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

Implemented Sdo download via ethercat command.

This commit is contained in:
Florian Pose 2008-06-09 12:11:19 +00:00
parent 65c5cb7387
commit 4c1696d415
6 changed files with 272 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
TODO
View File

@ -10,7 +10,6 @@ Version 1.4.0:
* Slaves as array.
* Replace all Sysfs files via the new ethercat tool.
- Sdo entry value write
- Slave alias write
- Slave SII write
- Slave info (flags, mailbox, general)
@ -36,7 +35,6 @@ Future issues:
kernel threads to user space daemon with a TCP interface replacing the
cdev).
* Implement user space realtime interface via cdev.
* SDO write access from user space.
* Mailbox protocol handlers.
* Mailbox state machine using toggle bits.
* Mailbox gateway.

76
master/cdev.c
View File

@ -684,6 +684,82 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
break;
}
case EC_IOCTL_SDO_DOWNLOAD:
{
ec_ioctl_sdo_download_t data;
ec_master_sdo_request_t request;
if (!(filp->f_mode & FMODE_WRITE))
return -EPERM;
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;
}
// copy data to download
if (!data.data_size) {
EC_ERR("Zero data size!\n");
retval = -EINVAL;
break;
}
ec_sdo_request_init(&request.req);
ec_sdo_request_address(&request.req,
data.sdo_index, data.sdo_entry_subindex);
if (ec_sdo_request_alloc(&request.req, data.data_size)) {
ec_sdo_request_clear(&request.req);
retval = -ENOMEM;
break;
}
if (copy_from_user(request.req.data,
(void __user *) data.data, data.data_size)) {
ec_sdo_request_clear(&request.req);
retval = -EFAULT;
break;
}
request.req.data_size = data.data_size;
ecrt_sdo_request_write(&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;
}
ec_sdo_request_clear(&request.req);
break;
}
default:
retval = -ENOTTY;
}

12
master/ioctl.h
View File

@ -66,6 +66,7 @@
#define EC_IOCTL_SDO EC_IOWR(0x0b, ec_ioctl_sdo_t)
#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)
/*****************************************************************************/
@ -244,4 +245,15 @@ typedef struct {
/*****************************************************************************/
typedef struct {
// inputs
uint16_t slave_position;
uint16_t sdo_index;
uint8_t sdo_entry_subindex;
unsigned int data_size;
uint8_t *data;
} ec_ioctl_sdo_download_t;
/*****************************************************************************/
#endif

