slaveinfo.c

Go to the documentation of this file.

/** \file
 * \brief Example code for Simple Open EtherCAT master
 *
 * Usage : slaveinfo [ifname] [-sdo]
 * Ifname is NIC interface, f.e. eth0.
 * Optional -sdo to display CoE object dictionary.
 *
 * This shows the configured slave data.
 *
 * (c)Arthur Ketels 2010 - 2011
 */

#include <stdio.h>
#include <string.h>

#include "ethercattype.h"
#include "nicdrv.h"
#include "ethercatbase.h"
#include "ethercatmain.h"
#include "ethercatconfig.h"
#include "ethercatcoe.h"
#include "ethercatdc.h"
#include "ethercatprint.h"

char IOmap[4096];
ec_ODlistt ODlist;
ec_OElistt OElist;
boolean printSDO = FALSE;
char usdo[128];
char hstr[1024];

char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
{
  int l = sizeof(usdo) - 1, i;
  uint8 *u8;
  int8 *i8;
  uint16 *u16;
  int16 *i16;
  uint32 *u32;
  int32 *i32;
  uint64 *u64;
  int64 *i64;
  float *sr;
  double *dr;
  char es[32];

  memset(&usdo, 0, 128);
  ec_SDOread(slave, index, subidx, FALSE, &l, &usdo, EC_TIMEOUTRXM);
  if (EcatError)
  {
    return ec_elist2string();
  }
  else
  {
    switch(dtype)
    {
      case ECT_BOOLEAN:
        u8 = (uint8*) &usdo[0];
        if (*u8) sprintf(hstr, "TRUE"); 
         else sprintf(hstr, "FALSE");
        break;
      case ECT_INTEGER8:
        i8 = (int8*) &usdo[0];
        sprintf(hstr, "0x%2.2x %d", *i8, *i8); 
        break;
      case ECT_INTEGER16:
        i16 = (int16*) &usdo[0];
        sprintf(hstr, "0x%4.4x %d", *i16, *i16); 
        break;
      case ECT_INTEGER32:
      case ECT_INTEGER24:
        i32 = (int32*) &usdo[0];
        sprintf(hstr, "0x%8.8x %d", *i32, *i32); 
        break;
      case ECT_INTEGER64:
        i64 = (int64*) &usdo[0];
        sprintf(hstr, "0x%16.16llx %lld", *i64, *i64); 
        break;
      case ECT_UNSIGNED8:
        u8 = (uint8*) &usdo[0];
        sprintf(hstr, "0x%2.2x %u", *u8, *u8); 
        break;
      case ECT_UNSIGNED16:
        u16 = (uint16*) &usdo[0];
        sprintf(hstr, "0x%4.4x %u", *u16, *u16); 
        break;
      case ECT_UNSIGNED32:
      case ECT_UNSIGNED24:
        u32 = (uint32*) &usdo[0];
        sprintf(hstr, "0x%8.8x %u", *u32, *u32); 
        break;
      case ECT_UNSIGNED64:
        u64 = (uint64*) &usdo[0];
        sprintf(hstr, "0x%16.16llx %llu", *u64, *u64); 
        break;
      case ECT_REAL32:
        sr = (float*) &usdo[0];
        sprintf(hstr, "%f", *sr); 
        break;
      case ECT_REAL64:
        dr = (double*) &usdo[0];
        sprintf(hstr, "%f", *dr); 
        break;
      case ECT_BIT1:
      case ECT_BIT2:
      case ECT_BIT3:
      case ECT_BIT4:
      case ECT_BIT5:
      case ECT_BIT6:
      case ECT_BIT7:
      case ECT_BIT8:
        u8 = (uint8*) &usdo[0];
        sprintf(hstr, "0x%x", *u8); 
        break;
      case ECT_VISIBLE_STRING:
        strcpy(hstr, usdo);
        break;
      case ECT_OCTET_STRING:
        hstr[0] = 0x00;
        for (i = 0 ; i < l ; i++)
        { 
          sprintf(es, "0x%2.2x ", usdo[i]);
          strcat( hstr, es);
        }
        break;
      default:
        sprintf(hstr, "Unknown type");
    }
    return hstr;
  }
}

void slaveinfo(char *ifname)
{
  int cnt, i, j, nSM;
  uint16 ssigen, dtype;
  
  printf("Starting slaveinfo\n");
  
  /* initialise SOEM, bind socket to ifname */
  if (ec_init(ifname))
  { 
    printf("ec_init on %s succeeded.\n",ifname);
    /* find and auto-config slaves */
    if ( ec_config(FALSE, &IOmap) > 0 )
    {
      printf("%d slaves found and configured.\n",ec_slavecount);
      printf("Calculated workcounter %d\n",ec_group[0].expectedWKC);
      /* wait for all slaves to reach SAFE_OP state */
      ec_statecheck(0, EC_STATE_SAFE_OP,  EC_TIMEOUTSTATE * 3);
      if (ec_slave[0].state != EC_STATE_SAFE_OP )
      {
        printf("Not all slaves reached safe operational state.\n");
        ec_readstate();
        for(i = 1; i<=ec_slavecount ; i++)
        {
          if(ec_slave[i].state != EC_STATE_SAFE_OP)
          {
            printf("Slave %d State=%2x StatusCode=%4x : %s\n",
              i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode));
          }
        }
      }
      
      ec_configdc();
      
