/**
* send_mbx send a message to a youbot motor slave.
*
* @param gripper 1 to address the gripper, 0 otherwise
* @param instr_nr command number (GAP, SAP, ...)
* @param param_nr type number
* @param slave_nr slave index
* @param bank_nr mostly zero. Motor or Bank number
* @param value value to send and location to store result.
*
* @return 0 if Ok, -1 otherwise.
*/
int send_mbx(int gripper,
uint8_t instr_nr,
uint8_t param_nr,
uint16_t slave_nr,
uint8_t bank_nr,
int32_t *value)
{
int ret=-1;
char* msg;
ec_mbxbuft mbx_out, mbx_in;
mbx_out[0] = (gripper) ? 1 : 0;
mbx_out[1] = instr_nr;
mbx_out[2] = param_nr;
mbx_out[3] = bank_nr;
/* TODO: replace with htobe32 */
mbx_out[4] = (uint32)(*value >> 24);
mbx_out[5] = (uint32)(*value >> 16);
mbx_out[6] = (uint32)(*value >> 8);
mbx_out[7] = (uint32)(*value & 0xff);
/* DBG("sending send mbx (gripper:%d, instr_nr=%d, param_nr=%d, slave_nr=%d, bank_nr=%d, value=%d", */
/* gripper, instr_nr, param_nr, slave_nr, bank_nr, *value); */
if (ec_mbxsend(slave_nr, &mbx_out, EC_TIMEOUTTXM) <= 0) {
ERR("failed to send mbx (gripper:%d, instr_nr=%d, param_nr=%d, slave_nr=%d, bank_nr=%d, value=%d",
gripper, instr_nr, param_nr, slave_nr, bank_nr, *value);
goto out;
}
if (ec_mbxreceive(slave_nr, &mbx_in, EC_TIMEOUTRXM) <= 0) {
ERR("failed to receive mbx (gripper:%d, instr_nr=%d, param_nr=%d, slave_nr=%d, bank_nr=%d, value=%d",
gripper, instr_nr, param_nr, slave_nr, bank_nr, *value);
goto out;
}
*value = (mbx_in[4] << 24 | mbx_in[5] << 16 | mbx_in[6] << 8 | mbx_in[7]);
switch(((int) mbx_in[2])) {
case YB_MBX_STAT_OK: goto out_ok;
case YB_MBX_STAT_INVALID_CMD: msg="invalid command"; break;
case YB_MBX_STAT_WRONG_TYPE: msg="wrong type"; break;
case YB_MBX_STAT_EINVAL: msg="invalid value"; break;
case YB_MBX_STAT_EEPROM_LOCKED: msg="Configuration EEPROM locked"; break;
case YB_MBX_STAT_CMD_UNAVAILABLE: msg="Command not available"; break;
case YB_MBX_STAT_PARAM_PWDPROT: msg="Parameter is password protected"; break;
default: msg="unkown error";
}
if(((int) mbx_in[2]) != 100) {
ERR("receiving mbx failed: module=%d, status=%d, command=%d, value=%d: %s.",
mbx_in[1], mbx_in[2], mbx_in[3], *value, msg);
goto out;
}
out_ok:
ret=0;
out:
return ret;
}
///sends the mailbox Messages which have been stored in the buffer
///@param mailboxMsg ethercat mailbox message
bool EthercatMaster::sendMailboxMessage(const YouBotSlaveMailboxMsg& mailboxMsg) {
// Bouml preserved body begin 00052F71
// LOG(trace) << "send mailbox message (buffer two) slave " << mailboxMsg.getSlaveNo();
mailboxBufferSend[0] = mailboxMsg.stctOutput.moduleAddress;
mailboxBufferSend[1] = mailboxMsg.stctOutput.commandNumber;
mailboxBufferSend[2] = mailboxMsg.stctOutput.typeNumber;
mailboxBufferSend[3] = mailboxMsg.stctOutput.motorNumber;
mailboxBufferSend[4] = mailboxMsg.stctOutput.value >> 24;
mailboxBufferSend[5] = mailboxMsg.stctOutput.value >> 16;
mailboxBufferSend[6] = mailboxMsg.stctOutput.value >> 8;
mailboxBufferSend[7] = mailboxMsg.stctOutput.value & 0xff;
if (ec_mbxsend(mailboxMsg.getSlaveNo(), &mailboxBufferSend, mailboxTimeout)) {
return true;
} else {
return false;
}
// Bouml preserved body end 00052F71
}
/** SoE write, blocking.
*
* The IDN object of the selected slave and DriveNo is written. If a response
* is larger than the mailbox size then the response is segmented.
*
* @param[in] slave = Slave number
* @param[in] driveNo = Drive number in slave
* @param[in] elementflags = Flags to select what properties of IDN are to be transfered.
* @param[in] idn = IDN.
* @param[in] psize = Size in bytes of parameter buffer.
