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ethercat
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Output IDN configuration as part of 'ethercat config -v'.

This commit is contained in:
Florian Pose 2010-10-24 08:43:44 +02:00
parent 19a1a019ea
commit 869215071e
15 changed files with 239 additions and 63 deletions
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1
TODO
View File

@ -30,7 +30,6 @@ Future issues:
* Read AL status code on spontaneous state change.
* recompile tool/CommandVersion.cpp if revision changes.
* Log SoE IDNs with real name ([SP]-x-yyyy).
* Output SoE IDN configurations in 'ethercat config'.
* Only output watchdog config if not default.
* Implement CompleteAccess for SDO uploads.
* Output warning when send_ext() is called in illegal context.

53
master/cdev.c
View File

@ -1349,6 +1349,7 @@ int ec_cdev_ioctl_config(
data.watchdog_divider = sc->watchdog_divider;
data.watchdog_intervals = sc->watchdog_intervals;
data.sdo_count = ec_slave_config_sdo_count(sc);
data.idn_count = ec_slave_config_idn_count(sc);
data.slave_position = sc->slave ? sc->slave->ring_position : -1;
data.dc_assign_activate = sc->dc_assign_activate;
for (i = 0; i < EC_SYNC_SIGNAL_COUNT; i++) {
@ -1531,6 +1532,56 @@ int ec_cdev_ioctl_config_sdo(
/*****************************************************************************/
/** Get slave configuration IDN information.
*/
int ec_cdev_ioctl_config_idn(
ec_master_t *master, /**< EtherCAT master. */
unsigned long arg /**< ioctl() argument. */
)
{
ec_ioctl_config_idn_t data;
const ec_slave_config_t *sc;
const ec_soe_request_t *req;
if (copy_from_user(&data, (void __user *) arg, sizeof(data))) {
return -EFAULT;
}
if (down_interruptible(&master->master_sem))
return -EINTR;
if (!(sc = ec_master_get_config_const(
master, data.config_index))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Slave config %u does not exist!\n",
data.config_index);
return -EINVAL;
}
if (!(req = ec_slave_config_get_idn_by_pos_const(
sc, data.idn_pos))) {
up(&master->master_sem);
EC_MASTER_ERR(master, "Invalid IDN position!\n");
return -EINVAL;
}
data.drive_no = req->drive_no;
data.idn = req->idn;
data.state = req->state;
data.size = req->data_size;
memcpy(&data.data, req->data,
min((u32) data.size, (u32) EC_MAX_IDN_DATA_SIZE));
up(&master->master_sem);
if (copy_to_user((void __user *) arg, &data, sizeof(data)))
return -EFAULT;
return 0;
}
/*****************************************************************************/
#ifdef EC_EOE
/** Get EoE handler information.
@ -3564,6 +3615,8 @@ long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
return ec_cdev_ioctl_config_pdo_entry(master, arg);
case EC_IOCTL_CONFIG_SDO:
return ec_cdev_ioctl_config_sdo(master, arg);
case EC_IOCTL_CONFIG_IDN:
return ec_cdev_ioctl_config_idn(master, arg);
#ifdef EC_EOE
case EC_IOCTL_EOE_HANDLER:
return ec_cdev_ioctl_eoe_handler(master, arg);