      ec_readstate();
      for( cnt = 1 ; cnt <= ec_slavecount ; cnt++)
      {
        printf("\nSlave:%d\n Name:%s\n Output size: %dbits\n Input size: %dbits\n State: %d\n Delay: %d[ns]\n Has DC: %d\n",
             cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits,
             ec_slave[cnt].state, ec_slave[cnt].pdelay, ec_slave[cnt].hasdc);
        if (ec_slave[cnt].hasdc) printf(" DCParentport:%d\n", ec_slave[cnt].parentport);
        printf(" Activeports:%d.%d.%d.%d\n", (ec_slave[cnt].activeports & 0x01) > 0 ,
                             (ec_slave[cnt].activeports & 0x02) > 0 , 
                             (ec_slave[cnt].activeports & 0x04) > 0 , 
                             (ec_slave[cnt].activeports & 0x08) > 0 );
        printf(" Configured address: %4.4x\n", ec_slave[cnt].configadr);
        printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ec_slave[cnt].eep_man, (int)ec_slave[cnt].eep_id, (int)ec_slave[cnt].eep_rev);
        for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
        {
          if(ec_slave[cnt].SM[nSM].StartAddr > 0)
            printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ec_slave[cnt].SM[nSM].StartAddr, ec_slave[cnt].SM[nSM].SMlength,
                  (int)ec_slave[cnt].SM[nSM].SMflags, ec_slave[cnt].SMtype[nSM]);
        }
        for(j = 0 ; j < ec_slave[cnt].FMMUunused ; j++)
        {
          printf(" FMMU%1d Ls:%8.8x Ll:%4d Lsb:%d Leb:%d Ps:%4.4x Psb:%d Ty:%2.2x Act:%2.2x\n", j,
                 (int)ec_slave[cnt].FMMU[j].LogStart, ec_slave[cnt].FMMU[j].LogLength, ec_slave[cnt].FMMU[j].LogStartbit,
                 ec_slave[cnt].FMMU[j].LogEndbit, ec_slave[cnt].FMMU[j].PhysStart, ec_slave[cnt].FMMU[j].PhysStartBit,
                 ec_slave[cnt].FMMU[j].FMMUtype, ec_slave[cnt].FMMU[j].FMMUactive);
        }
        printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
                 ec_slave[cnt].FMMU0func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU2func, ec_slave[cnt].FMMU3func);
        printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ec_slave[cnt].mbx_l, ec_slave[cnt].mbx_rl, ec_slave[cnt].mbx_proto);
        ssigen = ec_siifind(cnt, ECT_SII_GENERAL);
        /* SII general section */
        if (ssigen)
                {
          ec_slave[cnt].CoEdetails = ec_siigetbyte(cnt, ssigen + 0x07);
          ec_slave[cnt].FoEdetails = ec_siigetbyte(cnt, ssigen + 0x08);
          ec_slave[cnt].EoEdetails = ec_siigetbyte(cnt, ssigen + 0x09);
          ec_slave[cnt].SoEdetails = ec_siigetbyte(cnt, ssigen + 0x0a);
          if((ec_siigetbyte(cnt, ssigen + 0x0d) & 0x02) > 0)
          {
            ec_slave[cnt].blockLRW = 1;
            ec_slave[0].blockLRW++;           
          } 
          ec_slave[cnt].Ebuscurrent = ec_siigetbyte(cnt, ssigen + 0x0e);
          ec_slave[cnt].Ebuscurrent += ec_siigetbyte(cnt, ssigen + 0x0f) << 8;
          ec_slave[0].Ebuscurrent += ec_slave[cnt].Ebuscurrent;
                }
        printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
               ec_slave[cnt].CoEdetails, ec_slave[cnt].FoEdetails, ec_slave[cnt].EoEdetails, ec_slave[cnt].SoEdetails);
        printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
               ec_slave[cnt].Ebuscurrent, ec_slave[cnt].blockLRW);
        if ((ec_slave[cnt].mbx_proto & 0x04) && printSDO)
        {
          ODlist.Entries = 0;
          memset(&ODlist, 0, sizeof(ODlist));
          if( ec_readODlist(cnt, &ODlist))
          {
            printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
            for( i = 0 ; i < ODlist.Entries ; i++)
            {
              ec_readODdescription(i, &ODlist); 
              while(EcatError)
              {
                printf("%s", ec_elist2string());
              }
              printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n",
                   ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]);
              memset(&OElist, 0, sizeof(OElist));
              ec_readOE(i, &ODlist, &OElist);
              while(EcatError)
              {
                printf("%s", ec_elist2string());
              }
              for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
              {
                if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0))
                {
                  printf("  Sub: %2.2x Datatype: %4.4x Bitlength: %4.4x Obj.access: %4.4x Name: %s\n",
                     j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]);
                  if ((OElist.ObjAccess[j] & 0x0007))
                  {
                    dtype = OElist.DataType[j];
                    printf("          Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
                  }
                }
              } 
            } 
          }
          else
          {
            while(EcatError)
            {
              printf("%s", ec_elist2string());
            }
          }
        } 
      } 
    }
    else
    {
      printf("No slaves found!\n");
    }
    printf("End slaveinfo, close socket\n");
    /* stop SOEM, close socket */
    ec_close();
  }
  else
  {
    printf("No socket connection on %s\nExcecute as root\n",ifname);
  } 
} 

int main(int argc, char *argv[])
{
  printf("SOEM (Simple Open EtherCAT Master)\nSlaveinfo\n");
  
  if (argc > 1)
  {   
    if ((argc > 2) && (strncmp(argv[2], "-sdo", sizeof("-sdo")) == 0)) printSDO = TRUE;
    /* start slaveinfo */
    slaveinfo(argv[1]);
  }
  else
  {
    printf("Usage: slaveinfo ifname [options]\nifname = eth0 for example\nOptions : -sdo : print SDO info\n");
  } 
  
  printf("End program\n");
  return (0);
}