/** Non blocking read of socket. Put frame in temporary buffer.
* @param[in] stacknumber = 0=primary 1=secondary stack
* @return >0 if frame is available and read
*/
static int ecx_recvpkt(ecx_portt *port, int stacknumber)
{
HPEBUFFER *rxbuffer;
HPESTATUS status;
ec_stackT *stack;
int bytesrx = 0;
if (!stacknumber)
{
stack = &(port->stack);
}
else
{
stack = &(port->redport->stack);
}
log_RT_event('R',(WORD)2);
status = hpeGetReceiveBuffer(port->handle, &rxbuffer);
if (status == E_OK)
{
memcpy(stack->tempbuf,rxbuffer->ptr, rxbuffer->used);
bytesrx = rxbuffer->used;
port->tempinbufs = bytesrx;
// TODO case no interrupt
}
log_RT_event('R',(WORD)3);
return (bytesrx > 0);
}
/** Transmit buffer over socket (non blocking).
* @param[in] idx = index in tx buffer array
* @param[in] stacknumber = 0=Primary 1=Secondary stack
* @return socket send result
*/
int ecx_outframe(ecx_portt *port, int idx, int stacknumber)
{
HPESTATUS status;
DWORD txstate;
int lp;
ec_stackT *stack;
int result = 0;
int retries = 1024;
if (!stacknumber)
{
stack = &(port->stack);
}
else
{
stack = &(port->redport->stack);
}
lp = (*stack->txbuflength)[idx];
port->tx_buffers[idx]->buffer_count = 1;
port->tx_buffers[idx]->buffers[0].fragments[0].size = lp;
// wait for transmit to complete
do
{
result = hpeGetTransmitterState(port->handle, &txstate) == E_OK && txstate == HPE_TXBUSY;
} while (result && retries-- > 0);
if (result)
{
result = -1;
goto end;
}
log_RT_event('S',(WORD)2);
status = hpeAttachTransmitBufferSet(port->handle, port->tx_buffers[idx]);
if (status != E_OK)
{
result = -2;
goto end;
}
log_RT_event('S',(WORD)3);
status = hpeStartTransmitter(port->handle);
if (status != E_OK)
{
result = -3;
goto end;
}
log_RT_event('S',(WORD)4);
(*stack->rxbufstat)[idx] = EC_BUF_TX;
result = lp;
end:
return result;
}
void slaveinfo(char *ifname)
{
int cnt, i, j, nSM;
int ctx_count;
uint16 ssigen;
int expectedWKC[2];
int wkc_count;
int chk;
volatile int wkc[2];
boolean inOP;
printf("Starting slaveinfo\n");
/* initialise SOEM, bind socket to ifname */
if (ecx_init(&ctx[0],"ie1g1") && ecx_init(&ctx[1],"ie1g0"))
{
printf("ec_init on %s succeeded.\n",ifname);
/* find and auto-config slaves */
if ( ecx_config_init(&ctx[0],FALSE) > 0 && ecx_config_init(&ctx[1],FALSE) > 0 )
{
for (ctx_count = 0; ctx_count < 2; ctx_count++)
{
ecx_config_map_group(&ctx[ctx_count], IOmap, 0);
ecx_configdc(&ctx[ctx_count]);
while(*(ctx[ctx_count].ecaterror)) printf("%s", ecx_elist2string(&ctx[ctx_count]));
printf("%d slaves found and configured.\n",*(ctx[ctx_count].slavecount));
expectedWKC[ctx_count] = ( ctx[ctx_count].grouplist[0].outputsWKC * 2) + ctx[ctx_count].grouplist[0].inputsWKC;
printf("Calculated workcounter %d\n", expectedWKC[ctx_count]);
/* wait for all slaves to reach SAFE_OP state */
ecx_statecheck(&ctx[ctx_count],0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 3);
if (ctx[ctx_count].slavelist[ctx_count].state != EC_STATE_SAFE_OP )
{
printf("Not all slaves reached safe operational state.\n");
ecx_readstate(&ctx[ctx_count]);
for(i = 1; i <= *(ctx[ctx_count].slavecount) ; i++)
{
if(ctx[ctx_count].slavelist[i].state != EC_STATE_SAFE_OP)
{
printf("Slave %d State=%2x StatusCode=%4x : %s\n",