112
master/ioctl.h
View File

@ -56,7 +56,7 @@
*
* Increment this when changing the ioctl interface!
*/
#define EC_IOCTL_VERSION_MAGIC 8
#define EC_IOCTL_VERSION_MAGIC 9
// Command-line tool
#define EC_IOCTL_MODULE EC_IOR(0x00, ec_ioctl_module_t)
@ -87,54 +87,55 @@
#define EC_IOCTL_CONFIG_PDO EC_IOWR(0x19, ec_ioctl_config_pdo_t)
#define EC_IOCTL_CONFIG_PDO_ENTRY EC_IOWR(0x1a, ec_ioctl_config_pdo_entry_t)
#define EC_IOCTL_CONFIG_SDO EC_IOWR(0x1b, ec_ioctl_config_sdo_t)
#define EC_IOCTL_CONFIG_IDN EC_IOWR(0x1c, ec_ioctl_config_idn_t)
#ifdef EC_EOE
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1c, ec_ioctl_eoe_handler_t)
#define EC_IOCTL_EOE_HANDLER EC_IOWR(0x1d, ec_ioctl_eoe_handler_t)
#endif
// Application interface
#define EC_IOCTL_REQUEST EC_IO(0x1d)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1e)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x1f, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x20, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x21)
#define EC_IOCTL_SEND EC_IO(0x22)
#define EC_IOCTL_RECEIVE EC_IO(0x23)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x24, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x25, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x26)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x27)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x29, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2a, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2c, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2d, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2e, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x2f, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x20, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x31, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x32, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x33, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x34, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x35, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x36, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x37)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x38)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x39)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3a, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3b, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x40, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x47, size_t)
#define EC_IOCTL_REQUEST EC_IO(0x1e)
#define EC_IOCTL_CREATE_DOMAIN EC_IO(0x1f)
#define EC_IOCTL_CREATE_SLAVE_CONFIG EC_IOWR(0x10, ec_ioctl_config_t)
#define EC_IOCTL_ACTIVATE EC_IOR(0x21, size_t)
#define EC_IOCTL_DEACTIVATE EC_IO(0x22)
#define EC_IOCTL_SEND EC_IO(0x23)
#define EC_IOCTL_RECEIVE EC_IO(0x24)
#define EC_IOCTL_MASTER_STATE EC_IOR(0x25, ec_master_state_t)
#define EC_IOCTL_APP_TIME EC_IOW(0x26, ec_ioctl_app_time_t)
#define EC_IOCTL_SYNC_REF EC_IO(0x27)
#define EC_IOCTL_SYNC_SLAVES EC_IO(0x28)
#define EC_IOCTL_SYNC_MON_QUEUE EC_IO(0x29)
#define EC_IOCTL_SYNC_MON_PROCESS EC_IOR(0x2a, uint32_t)
#define EC_IOCTL_SC_SYNC EC_IOW(0x2b, ec_ioctl_config_t)
#define EC_IOCTL_SC_WATCHDOG EC_IOW(0x2c, ec_ioctl_config_t)
#define EC_IOCTL_SC_ADD_PDO EC_IOW(0x2d, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_CLEAR_PDOS EC_IOW(0x2e, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_ADD_ENTRY EC_IOW(0x2f, ec_ioctl_add_pdo_entry_t)
#define EC_IOCTL_SC_CLEAR_ENTRIES EC_IOW(0x20, ec_ioctl_config_pdo_t)
#define EC_IOCTL_SC_REG_PDO_ENTRY EC_IOWR(0x21, ec_ioctl_reg_pdo_entry_t)
#define EC_IOCTL_SC_DC EC_IOW(0x32, ec_ioctl_config_t)
#define EC_IOCTL_SC_SDO EC_IOW(0x33, ec_ioctl_sc_sdo_t)
#define EC_IOCTL_SC_SDO_REQUEST EC_IOWR(0x34, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SC_VOE EC_IOWR(0x35, ec_ioctl_voe_t)
#define EC_IOCTL_SC_STATE EC_IOWR(0x36, ec_ioctl_sc_state_t)
#define EC_IOCTL_SC_IDN EC_IOW(0x37, ec_ioctl_sc_idn_t)
#define EC_IOCTL_DOMAIN_OFFSET EC_IO(0x38)
#define EC_IOCTL_DOMAIN_PROCESS EC_IO(0x39)
#define EC_IOCTL_DOMAIN_QUEUE EC_IO(0x3a)
#define EC_IOCTL_DOMAIN_STATE EC_IOWR(0x3b, ec_ioctl_domain_state_t)
#define EC_IOCTL_SDO_REQUEST_TIMEOUT EC_IOWR(0x3c, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_STATE EC_IOWR(0x3d, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_READ EC_IOWR(0x3e, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_WRITE EC_IOWR(0x3f, ec_ioctl_sdo_request_t)
#define EC_IOCTL_SDO_REQUEST_DATA EC_IOWR(0x30, ec_ioctl_sdo_request_t)
#define EC_IOCTL_VOE_SEND_HEADER EC_IOW(0x41, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_REC_HEADER EC_IOWR(0x42, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ EC_IOW(0x43, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_READ_NOSYNC EC_IOW(0x44, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_WRITE EC_IOWR(0x45, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_EXEC EC_IOWR(0x46, ec_ioctl_voe_t)
#define EC_IOCTL_VOE_DATA EC_IOWR(0x47, ec_ioctl_voe_t)
#define EC_IOCTL_SET_SEND_INTERVAL EC_IOW(0x48, size_t)
/*****************************************************************************/
@ -458,6 +459,7 @@ typedef struct {
uint16_t watchdog_divider;
uint16_t watchdog_intervals;
uint32_t sdo_count;
uint32_t idn_count;
int32_t slave_position;
uint16_t dc_assign_activate;
ec_sync_signal_t dc_sync[EC_SYNC_SIGNAL_COUNT];
@ -514,6 +516,26 @@ typedef struct {
/*****************************************************************************/
/** Maximum size for displayed IDN data.
* \todo Make this dynamic.
*/
#define EC_MAX_IDN_DATA_SIZE 1024
typedef struct {
// inputs
uint32_t config_index;
uint32_t idn_pos;
// outputs
uint8_t drive_no;
uint16_t idn;
ec_al_state_t state;
uint32_t size;
uint8_t data[EC_MAX_IDN_DATA_SIZE];
} ec_ioctl_config_idn_t;
/*****************************************************************************/
#ifdef EC_EOE
typedef struct {

