bkinnightskytw
/
ethercat
mirror of https://gitlab.com/bkinnightskytw/ethercat.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Implemented SII read.

This commit is contained in:
Florian Pose 2008-06-09 13:45:22 +00:00
parent 96b3009e8e
commit 0ee1c38030
6 changed files with 114 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
TODO
View File

@ -8,12 +8,11 @@ $Id$
Version 1.4.0:
* Slaves as array.
* Replace all Sysfs files via the new ethercat tool.
- Slave alias write
- Slave SII write
- Slave info (flags, mailbox, general)
- Config info (alias, position, type, Pdos, Sdos)
* Slaves as array.
* Remove the end state of the master state machine.
* Supply new ec_master_state_t.
* Implement ecrt_slave_config_state().

35
master/cdev.c
View File

@ -196,6 +196,7 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
data.sync_count = slave->sii.sync_count;
data.sdo_count = ec_slave_sdo_count(slave);
data.sii_nwords = slave->sii_nwords;
if (slave->sii.name) {
strncpy(data.name, slave->sii.name,
@ -760,6 +761,40 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
break;
}
case EC_IOCTL_SII_READ:
{
ec_ioctl_sii_read_t data;
const ec_slave_t *slave;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
retval = -EFAULT;
break;
}
if (!(slave = ec_master_find_slave(
master, 0, data.slave_position))) {
EC_ERR("Slave %u does not exist!\n", data.slave_position);
retval = -EINVAL;
break;
}
if (!data.nwords
|| data.offset + data.nwords > slave->sii_nwords) {
EC_ERR("Invalid SII read offset/size %u/%u for slave "
"SII size %u!\n", data.offset,
data.nwords, slave->sii_nwords);
retval = -EINVAL;
break;
}
if (copy_to_user((void __user *) data.words,
slave->sii_words + data.offset, data.nwords * 2)) {
retval = -EFAULT;
break;
}
break;
}
default:
retval = -ENOTTY;
}

54
master/ioctl.h
View File

@ -67,23 +67,24 @@
#define EC_IOCTL_SDO_ENTRY EC_IOWR(0x0c, ec_ioctl_sdo_entry_t)
#define EC_IOCTL_SDO_UPLOAD EC_IOWR(0x0d, ec_ioctl_sdo_upload_t)
#define EC_IOCTL_SDO_DOWNLOAD EC_IOW(0x0e, ec_ioctl_sdo_download_t)
#define EC_IOCTL_SII_READ EC_IOWR(0x0f, ec_ioctl_sii_read_t)
/*****************************************************************************/
typedef struct {
unsigned int slave_count;
uint32_t slave_count;
uint8_t mode;
struct {
uint8_t address[6];
uint8_t attached;
unsigned int tx_count;
unsigned int rx_count;
uint32_t tx_count;
uint32_t rx_count;
} devices[2];
} ec_ioctl_master_t;
/*****************************************************************************/
#define EC_IOCTL_SLAVE_NAME_SIZE 104
#define EC_IOCTL_SLAVE_NAME_SIZE 100
typedef struct {
// input
@ -98,6 +99,7 @@ typedef struct {
uint8_t state;
uint8_t sync_count;
uint16_t sdo_count;
uint32_t sii_nwords;
char name[EC_IOCTL_SLAVE_NAME_SIZE];
} ec_ioctl_slave_t;
@ -106,7 +108,7 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
unsigned int sync_index;
uint32_t sync_index;
// outputs
uint16_t physical_start_address;
@ -124,8 +126,8 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
unsigned int sync_index;
unsigned int pdo_pos;
uint32_t sync_index;
uint32_t pdo_pos;
// outputs
uint8_t dir;
@ -141,9 +143,9 @@ typedef struct {
typedef struct {
// inputs
uint16_t slave_position;
unsigned int sync_index;
unsigned int pdo_pos;
unsigned int entry_pos;
uint32_t sync_index;
uint32_t pdo_pos;
uint32_t entry_pos;
// outputs
uint16_t index;
@ -156,37 +158,37 @@ typedef struct {
typedef struct {
// inputs
unsigned int index;
uint32_t index;
// outputs
unsigned int data_size;
uint32_t data_size;
uint32_t logical_base_address;
uint16_t working_counter;
uint16_t expected_working_counter;
unsigned int fmmu_count;
uint32_t fmmu_count;
} ec_ioctl_domain_t;
/*****************************************************************************/
typedef struct {
// inputs
unsigned int domain_index;
unsigned int fmmu_index;
uint32_t domain_index;
uint32_t fmmu_index;
// outputs
uint16_t slave_config_alias;
uint16_t slave_config_position;
uint8_t fmmu_dir;
uint32_t logical_address;
unsigned int data_size;
uint32_t data_size;
} ec_ioctl_domain_fmmu_t;
/*****************************************************************************/
typedef struct {
// inputs
unsigned int domain_index;
unsigned int data_size;
uint32_t domain_index;
uint32_t data_size;
unsigned char *target;
} ec_ioctl_data_t;
@ -236,11 +238,11 @@ typedef struct {
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
unsigned int target_size;
uint32_t target_size;
uint8_t *target;
// outputs
unsigned int data_size;
uint32_t data_size;
} ec_ioctl_sdo_upload_t;
/*****************************************************************************/
@ -250,10 +252,20 @@ typedef struct {
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
unsigned int data_size;
uint32_t data_size;
uint8_t *data;
} ec_ioctl_sdo_download_t;
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t offset;
uint32_t nwords;
uint16_t *words;
} ec_ioctl_sii_read_t;
/*****************************************************************************/
#endif

41
tools/Master.cpp
View File

@ -606,6 +606,47 @@ void Master::sdoUpload(
/****************************************************************************/
void Master::siiRead(int slavePosition)
{
ec_ioctl_sii_read_t data;
ec_ioctl_slave_t slave;
unsigned int i;
if (slavePosition < 0) {
stringstream err;
err << "'sii_read' requires a slave! Please specify --slave.";
throw MasterException(err.str());
}
data.slave_position = slavePosition;
open(Read);
getSlave(&slave, slavePosition);
if (!slave.sii_nwords)
return;
data.offset = 0;
data.nwords = slave.sii_nwords;
data.words = new uint16_t[data.nwords];
if (ioctl(fd, EC_IOCTL_SII_READ, &data) < 0) {
stringstream err;
delete [] data.words;
err << "Failed to read SII: " << strerror(errno);
throw MasterException(err.str());
}
for (i = 0; i < data.nwords; i++) {
uint16_t *w = data.words + i;
cout << *(uint8_t *) w << *((uint8_t *) w + 1);
}
delete [] data.words;
}
/****************************************************************************/
void Master::requestStates(
int slavePosition,
const vector<string> &commandArgs

1
tools/Master.h
View File

@ -50,6 +50,7 @@ class Master
void listSdos(int, bool = false);
void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
void siiRead(int);
void requestStates(int, const vector<string> &);
void generateXml(int);

3
tools/main.cpp
View File

@ -41,6 +41,7 @@ void printUsage()
<< " sdos List Sdo dictionaries." << endl
<< " sdo_download (sd) Write an Sdo entry." << endl
<< " sdo_upload (su) Read an Sdo entry." << endl
<< " sii_read (sr) Output a slave's SII contents." << endl
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
@ -183,6 +184,8 @@ int main(int argc, char **argv)
master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sii_read" || command == "sr") {
master.siiRead(slavePosition);
} else if (command == "state") {
master.requestStates(slavePosition, commandArgs);
} else if (command == "xml") {