* @param[out] p = Pointer to parameter buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ec_SoEwrite(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int psize, void *p, int timeout)
{
ec_SoEt *SoEp, *aSoEp;
uint16 framedatasize, maxdata;
int wkc;
uint8 *mp;
uint8 *hp;
uint16 *errorcode;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
boolean NotLast;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSoEp = (ec_SoEt *)&MbxIn;
SoEp = (ec_SoEt *)&MbxOut;
SoEp->MbxHeader.address = htoes(0x0000);
SoEp->MbxHeader.priority = 0x00;
SoEp->opCode = ECT_SOE_WRITEREQ;
SoEp->error = 0;
SoEp->driveNo = driveNo;
SoEp->elementflags = elementflags;
hp = p;
mp = (uint8 *)&MbxOut + sizeof(ec_SoEt);
maxdata = ec_slave[slave].mbx_l - sizeof(ec_SoEt);
NotLast = TRUE;
while (NotLast)
{
framedatasize = psize;
NotLast = FALSE;
SoEp->idn = htoes(idn);
SoEp->incomplete = 0;
if (framedatasize > maxdata)
{
framedatasize = maxdata; /* segmented transfer needed */
NotLast = TRUE;
SoEp->incomplete = 1;
SoEp->fragmentsleft = psize / maxdata;
}
SoEp->MbxHeader.length = htoes(sizeof(ec_SoEt) - sizeof(ec_mbxheadert) + framedatasize);
/* get new mailbox counter, used for session handle */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + (cnt << 4); /* SoE */
/* copy parameter data to mailbox */
memcpy(mp, hp, framedatasize);
hp += framedatasize;
psize -= framedatasize;
/* send SoE request to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
if (!NotLast || !ec_mbxempty(slave, timeout))
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
NotLast = FALSE;
/* slave response should be SoE, WriteRes */
if (((aSoEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_SOE) &&
(aSoEp->opCode == ECT_SOE_WRITERES) &&
(aSoEp->error == 0) &&
(aSoEp->driveNo == driveNo) &&
(aSoEp->elementflags == elementflags))
{
/* SoE write succeeded */
}
/* other slave response */
else
{
if (((aSoEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_SOE) &&
(aSoEp->opCode == ECT_SOE_READRES) &&
(aSoEp->error == 1))
{
mp = (uint8 *)&MbxIn + (etohs(aSoEp->MbxHeader.length) + sizeof(ec_mbxheadert) - sizeof(uint16));
errorcode = (uint16 *)mp;
ec_SoEerror(slave, idn, *errorcode);
}
else
{
ec_packeterror(slave, idn, 0, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
else
{
ec_packeterror(slave, idn, 0, 4); /* no response */
}
}
}
}
return wkc;
}
/** SoE read, blocking.
*
* The IDN object of the selected slave and DriveNo is read. If a response
* is larger than the mailbox size then the response is segmented. The function
* will combine all segments and copy them to the parameter buffer.
*
* @param[in] slave = Slave number
* @param[in] driveNo = Drive number in slave
* @param[in] elementflags = Flags to select what properties of IDN are to be transfered.
* @param[in] idn = IDN.
* @param[in,out] psize = Size in bytes of parameter buffer, returns bytes read from SoE.
* @param[out] p = Pointer to parameter buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ec_SoEread(uint16 slave, uint8 driveNo, uint8 elementflags, uint16 idn, int *psize, void *p, int timeout)
{
ec_SoEt *SoEp, *aSoEp;
uint16 totalsize, framedatasize;
int wkc;
uint8 *bp;
uint8 *mp;
uint16 *errorcode;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
boolean NotLast;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timeout set to 0 */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aSoEp = (ec_SoEt *)&MbxIn;
SoEp = (ec_SoEt *)&MbxOut;
SoEp->MbxHeader.length = htoes(sizeof(ec_SoEt) - sizeof(ec_mbxheadert));
SoEp->MbxHeader.address = htoes(0x0000);
SoEp->MbxHeader.priority = 0x00;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
SoEp->MbxHeader.mbxtype = ECT_MBXT_SOE + (cnt << 4); /* SoE */
SoEp->opCode = ECT_SOE_READREQ;
SoEp->incomplete = 0;
SoEp->error = 0;
SoEp->driveNo = driveNo;
SoEp->elementflags = elementflags;
SoEp->idn = htoes(idn);
totalsize = 0;
bp = p;
mp = (uint8 *)&MbxIn + sizeof(ec_SoEt);
NotLast = TRUE;
/* send SoE request to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
while (NotLast)
{
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be SoE, ReadRes */
if (((aSoEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_SOE) &&
(aSoEp->opCode == ECT_SOE_READRES) &&
(aSoEp->error == 0) &&
(aSoEp->driveNo == driveNo) &&
(aSoEp->elementflags == elementflags))
{
framedatasize = etohs(aSoEp->MbxHeader.length) - sizeof(ec_SoEt) + sizeof(ec_mbxheadert);
totalsize += framedatasize;
/* Does parameter fit in parameter buffer ? */
if (totalsize <= *psize)
{
/* copy parameter data in parameter buffer */
memcpy(bp, mp, framedatasize);
/* increment buffer pointer */
bp += framedatasize;
}
else
{
framedatasize -= totalsize - *psize;
totalsize = *psize;
/* copy parameter data in parameter buffer */
if (framedatasize > 0) memcpy(bp, mp, framedatasize);
}
if (!aSoEp->incomplete)
{
NotLast = FALSE;
*psize = totalsize;
}
}
/* other slave response */
else
{
NotLast = FALSE;
if (((aSoEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_SOE) &&
(aSoEp->opCode == ECT_SOE_READRES) &&
(aSoEp->error == 1))
{
mp = (uint8 *)&MbxIn + (etohs(aSoEp->MbxHeader.length) + sizeof(ec_mbxheadert) - sizeof(uint16));
errorcode = (uint16 *)mp;
ec_SoEerror(slave, idn, *errorcode);
}
else
{
ec_packeterror(slave, idn, 0, 1); /* Unexpected frame returned */
}
wkc = 0;
}
}
else
{
NotLast = FALSE;
ec_packeterror(slave, idn, 0, 4); /* no response */
}
}
}
return wkc;
}
/** FoE read, blocking.