188
tools/Master.cpp
View File

@ -18,24 +18,33 @@ using namespace std;
#include "Master.h"
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define le16tocpu(x) x
#define le32tocpu(x) x
#elif __BYTE_ORDER == __BIG_ENDIAN
#define le16tocpu(x) \
#define swap16(x) \
((uint16_t)( \
(((uint16_t)(x) & 0x00ffU) << 8) | \
(((uint16_t)(x) & 0xff00U) >> 8) ))
#define le32tocpu(x) \
#define swap32(x) \
((uint32_t)( \
(((uint32_t)(x) & 0x000000ffUL) << 24) | \
(((uint32_t)(x) & 0x0000ff00UL) << 8) | \
(((uint32_t)(x) & 0x00ff0000UL) >> 8) | \
(((uint32_t)(x) & 0xff000000UL) >> 24) ))
#if __BYTE_ORDER == __LITTLE_ENDIAN
#define le16tocpu(x) x
#define le32tocpu(x) x
#define cputole16(x) x
#define cputole32(x) x
#elif __BYTE_ORDER == __BIG_ENDIAN
#define le16tocpu(x) swap16(x)
#define le32tocpu(x) swap32(x)
#define cputole16(x) swap16(x)
#define cputole32(x) swap32(x)
#endif
/****************************************************************************/
@ -300,6 +309,165 @@ void Master::listSdos(int slavePosition, bool quiet)
/****************************************************************************/
void Master::sdoDownload(
int slavePosition,
const string &dataTypeStr,
const vector<string> &commandArgs
)
{
stringstream strIndex, strSubIndex, strValue, err;
int number, sval;
ec_ioctl_sdo_download_t data;
unsigned int i, uval;
const CoEDataType *dataType = NULL;
if (slavePosition < 0) {
err << "'sdo_download' requires a slave! Please specify --slave.";
throw MasterException(err.str());
}
data.slave_position = slavePosition;
if (commandArgs.size() != 3) {
err << "'sdo_download' takes 3 arguments!";
throw MasterException(err.str());
}
strIndex << commandArgs[0];
strIndex >> hex >> number;
if (strIndex.fail() || number < 0x0000 || number > 0xffff) {
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) {
err << "Invalid Sdo subindex '" << commandArgs[1] << "'!";
throw MasterException(err.str());
}
data.sdo_entry_subindex = number;
if (dataTypeStr != "") { // data type specified
if (!(dataType = findDataType(dataTypeStr))) {
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;
open(Read);
try {
getSdoEntry(&entry, slavePosition,
data.sdo_index, data.sdo_entry_subindex);
} catch (MasterException &e) {
err << "Failed to determine Sdo entry data type. "
<< "Please specify --type.";
throw MasterException(err.str());
}
if (!(dataType = findDataType(entry.data_type))) {
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.data_size = dataType->byteSize;
} else {
data.data_size = DefaultBufferSize;
}
data.data = new uint8_t[data.data_size + 1];
strValue << commandArgs[2];
switch (dataType->coeCode) {
case 0x0002: // int8
strValue >> sval;
if ((uint32_t) sval > 0xff) {
delete [] data.data;
err << "Invalid value for type '"
<< dataType->name << "'!";
throw MasterException(err.str());
}
*data.data = (int8_t) sval;
break;
case 0x0003: // int16
strValue >> sval;
if ((uint32_t) sval > 0xffff) {
delete [] data.data;
err << "Invalid value for type '"
<< dataType->name << "'!";
throw MasterException(err.str());
}
*(int16_t *) data.data = cputole16(sval);
break;
case 0x0004: // int32
strValue >> sval;
*(int32_t *) data.data = cputole32(sval);
break;
case 0x0005: // uint8
strValue >> uval;
if ((uint32_t) uval > 0xff) {
delete [] data.data;
err << "Invalid value for type '"
<< dataType->name << "'!";
throw MasterException(err.str());
}
*data.data = (uint8_t) uval;
break;
case 0x0006: // uint16
strValue >> uval;
if ((uint32_t) uval > 0xffff) {
delete [] data.data;
err << "Invalid value for type '"
<< dataType->name << "'!";
throw MasterException(err.str());
}
*(uint16_t *) data.data = cputole16(uval);
break;
case 0x0007: // uint32
strValue >> uval;
*(uint32_t *) data.data = cputole32(uval);
break;
case 0x0009: // string
if (strValue.str().size() >= data.data_size) {
err << "String too big";
throw MasterException(err.str());
}
data.data_size = strValue.str().size();
strValue >> (char *) data.data;
break;
default:
break;
}
if (strValue.fail()) {
err << "Invalid value argument '" << commandArgs[2] << "'!";
throw MasterException(err.str());
}
cerr << "dt " << dataType->name << endl;
printRawData(data.data, data.data_size);
open(ReadWrite);
if (ioctl(fd, EC_IOCTL_SDO_DOWNLOAD, &data) < 0) {
stringstream err;
err << "Failed to download Sdo: " << strerror(errno);
delete [] data.data;
throw MasterException(err.str());
}
delete [] data.data;
}
/****************************************************************************/
void Master::sdoUpload(
int slavePosition,
const string &dataTypeStr,
@ -376,7 +544,7 @@ void Master::sdoUpload(
if (dataType->byteSize) {
data.target_size = dataType->byteSize;
} else {
data.target_size = DefaultTargetSize;
data.target_size = DefaultBufferSize;
}
data.target = new uint8_t[data.target_size + 1];

3
tools/Master.h
View File

@ -48,6 +48,7 @@ class Master
void showMaster();
void listPdos(int, bool = false);
void listSdos(int, bool = false);
void sdoDownload(int, const string &, const vector<string> &);
void sdoUpload(int, const string &, const vector<string> &);
void requestStates(int, const vector<string> &);
void generateXml(int);
@ -83,7 +84,7 @@ class Master
static void printRawData(const uint8_t *, unsigned int);
private:
enum {DefaultTargetSize = 1024};
enum {DefaultBufferSize = 1024};
unsigned int index;
int fd;

5
tools/main.cpp
View File

@ -39,7 +39,8 @@ void printUsage()
<< " master Show master information." << endl
<< " pdos List Pdo mapping." << endl
<< " sdos List Sdo dictionaries." << endl
<< " sdo_upload (su) Read Sdo entries." << endl
<< " sdo_download (sd) Write an Sdo entry." << endl
<< " sdo_upload (su) Read an Sdo entry." << endl
<< " state Request slave states." << endl
<< " xml Generate slave information xmls." << endl
<< "Global options:" << endl
@ -178,6 +179,8 @@ int main(int argc, char **argv)
master.listPdos(slavePosition, quiet);
} else if (command == "sdos") {
master.listSdos(slavePosition, quiet);
} else if (command == "sdo_download" || command == "sd") {
master.sdoDownload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "sdo_upload" || command == "su") {
master.sdoUpload(slavePosition, dataTypeStr, commandArgs);
} else if (command == "state") {