i, ctx[ctx_count].slavelist[i].state, ctx[ctx_count].slavelist[i].ALstatuscode, ec_ALstatuscode2string(ctx[ctx_count].slavelist[i].ALstatuscode));
}
}
}
ecx_readstate(&ctx[ctx_count]);
for( cnt = 1 ; cnt <= *(ctx[ctx_count].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, ctx[ctx_count].slavelist[cnt].name, ctx[ctx_count].slavelist[cnt].Obits, ctx[ctx_count].slavelist[cnt].Ibits,
ctx[ctx_count].slavelist[cnt].state, ctx[ctx_count].slavelist[cnt].pdelay, ctx[ctx_count].slavelist[cnt].hasdc);
if (ctx[ctx_count].slavelist[cnt].hasdc)
{
printf(" DCParentport:%d\n", ctx[ctx_count].slavelist[cnt].parentport);
}
printf(" Activeports:%d.%d.%d.%d\n", (ctx[ctx_count].slavelist[cnt].activeports & 0x01) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x02) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x04) > 0 ,
(ctx[ctx_count].slavelist[cnt].activeports & 0x08) > 0 );
printf(" Configured address: %4.4x\n", ctx[ctx_count].slavelist[cnt].configadr);
printf(" Man: %8.8x ID: %8.8x Rev: %8.8x\n", (int)ctx[ctx_count].slavelist[cnt].eep_man,
(int)ctx[ctx_count].slavelist[cnt].eep_id, (int)ctx[ctx_count].slavelist[cnt].eep_rev);
for(nSM = 0 ; nSM < EC_MAXSM ; nSM++)
{
if(ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr > 0)
printf(" SM%1d A:%4.4x L:%4d F:%8.8x Type:%d\n",nSM, ctx[ctx_count].slavelist[cnt].SM[nSM].StartAddr,
ctx[ctx_count].slavelist[cnt].SM[nSM].SMlength,(int)ctx[ctx_count].slavelist[cnt].SM[nSM].SMflags,
ctx[ctx_count].slavelist[cnt].SMtype[nSM]);
}
for(j = 0 ; j < ctx[ctx_count].slavelist[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)ctx[ctx_count].slavelist[cnt].FMMU[j].LogStart, ctx[ctx_count].slavelist[cnt].FMMU[j].LogLength,
ctx[ctx_count].slavelist[cnt].FMMU[j].LogStartbit, ctx[ctx_count].slavelist[cnt].FMMU[j].LogEndbit,
ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStart, ctx[ctx_count].slavelist[cnt].FMMU[j].PhysStartBit,
ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUtype, ctx[ctx_count].slavelist[cnt].FMMU[j].FMMUactive);
}
printf(" FMMUfunc 0:%d 1:%d 2:%d 3:%d\n",
ctx[ctx_count].slavelist[cnt].FMMU0func, ctx[ctx_count].slavelist[cnt].FMMU2func, ctx[ctx_count].slavelist[cnt].FMMU2func,
ctx[ctx_count].slavelist[cnt].FMMU3func);
printf(" MBX length wr: %d rd: %d MBX protocols : %2.2x\n", ctx[ctx_count].slavelist[cnt].mbx_l,
ctx[ctx_count].slavelist[cnt].mbx_rl, ctx[ctx_count].slavelist[cnt].mbx_proto);
ssigen = ecx_siifind(&ctx[ctx_count], cnt, ECT_SII_GENERAL);
/* SII general section */
if (ssigen)
{
ctx[ctx_count].slavelist[cnt].CoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x07);
ctx[ctx_count].slavelist[cnt].FoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x08);
ctx[ctx_count].slavelist[cnt].EoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x09);
ctx[ctx_count].slavelist[cnt].SoEdetails = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0a);
if((ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0d) & 0x02) > 0)
{
ctx[ctx_count].slavelist[cnt].blockLRW = 1;
ctx[ctx_count].slavelist[0].blockLRW++;
}
ctx[ctx_count].slavelist[cnt].Ebuscurrent = ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0e);
