and the
command-line tool.
* Introduced ecrt_master_slave() to get information about a certain slave.
+* SDO entry access rights are shown in 'ethercat sdos'.
Changes in 1.4.0:
--- a/master/cdev.c Tue Apr 07 12:53:37 2009 +0000
+++ b/master/cdev.c Wed Apr 08 08:13:33 2009 +0000
@@ -720,6 +720,18 @@
data.data_type = entry->data_type;
data.bit_length = entry->bit_length;
+ data.read_access[EC_SDO_ENTRY_ACCESS_PREOP] =
+ entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP];
+ data.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
+ entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
+ data.read_access[EC_SDO_ENTRY_ACCESS_OP] =
+ entry->read_access[EC_SDO_ENTRY_ACCESS_OP];
+ data.write_access[EC_SDO_ENTRY_ACCESS_PREOP] =
+ entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP];
+ data.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] =
+ entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP];
+ data.write_access[EC_SDO_ENTRY_ACCESS_OP] =
+ entry->write_access[EC_SDO_ENTRY_ACCESS_OP];
ec_cdev_strcpy(data.description, entry->description);
up(&master->master_sem);
--- a/master/fsm_coe.c Tue Apr 07 12:53:37 2009 +0000
+++ b/master/fsm_coe.c Wed Apr 08 08:13:33 2009 +0000
@@ -773,7 +773,7 @@
EC_WRITE_U16(data + 4, 0x0000);
EC_WRITE_U16(data + 6, sdo->index); // SDO index
EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
- EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
+ EC_WRITE_U8 (data + 9, 0x01); // value info (access rights only)
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_entry_request;
@@ -886,6 +886,7 @@
uint8_t *data, mbox_prot;
size_t rec_size, data_size;
ec_sdo_entry_t *entry;
+ u16 word;
if (datagram->state == EC_DATAGRAM_TIMED_OUT && fsm->retries--)
return; // FIXME: request again?
@@ -987,6 +988,15 @@
entry->data_type = EC_READ_U16(data + 10);
entry->bit_length = EC_READ_U16(data + 12);
+ // read access rights
+ word = EC_READ_U16(data + 14);
+ entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = word & 0x0001;
+ entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 1) & 0x0001;
+ entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 2) & 0x0001;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = (word >> 3) & 0x0001;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = (word >> 4) & 0x0001;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = (word >> 5) & 0x0001;
+
if (data_size) {
uint8_t *desc;
if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
--- a/master/globals.h Tue Apr 07 12:53:37 2009 +0000
+++ b/master/globals.h Wed Apr 08 08:13:33 2009 +0000
@@ -174,6 +174,17 @@
port 0 receive time. */
} ec_slave_dc_range_t;
+/** Access states for SDO entries.
+ *
+ * The access rights are managed per AL state.
+ */
+enum {
+ EC_SDO_ENTRY_ACCESS_PREOP, /**< Access rights in PREOP. */
+ EC_SDO_ENTRY_ACCESS_SAFEOP, /**< Access rights in SAFEOP. */
+ EC_SDO_ENTRY_ACCESS_OP, /**< Access rights in OP. */
+ EC_SDO_ENTRY_ACCESS_COUNT /**< Number of states. */
+};
+
/*****************************************************************************/
/** Convenience macro for printing EtherCAT-specific information to syslog.
--- a/master/ioctl.h Tue Apr 07 12:53:37 2009 +0000
+++ b/master/ioctl.h Wed Apr 08 08:13:33 2009 +0000
@@ -288,6 +288,8 @@
// outputs
uint16_t data_type;
uint16_t bit_length;
+ uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT];
+ uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT];
int8_t description[EC_IOCTL_STRING_SIZE];
} ec_ioctl_slave_sdo_entry_t;
--- a/master/sdo_entry.c Tue Apr 07 12:53:37 2009 +0000
+++ b/master/sdo_entry.c Wed Apr 08 08:13:33 2009 +0000
@@ -52,6 +52,12 @@
entry->subindex = subindex;
entry->data_type = 0x0000;
entry->bit_length = 0;
+ entry->read_access[EC_SDO_ENTRY_ACCESS_PREOP] = 0;
+ entry->read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = 0;
+ entry->read_access[EC_SDO_ENTRY_ACCESS_OP] = 0;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_PREOP] = 0;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] = 0;
+ entry->write_access[EC_SDO_ENTRY_ACCESS_OP] = 0;
entry->description = NULL;
}
--- a/master/sdo_entry.h Tue Apr 07 12:53:37 2009 +0000
+++ b/master/sdo_entry.h Wed Apr 08 08:13:33 2009 +0000
@@ -57,6 +57,8 @@
uint8_t subindex; /**< Subindex. */
uint16_t data_type; /**< Data type. */
uint16_t bit_length; /**< Data size in bit. */
+ uint8_t read_access[EC_SDO_ENTRY_ACCESS_COUNT]; /**< Read access. */
+ uint8_t write_access[EC_SDO_ENTRY_ACCESS_COUNT]; /**< Write access. */
char *description; /**< Description. */
} ec_sdo_entry_t;
--- a/tool/CommandSdos.cpp Tue Apr 07 12:53:37 2009 +0000
+++ b/tool/CommandSdos.cpp Wed Apr 08 08:13:33 2009 +0000
@@ -58,11 +58,18 @@
<< " SDO 0x1018, \"Identity object\"" << endl
<< endl
<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl
- << " hexadecimal) followed by the data type, the length in" << endl
- << " bit, and the description. Example:" << endl
+ << " hexadecimal) followed by the access rights (see" << endl
+ << " below), the data type, the length in bit, and the" << endl
+ << " description. Example:" << endl
<< endl
- << " 0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl
+ << " 0x1018:01, rwrwrw, uint32, 32 bit, \"Vendor id\"" << endl
<< endl
+ << "The access rights are specified for the AL states PREOP," << endl
+ << "SAFEOP and OP. An 'r' means, that the entry is readable" << endl
+ << "in the corresponding state, an 'w' means writable," << endl
+ << "respectively. If a right is not granted, a dash '-' is" << endl
+ << "shown." << endl
+ << endl
<< "If the --quiet option is given, only the SDOs are output."
<< endl << endl
<< "Command-specific options:" << endl
@@ -133,6 +140,13 @@
cout << " 0x" << hex << setfill('0')
<< setw(4) << sdo.sdo_index << ":"
<< setw(2) << (unsigned int) entry.sdo_entry_subindex
+ << ", "
+ << (entry.read_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "r" : "-")
+ << (entry.write_access[EC_SDO_ENTRY_ACCESS_PREOP] ? "w" : "-")
+ << (entry.read_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "r" : "-")
+ << (entry.write_access[EC_SDO_ENTRY_ACCESS_SAFEOP] ? "w" : "-")
+ << (entry.read_access[EC_SDO_ENTRY_ACCESS_OP] ? "r" : "-")
+ << (entry.write_access[EC_SDO_ENTRY_ACCESS_OP] ? "w" : "-")
<< ", ";
if ((d = findDataType(entry.data_type))) {