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ethercat
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Read SDO entry access rights.

This commit is contained in:
Florian Pose 2009-04-08 08:13:33 +00:00
parent 19d7da4ad3
commit da1c5588de
8 changed files with 62 additions and 4 deletions
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1
NEWS
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@ -27,6 +27,7 @@ Changes since 1.4.0:
* 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:

12
master/cdev.c
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@ -720,6 +720,18 @@ int ec_cdev_ioctl_slave_sdo_entry(
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);

12
master/fsm_coe.c
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@ -773,7 +773,7 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
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 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
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 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
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))) {

11
master/globals.h
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@ -174,6 +174,17 @@ typedef enum {
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.

2
master/ioctl.h
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@ -288,6 +288,8 @@ typedef struct {
// 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;

6
master/sdo_entry.c
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@ -52,6 +52,12 @@ void ec_sdo_entry_init(
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;
}

2
master/sdo_entry.h
View File

@ -57,6 +57,8 @@ typedef struct {
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;

20
tool/CommandSdos.cpp
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@ -58,11 +58,18 @@ string CommandSdos::helpString() const
<< " 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 @@ void CommandSdos::listSlaveSdos(
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))) {