45
master/slave_config.c
View File

@ -371,6 +371,48 @@ const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
/*****************************************************************************/
/** Get the number of IDN configurations.
*
* \return Number of SDO configurations.
*/
unsigned int ec_slave_config_idn_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)
{
const ec_soe_request_t *req;
unsigned int count = 0;
list_for_each_entry(req, &sc->soe_configs, list) {
count++;
}
return count;
}
/*****************************************************************************/
/** Finds an IDN configuration via its position in the list.
*
* Const version.
*/
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *sc, /**< Slave configuration. */
unsigned int pos /**< Position in the list. */
)
{
const ec_soe_request_t *req;
list_for_each_entry(req, &sc->soe_configs, list) {
if (pos--)
continue;
return req;
}
return NULL;
}
/*****************************************************************************/
/** Finds a VoE handler via its position in the list.
*/
ec_sdo_request_t *ec_slave_config_find_sdo_request(
@ -951,7 +993,8 @@ int ecrt_slave_config_idn(ec_slave_config_t *sc, uint8_t drive_no,
__func__, sc, drive_no, idn, state, data, size);
if (drive_no > 7) {
EC_CONFIG_ERR(sc, "Invalid drive number!\n");
EC_CONFIG_ERR(sc, "Invalid drive number %u!\n",
(unsigned int) drive_no);
return -EINVAL;
}

3
master/slave_config.h
View File

@ -160,6 +160,9 @@ void ec_slave_config_load_default_sync_config(ec_slave_config_t *);
unsigned int ec_slave_config_sdo_count(const ec_slave_config_t *);
const ec_sdo_request_t *ec_slave_config_get_sdo_by_pos_const(
const ec_slave_config_t *, unsigned int);
unsigned int ec_slave_config_idn_count(const ec_slave_config_t *);
const ec_soe_request_t *ec_slave_config_get_idn_by_pos_const(
const ec_slave_config_t *, unsigned int);
ec_sdo_request_t *ec_slave_config_find_sdo_request(ec_slave_config_t *,
unsigned int);
ec_voe_handler_t *ec_slave_config_find_voe_handler(ec_slave_config_t *,

29
tool/CommandConfig.cpp
View File

@ -153,6 +153,7 @@ void CommandConfig::showDetailedConfigs(
ec_ioctl_config_pdo_t pdo;
ec_ioctl_config_pdo_entry_t entry;
ec_ioctl_config_sdo_t sdo;
ec_ioctl_config_idn_t idn;
string indent(doIndent ? " " : "");
for (configIter = configList.begin();
@ -259,6 +260,34 @@ void CommandConfig::showDetailedConfigs(
cout << indent << " None." << endl;
}
cout << indent << "IDN configuration:" << endl;
if (configIter->idn_count) {
for (j = 0; j < configIter->idn_count; j++) {
m.getConfigIdn(&idn, configIter->config_index, j);
cout << indent << " Drive " << (unsigned int) idn.drive_no
<< ", " << outputIdn(idn.idn)
<< ", " << dec << idn.size << " byte" << endl;
cout << indent << " " << hex << setfill('0');
for (i = 0; i < min((uint32_t) idn.size,
(uint32_t) EC_MAX_IDN_DATA_SIZE); i++) {
cout << setw(2) << (unsigned int) idn.data[i];
if ((i + 1) % 16 == 0 && i < idn.size - 1) {
cout << endl << indent << " ";
} else {
cout << " ";
}
}
cout << endl;
if (idn.size > EC_MAX_IDN_DATA_SIZE) {
cout << indent << " ..." << endl;
}
}
} else {
cout << indent << " None." << endl;
}
if (configIter->dc_assign_activate) {
int i;

