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ethercat
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Re-ordered slave info file.

This commit is contained in:
Florian Pose 2007-10-04 08:38:05 +00:00
parent 10655b7db3
commit c650941baf
1 changed files with 97 additions and 86 deletions
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183
master/slave.c
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@ -700,27 +700,16 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
ec_sdo_data_t *sdodata; ec_sdo_data_t *sdodata;
char str[20]; char str[20];
off += sprintf(buffer + off, "\nName: "); off += sprintf(buffer + off, "Ring position: %i\n",
slave->ring_position);
if (slave->sii_name)
off += sprintf(buffer + off, "%s", slave->sii_name);
off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
slave->sii_vendor_id);
off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
slave->sii_product_code);
off += sprintf(buffer + off, "State: "); off += sprintf(buffer + off, "State: ");
off += ec_state_string(slave->current_state, buffer + off); off += ec_state_string(slave->current_state, buffer + off);
off += sprintf(buffer + off, " ("); off += sprintf(buffer + off, " (");
off += ec_state_string(slave->requested_state, buffer + off); off += ec_state_string(slave->requested_state, buffer + off);
off += sprintf(buffer + off, ")\nFlags: %s, %s\n", off += sprintf(buffer + off, ")\n");
off += sprintf(buffer + off, "Flags: %s, %s\n\n",
slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE", slave->online_state == EC_SLAVE_ONLINE ? "online" : "OFFLINE",
slave->error_flag ? "ERROR" : "ok"); slave->error_flag ? "ERROR" : "ok");
off += sprintf(buffer + off, "Ring position: %i\n",
slave->ring_position);
off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
slave->sii_current_on_ebus);
off += sprintf(buffer + off, "Data link status:\n"); off += sprintf(buffer + off, "Data link status:\n");
for (i = 0; i < 4; i++) { for (i = 0; i < 4; i++) {
@ -744,15 +733,26 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
slave->dl_loop[i] ? "closed" : "open", slave->dl_loop[i] ? "closed" : "open",
slave->dl_signal[i] ? "Signal detected" : "No signal"); slave->dl_signal[i] ? "Signal detected" : "No signal");
} }
off += sprintf(buffer + off, "\n");
if (slave->sii_alias)
off += sprintf(buffer + off, "Configured station alias:"
" 0x%04X (%i)\n\n", slave->sii_alias, slave->sii_alias);
off += sprintf(buffer + off, "Vendor ID: 0x%08X (%u)\n",
slave->sii_vendor_id, slave->sii_vendor_id);
off += sprintf(buffer + off, "Product code: 0x%08X (%u)\n",
slave->sii_product_code, slave->sii_product_code);
off += sprintf(buffer + off, "Revision number: 0x%08X (%u)\n",
slave->sii_revision_number, slave->sii_revision_number);
off += sprintf(buffer + off, "Serial number: 0x%08X (%u)\n\n",
slave->sii_serial_number, slave->sii_serial_number);
if (slave->sii_mailbox_protocols) { if (slave->sii_mailbox_protocols) {
off += sprintf(buffer + off, "\nMailboxes:\n"); off += sprintf(buffer + off, "Mailboxes:\n");
off += sprintf(buffer + off, " RX mailbox: 0x%04X/%i," off += sprintf(buffer + off, " RX: 0x%04X/%u, TX: 0x%04X/%u\n",
" TX mailbox: 0x%04X/%i\n", slave->sii_rx_mailbox_offset, slave->sii_rx_mailbox_size,
slave->sii_rx_mailbox_offset, slave->sii_tx_mailbox_offset, slave->sii_tx_mailbox_size);
slave->sii_rx_mailbox_size,
slave->sii_tx_mailbox_offset,
slave->sii_tx_mailbox_size);
off += sprintf(buffer + off, " Supported protocols: "); off += sprintf(buffer + off, " Supported protocols: ");
first = 1; first = 1;
@ -784,95 +784,106 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
if (!first) off += sprintf(buffer + off, ", "); if (!first) off += sprintf(buffer + off, ", ");
off += sprintf(buffer + off, "VoE"); off += sprintf(buffer + off, "VoE");
} }
off += sprintf(buffer + off, "\n\n");
}
off += sprintf(buffer + off, "Current consumption: %i mA\n\n",
slave->sii_current_on_ebus);
if (slave->sii_group || slave->sii_image || slave->sii_order
|| slave->sii_name) {
off += sprintf(buffer + off, "General:\n");
if (slave->sii_group)
off += sprintf(buffer + off, " Group: %s\n", slave->sii_group);
if (slave->sii_image)
off += sprintf(buffer + off, " Image: %s\n", slave->sii_image);
if (slave->sii_order)
off += sprintf(buffer + off, " Order number: %s\n",
slave->sii_order);
if (slave->sii_name)
off += sprintf(buffer + off, " Name: %s\n", slave->sii_name);
off += sprintf(buffer + off, "\n"); off += sprintf(buffer + off, "\n");
} }
if (slave->sii_alias || slave->sii_group if (slave->sii_sync_count) {
|| slave->sii_image || slave->sii_order) off += sprintf(buffer + off, "Sync managers / PDO mapping:\n");
off += sprintf(buffer + off, "\nSII data:\n");
if (slave->sii_alias) for (i = 0; i < slave->sii_sync_count; i++) {
off += sprintf(buffer + off, " Configured station alias:" sync = &slave->sii_syncs[i];
" 0x%04X (%i)\n", slave->sii_alias, slave->sii_alias); off += sprintf(buffer + off,