ctx[ctx_count].slavelist[cnt].Ebuscurrent += ecx_siigetbyte(&ctx[ctx_count], cnt, ssigen + 0x0f) << 8;
ctx[ctx_count].slavelist[0].Ebuscurrent += ctx[ctx_count].slavelist[cnt].Ebuscurrent;
}
printf(" CoE details: %2.2x FoE details: %2.2x EoE details: %2.2x SoE details: %2.2x\n",
ctx[ctx_count].slavelist[cnt].CoEdetails, ctx[ctx_count].slavelist[cnt].FoEdetails, ctx[ctx_count].slavelist[cnt].EoEdetails, ctx[ctx_count].slavelist[cnt].SoEdetails);
printf(" Ebus current: %d[mA]\n only LRD/LWR:%d\n",
ctx[ctx_count].slavelist[cnt].Ebuscurrent, ctx[ctx_count].slavelist[cnt].blockLRW);
}
}
inOP = FALSE;
printf("Request operational state for all slaves\n");
expectedWKC[0] = (ctx[0].grouplist[0].outputsWKC * 2) + ctx[0].grouplist[0].inputsWKC;
expectedWKC[1] = (ctx[1].grouplist[0].outputsWKC * 2) + ctx[1].grouplist[0].inputsWKC;
printf("Calculated workcounter master 1 %d\n", expectedWKC[0]);
printf("Calculated workcounter master 2 %d\n", expectedWKC[1]);
ctx[0].slavelist[0].state = EC_STATE_OPERATIONAL;
ctx[1].slavelist[0].state = EC_STATE_OPERATIONAL;
/* send one valid process data to make outputs in slaves happy*/
ecx_send_processdata(&ctx[0]);
ecx_send_processdata(&ctx[1]);
ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET);
ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET);
/* request OP state for all slaves */
ecx_writestate(&ctx[0], 0);
ecx_writestate(&ctx[1], 0);
chk = 40;
/* wait for all slaves to reach OP state */
do
{
ecx_send_processdata(&ctx[0]);
ecx_send_processdata(&ctx[1]);
ecx_receive_processdata(&ctx[0],EC_TIMEOUTRET);
ecx_receive_processdata(&ctx[1],EC_TIMEOUTRET);
ecx_statecheck(&ctx[0],0, EC_STATE_OPERATIONAL, 50000);
ecx_statecheck(&ctx[1],0, EC_STATE_OPERATIONAL, 50000);
}
while (chk-- && (ctx[0].slavelist[0].state != EC_STATE_OPERATIONAL) && (ctx[1].slavelist[0].state != EC_STATE_OPERATIONAL));
*(ctx[0].slavelist[6].outputs) = 0xFF;
*(ctx[1].slavelist[1].outputs) = 0x0F;
if (ctx[0].slavelist[0].state == EC_STATE_OPERATIONAL && ctx[1].slavelist[0].state == EC_STATE_OPERATIONAL )
{
printf("Operational state reached for all slaves.\n");
/* cyclic loop */
start_RT_trace (1);
wkc_count = 0;
inOP = TRUE;
for(i = 1; i <= 10000; i++)
{
for (ctx_count = 0; ctx_count < 2; ctx_count++)
{
/* Receive processdata */
log_RT_event('R',(WORD)(1 + ctx_count * 10));
wkc[ctx_count] = ecx_receive_processdata(&ctx[ctx_count], 0);
log_RT_event('R',(WORD)(99 + ctx_count * 100));
}
for (ctx_count = 0; ctx_count < 2; ctx_count++)
{
/* Send processdata */
log_RT_event('S',(WORD)(1 + ctx_count * 10));
if (!ecx_send_processdata(&ctx[ctx_count]))
{
printf (" Frame no: %d on master %d,Not sentOK\n", i,ctx_count);
}
log_RT_event('S',(WORD)(99 + ctx_count * 100));
}
knRtSleep(1);
for (ctx_count = 0; ctx_count < 2; ctx_count++)
{
if(wkc[ctx_count] >= expectedWKC[ctx_count])
{
}
else
{
printf (" Frame no: %d on master %d , wc not wkc >= expectedWKC, %d\n",i, ctx_count, wkc[ctx_count]);
}
}
}
stop_RT_trace ();
inOP = FALSE;
}
}
else
{
printf("No slaves found!\n");
}
printf("End slaveinfo, close socket\n");
/* stop SOEM, close socket */
ecx_close(&ctx[0]);
ecx_close(&ctx[1]);
}
else
{
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
}