*
* @param[in] slave = Slave number.
* @param[in] filename = Filename of file to read.
* @param[in] password = password.
* @param[in,out] psize = Size in bytes of file buffer, returns bytes read from file.
* @param[out] p = Pointer to file buffer
* @param[in] timeout = Timeout in us, standard is EC_TIMEOUTRXM
* @return Workcounter from last slave response
*/
int ec_FOEread(uint16 slave, char *filename, uint32 password, int *psize, void *p, int timeout)
{
ec_FOEt *FOEp, *aFOEp;
int wkc;
int32 dataread = 0;
int32 buffersize, packetnumber, prevpacket = 0;
uint16 fnsize, maxdata, segmentdata;
ec_mbxbuft MbxIn, MbxOut;
uint8 cnt;
boolean worktodo;
buffersize = *psize;
ec_clearmbx(&MbxIn);
/* Empty slave out mailbox if something is in. Timout set to 0 */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, 0);
ec_clearmbx(&MbxOut);
aFOEp = (ec_FOEt *)&MbxIn;
FOEp = (ec_FOEt *)&MbxOut;
fnsize = strlen(filename);
maxdata = ec_slave[slave].mbx_l - 12;
if (fnsize > maxdata)
fnsize = maxdata;
FOEp->MbxHeader.length = htoes(0x0006 + fnsize);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value, used as session handle */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_READ;
FOEp->Password = htoel(password);
/* copy filename in mailbox */
memcpy(&FOEp->FileName[0], filename, fnsize);
/* send FoE request to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc > 0) /* succeeded to place mailbox in slave ? */
{
do
{
worktodo = FALSE;
/* clean mailboxbuffer */
ec_clearmbx(&MbxIn);
/* read slave response */
wkc = ec_mbxreceive(slave, (ec_mbxbuft *)&MbxIn, timeout);
if (wkc > 0) /* succeeded to read slave response ? */
{
/* slave response should be FoE */
if ((aFOEp->MbxHeader.mbxtype & 0x0f) == ECT_MBXT_FOE)
{
if(aFOEp->OpCode == ECT_FOE_DATA)
{
segmentdata = etohs(aFOEp->MbxHeader.length) - 0x0006;
packetnumber = etohl(aFOEp->PacketNumber);
if ((packetnumber == ++prevpacket) && (dataread + segmentdata <= buffersize))
{
memcpy(p, &aFOEp->Data[0], segmentdata);
dataread += segmentdata;
p += segmentdata;
if (segmentdata == maxdata)
worktodo = TRUE;
FOEp->MbxHeader.length = htoes(0x0006);
FOEp->MbxHeader.address = htoes(0x0000);
FOEp->MbxHeader.priority = 0x00;
/* get new mailbox count value */
cnt = ec_nextmbxcnt(ec_slave[slave].mbx_cnt);
ec_slave[slave].mbx_cnt = cnt;
FOEp->MbxHeader.mbxtype = ECT_MBXT_FOE + (cnt << 4); /* FoE */
FOEp->OpCode = ECT_FOE_ACK;
FOEp->PacketNumber = htoel(packetnumber);
/* send FoE ack to slave */
wkc = ec_mbxsend(slave, (ec_mbxbuft *)&MbxOut, EC_TIMEOUTTXM);
if (wkc <= 0)
worktodo = FALSE;
}
else
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_BUF2SMALL;
}
}
else
if(aFOEp->OpCode == ECT_FOE_ERROR)
{
/* FoE error */
wkc = -EC_ERR_TYPE_FOE_ERROR;
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
}
else
{
/* unexpected mailbox received */
wkc = -EC_ERR_TYPE_PACKET_ERROR;
}
*psize = dataread;
}
} while (worktodo);
}
return wkc;
}