4
tool/CommandConfig.h
View File

@ -34,11 +34,13 @@
using namespace std;
#include "Command.h"
#include "SoeCommand.h"
/****************************************************************************/
class CommandConfig:
public Command
public Command,
public SoeCommand
{
public:
CommandConfig();

2
tool/CommandSoeRead.cpp
View File

@ -36,7 +36,7 @@ using namespace std;
/*****************************************************************************/
CommandSoeRead::CommandSoeRead():
SoeCommand("soe_read", "Read an SoE IDN from a slave.")
Command("soe_read", "Read an SoE IDN from a slave.")
{
}

2
tool/CommandSoeRead.h
View File

@ -35,6 +35,8 @@
/****************************************************************************/
class CommandSoeRead:
public Command,
public DataTypeHandler,
public SoeCommand
{
public:

2
tool/CommandSoeWrite.cpp
View File

@ -36,7 +36,7 @@ using namespace std;
/*****************************************************************************/
CommandSoeWrite::CommandSoeWrite():
SoeCommand("soe_write", "Write an SoE IDN to a slave.")
Command("soe_write", "Write an SoE IDN to a slave.")
{
}

2
tool/CommandSoeWrite.h
View File

@ -35,6 +35,8 @@
/****************************************************************************/
class CommandSoeWrite:
public Command,
public DataTypeHandler,
public SoeCommand
{
public:

18
tool/MasterDevice.cpp
View File

@ -200,6 +200,24 @@ void MasterDevice::getConfigSdo(
/****************************************************************************/
void MasterDevice::getConfigIdn(
ec_ioctl_config_idn_t *data,
unsigned int index,
unsigned int pos
)
{
data->config_index = index;
data->idn_pos = pos;
if (ioctl(fd, EC_IOCTL_CONFIG_IDN, data) < 0) {
stringstream err;
err << "Failed to get slave config IDN: " << strerror(errno);
throw MasterDeviceException(err);
}
}
/****************************************************************************/
void MasterDevice::getDomain(ec_ioctl_domain_t *data, unsigned int index)
{
data->index = index;

1
tool/MasterDevice.h
View File

@ -116,6 +116,7 @@ class MasterDevice
void getConfigPdoEntry(ec_ioctl_config_pdo_entry_t *, unsigned int,
uint8_t, uint16_t, uint8_t);
void getConfigSdo(ec_ioctl_config_sdo_t *, unsigned int, unsigned int);
void getConfigIdn(ec_ioctl_config_idn_t *, unsigned int, unsigned int);
void getDomain(ec_ioctl_domain_t *, unsigned int);
void getFmmu(ec_ioctl_domain_fmmu_t *, unsigned int, unsigned int);
void getData(ec_ioctl_domain_data_t *, unsigned int, unsigned int,

20
tool/SoeCommand.cpp
View File

@ -36,13 +36,6 @@ extern const ec_code_msg_t soe_error_codes[];
/*****************************************************************************/
SoeCommand::SoeCommand(const string &name, const string &briefDesc):
Command(name, briefDesc)
{
}
/*****************************************************************************/
uint16_t SoeCommand::parseIdn(const string &str)
{
uint16_t idn = 0x0000;
@ -109,6 +102,19 @@ uint16_t SoeCommand::parseIdn(const string &str)
/*****************************************************************************/
string SoeCommand::outputIdn(uint16_t idn)
{
stringstream str;
str << ((idn & 0x8000) ? 'P' : 'S')
<< "-" << ((idn >> 12) & 0x07)
<< "-" << setfill('0') << setw(4) << (idn & 0x0fff);
return str.str();
}
/*****************************************************************************/
/** Outputs an SoE error code.
*/
std::string SoeCommand::errorMsg(uint16_t code)

8
tool/SoeCommand.h
View File

@ -37,15 +37,11 @@
/****************************************************************************/
class SoeCommand:
public Command,
public DataTypeHandler
class SoeCommand
{
public:
SoeCommand(const string &, const string &);
protected:
static uint16_t parseIdn(const string &);
static std::string outputIdn(uint16_t);
static std::string errorMsg(uint16_t);
};