if (slave->sii_group) " SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n",
off += sprintf(buffer + off, " Group: %s\n", slave->sii_group); sync->index, sync->physical_start_address,
if (slave->sii_image) ec_sync_size(sync), sync->control_register,
off += sprintf(buffer + off, " Image: %s\n", slave->sii_image); sync->enable ? "enable" : "disable");
if (slave->sii_order)
off += sprintf(buffer + off, " Order number: %s\n", slave->sii_order);
if (slave->sii_sync_count) if (list_empty(&sync->pdos)) {
off += sprintf(buffer + off, "\nSync managers / PDO mapping:\n"); off += sprintf(buffer + off, " No PDOs mapped.\n");
} else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) {
off += sprintf(buffer + off,
" PDO mapping information from %s.\n",
sync->mapping_source == EC_SYNC_MAPPING_SII
? "SII" : "CoE");
}
for (i = 0; i < slave->sii_sync_count; i++) { list_for_each_entry(pdo, &sync->pdos, list) {
sync = &slave->sii_syncs[i]; off += sprintf(buffer + off, " %s 0x%04X \"%s\"\n",
off += sprintf(buffer + off, pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
" SM%u: addr 0x%04X, size %i, control 0x%02X, %s\n", pdo->index, pdo->name ? pdo->name : "???");
sync->index, sync->physical_start_address,
ec_sync_size(sync), sync->control_register,
sync->enable ? "enable" : "disable");
if (list_empty(&sync->pdos)) { list_for_each_entry(pdo_entry, &pdo->entries, list) {
off += sprintf(buffer + off, " No PDOs mapped.\n"); off += sprintf(buffer + off,
} else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) { " 0x%04X:%X \"%s\", %i bit\n",
off += sprintf(buffer + off, " PDO mapping information from %s.\n", pdo_entry->index, pdo_entry->subindex,
sync->mapping_source == EC_SYNC_MAPPING_SII ? "SII" : "CoE"); pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
}
}
} }
off += sprintf(buffer + off, "\n");
}
list_for_each_entry(pdo, &sync->pdos, list) { // type-cast to avoid warnings on some compilers
off += sprintf(buffer + off, " %s 0x%04X \"%s\"\n", if (!list_empty((struct list_head *) &slave->sii_pdos)) {
off += sprintf(buffer + off, "Available PDOs from SII:\n");
list_for_each_entry(pdo, &slave->sii_pdos, list) {
off += sprintf(buffer + off, " %s 0x%04X \"%s\"",
pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo", pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo",
pdo->index, pdo->name ? pdo->name : "???"); pdo->index, pdo->name ? pdo->name : "???");
if (pdo->sync_index >= 0)
off += sprintf(buffer + off, ", default mapping: SM%u.\n",
pdo->sync_index);
else
off += sprintf(buffer + off, ", no default mapping.\n");
list_for_each_entry(pdo_entry, &pdo->entries, list) { list_for_each_entry(pdo_entry, &pdo->entries, list) {
off += sprintf(buffer + off, off += sprintf(buffer + off, " 0x%04X:%X \"%s\", %i bit\n",
" 0x%04X:%X \"%s\", %i bit\n",
pdo_entry->index, pdo_entry->subindex, pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???", pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length); pdo_entry->bit_length);
} }
} }
off += sprintf(buffer + off, "\n");
} }
// type-cast to avoid warnings on some compilers // type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &slave->sii_pdos)) if (!list_empty((struct list_head *) &slave->sdo_confs)) {
off += sprintf(buffer + off, "\nAvailable PDOs from SII:\n"); off += sprintf(buffer + off, "SDO configurations:\n");
list_for_each_entry(pdo, &slave->sii_pdos, list) { list_for_each_entry(sdodata, &slave->sdo_confs, list) {
off += sprintf(buffer + off, " %s 0x%04X \"%s\"", switch (sdodata->size) {
pdo->type == EC_RX_PDO ? "RxPdo" : "TxPdo", case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
pdo->index, pdo->name ? pdo->name : "???"); case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
if (pdo->sync_index >= 0) case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
off += sprintf(buffer + off, ", default mapping: SM%u.\n", default: sprintf(str, "(invalid size)"); break;
pdo->sync_index); }
else off += sprintf(buffer + off, " 0x%04X:%-3i -> %s\n",
off += sprintf(buffer + off, ", no default mapping.\n"); sdodata->index, sdodata->subindex, str);
list_for_each_entry(pdo_entry, &pdo->entries, list) {
off += sprintf(buffer + off, " 0x%04X:%X \"%s\", %i bit\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
} }
off += sprintf(buffer + off, "\n");
} }
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &slave->sdo_confs))
off += sprintf(buffer + off, "\nSDO configurations:\n");
list_for_each_entry(sdodata, &slave->sdo_confs, list) {
switch (sdodata->size) {
case 1: sprintf(str, "%i", EC_READ_U8(sdodata->data)); break;
case 2: sprintf(str, "%i", EC_READ_U16(sdodata->data)); break;
case 4: sprintf(str, "%i", EC_READ_U32(sdodata->data)); break;
default: sprintf(str, "(invalid size)"); break;
}
off += sprintf(buffer + off, " 0x%04X:%-3i -> %s\n",
sdodata->index, sdodata->subindex, str);
}
off += sprintf(buffer + off, "\n");
return off; return off;
} }