static void youbot_cleanup(ubx_block_t *b) { ec_slave[0].state = EC_STATE_PRE_OP; ec_writestate(0); ec_close(); free((struct youbot_info*) b->private_data); }
///closes the ethercat connection bool EthercatMaster::closeEthercat() { // Bouml preserved body begin 00041271 // Request safe operational state for all slaves ec_slave[0].state = EC_STATE_SAFE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); //stop SOEM, close socket ec_close(); return true; // Bouml preserved body end 00041271 }
void Drive::close() { if (isOpened) { setPower(false); timer.stop(); // request init state for all slaves ec_slave[0].state = EC_STATE_INIT; ec_writestate(0); if (timerEventId) { timeKillEvent(timerEventId); timerEventId = 0; } ec_close(); isOpened = false; } }
bool EcMaster::reset() throw(EcError) { if (m_useDC) { for (int i = 0; i < m_drivers.size(); i++) m_drivers[i] -> setDC(false, m_cycleTime, 0); } taskFinished = true; //Wait on the termination of task. rt_task_join (task); // delete the periodic task rt_task_delete(task); bool success = switchState (EC_STATE_INIT); if (!success) throw(EcError(EcError::FAIL_SWITCHING_STATE_INIT)); for (unsigned int i = 0; i < m_drivers.size(); i++) delete m_drivers[i]; m_drivers.resize(0); #ifdef HRT delete[] outputBuf; delete[] inputBuf; #endif delete[] m_ecPort; delete task; for (size_t i = 0; i < 4096; i++) m_IOmap[i] = 0; ec_close(); rt_printf("Master reseted!!! \n"); return true; }
void simpletest(char *ifname) { int i, j, oloop, iloop, wkc_count, chk; needlf = FALSE; inOP = FALSE; printf("Starting simple test\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_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); ec_config_map(&IOmap); ec_configdc(); printf("Slaves mapped, state to SAFE_OP.\n"); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]); printf("Request operational state for all slaves\n"); expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); ec_slave[0].state = EC_STATE_OPERATIONAL; /* send one valid process data to make outputs in slaves happy*/ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); /* request OP state for all slaves */ ec_writestate(0); chk = 40; /* wait for all slaves to reach OP state */ do { ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); ec_statecheck(0, EC_STATE_OPERATIONAL, 50000); } while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL)); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); wkc_count = 0; inOP = TRUE; /* cyclic loop */ for(i = 1; i <= 10000; i++) { ec_send_processdata(); wkc = ec_receive_processdata(EC_TIMEOUTRET); if(wkc >= expectedWKC) { printf("Processdata cycle %4d, WKC %d , O:", i, wkc); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf(" T:%lld\r",ec_DCtime); needlf = TRUE; } usleep(5000); } inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } printf("\nRequest init state for all slaves\n"); ec_slave[0].state = EC_STATE_INIT; /* request INIT state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End simple test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void redtest(char *ifname, char *ifname2) { int cnt, i, j, oloop, iloop; printf("Starting Redundant test\n"); /* initialise SOEM, bind socket to ifname */ // if (ec_init_redundant(ifname, ifname2)) 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); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* configure DC options for every DC capable slave found in the list */ ec_configdc(); /* read indevidual slave state and store in ec_slave[] */ ec_readstate(); for(cnt = 1; cnt <= ec_slavecount ; cnt++) { printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); printf(" Out:%8.8x,%4d In:%8.8x,%4d\n", (int)ec_slave[cnt].outputs, ec_slave[cnt].Obytes, (int)ec_slave[cnt].inputs, ec_slave[cnt].Ibytes); /* check for EL2004 or EL2008 */ if( !digout && ((ec_slave[cnt].eep_id == 0x0af83052) || (ec_slave[cnt].eep_id == 0x07d83052))) { digout = ec_slave[cnt].outputs; } } expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); printf("Request operational state for all slaves\n"); ec_slave[0].state = EC_STATE_OPERATIONAL; /* request OP state for all slaves */ ec_writestate(0); /* activate cyclic process data */ dorun = 1; /* wait for all slaves to reach OP state */ ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); inOP = TRUE; /* acyclic loop 5000 x 20ms = 10s */ for(i = 1; i <= 5000; i++) { printf("Processdata cycle %5d , Wck %3d, DCtime %12lld, dt %12lld, O:", dorun, wkc , ec_DCtime, gl_delta); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf("\r"); fflush(stdout); osal_usleep(20000); } dorun = 0; inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } printf("Request safe operational state for all slaves\n"); ec_slave[0].state = EC_STATE_SAFE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End redundant test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void simpletest(char *ifname) { int i, j, oloop, iloop, wkc_count, chk, slc; UINT mmResult; needlf = FALSE; inOP = FALSE; printf("Starting simple test\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_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); if((ec_slavecount > 1)) { for(slc = 1; slc <= ec_slavecount; slc++) { // beckhoff EL7031, using ec_slave[].name is not very reliable if((ec_slave[slc].eep_man == 0x00000002) && (ec_slave[slc].eep_id == 0x1b773052)) { printf("Found %s at position %d\n", ec_slave[slc].name, slc); // link slave specific setup to preop->safeop hook ec_slave[slc].PO2SOconfig = &EL7031setup; } // Copley Controls EAP, using ec_slave[].name is not very reliable if((ec_slave[slc].eep_man == 0x000000ab) && (ec_slave[slc].eep_id == 0x00000380)) { printf("Found %s at position %d\n", ec_slave[slc].name, slc); // link slave specific setup to preop->safeop hook ec_slave[slc].PO2SOconfig = &AEPsetup; } } } ec_config_map(&IOmap); ec_configdc(); printf("Slaves mapped, state to SAFE_OP.\n"); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE * 4); oloop = ec_slave[0].Obytes; if ((oloop == 0) && (ec_slave[0].Obits > 0)) oloop = 1; if (oloop > 8) oloop = 8; iloop = ec_slave[0].Ibytes; if ((iloop == 0) && (ec_slave[0].Ibits > 0)) iloop = 1; if (iloop > 8) iloop = 8; printf("segments : %d : %d %d %d %d\n",ec_group[0].nsegments ,ec_group[0].IOsegment[0],ec_group[0].IOsegment[1],ec_group[0].IOsegment[2],ec_group[0].IOsegment[3]); printf("Request operational state for all slaves\n"); expectedWKC = (ec_group[0].outputsWKC * 2) + ec_group[0].inputsWKC; printf("Calculated workcounter %d\n", expectedWKC); ec_slave[0].state = EC_STATE_OPERATIONAL; /* send one valid process data to make outputs in slaves happy*/ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); /* start RT thread as periodic MM timer */ mmResult = timeSetEvent(1, 0, RTthread, 0, TIME_PERIODIC); /* request OP state for all slaves */ ec_writestate(0); chk = 40; /* wait for all slaves to reach OP state */ do { ec_statecheck(0, EC_STATE_OPERATIONAL, 50000); } while (chk-- && (ec_slave[0].state != EC_STATE_OPERATIONAL)); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); wkc_count = 0; inOP = TRUE; /* cyclic loop, reads data from RT thread */ for(i = 1; i <= 500; i++) { if(wkc >= expectedWKC) { printf("Processdata cycle %4d, WKC %d , O:", rtcnt, wkc); for(j = 0 ; j < oloop; j++) { printf(" %2.2x", *(ec_slave[0].outputs + j)); } printf(" I:"); for(j = 0 ; j < iloop; j++) { printf(" %2.2x", *(ec_slave[0].inputs + j)); } printf(" T:%lld\r",ec_DCtime); needlf = TRUE; } osal_usleep(50000); } inOP = FALSE; } else { printf("Not all slaves reached operational state.\n"); ec_readstate(); for(i = 1; i<=ec_slavecount ; i++) { if(ec_slave[i].state != EC_STATE_OPERATIONAL) { printf("Slave %d State=0x%2.2x StatusCode=0x%4.4x : %s\n", i, ec_slave[i].state, ec_slave[i].ALstatuscode, ec_ALstatuscode2string(ec_slave[i].ALstatuscode)); } } } /* stop RT thread */ timeKillEvent(mmResult); printf("\nRequest init state for all slaves\n"); ec_slave[0].state = EC_STATE_INIT; /* request INIT state for all slaves */ ec_writestate(0); } else { printf("No slaves found!\n"); } printf("End simple test, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void boottest(char *ifname, uint16 slave, char *filename) { printf("Starting firmware update example\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_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); printf("Request init state for slave %d\n", slave); ec_slave[slave].state = EC_STATE_INIT; ec_writestate(slave); /* wait for slave to reach INIT state */ ec_statecheck(slave, EC_STATE_INIT, EC_TIMEOUTSTATE * 4); printf("Slave %d state to INIT.\n", slave); /* read BOOT mailbox data, master -> slave */ data = ec_readeeprom(slave, ECT_SII_BOOTRXMBX, EC_TIMEOUTEEP); ec_slave[slave].SM[0].StartAddr = (uint16)LO_WORD(data); ec_slave[slave].SM[0].SMlength = (uint16)HI_WORD(data); /* store boot write mailbox address */ ec_slave[slave].mbx_wo = (uint16)LO_WORD(data); /* store boot write mailbox size */ ec_slave[slave].mbx_l = (uint16)HI_WORD(data); /* read BOOT mailbox data, slave -> master */ data = ec_readeeprom(slave, ECT_SII_BOOTTXMBX, EC_TIMEOUTEEP); ec_slave[slave].SM[1].StartAddr = (uint16)LO_WORD(data); ec_slave[slave].SM[1].SMlength = (uint16)HI_WORD(data); /* store boot read mailbox address */ ec_slave[slave].mbx_ro = (uint16)LO_WORD(data); /* store boot read mailbox size */ ec_slave[slave].mbx_rl = (uint16)HI_WORD(data); printf(" SM0 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[0].StartAddr, ec_slave[slave].SM[0].SMlength, (int)ec_slave[slave].SM[0].SMflags); printf(" SM1 A:%4.4x L:%4d F:%8.8x\n", ec_slave[slave].SM[1].StartAddr, ec_slave[slave].SM[1].SMlength, (int)ec_slave[slave].SM[1].SMflags); /* program SM0 mailbox in for slave */ ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM0, sizeof(ec_smt), &ec_slave[slave].SM[0], EC_TIMEOUTRET); /* program SM1 mailbox out for slave */ ec_FPWR (ec_slave[slave].configadr, ECT_REG_SM1, sizeof(ec_smt), &ec_slave[slave].SM[1], EC_TIMEOUTRET); printf("Request BOOT state for slave %d\n", slave); ec_slave[slave].state = EC_STATE_BOOT; ec_writestate(slave); /* wait for slave to reach BOOT state */ if (ec_statecheck(slave, EC_STATE_BOOT, EC_TIMEOUTSTATE * 10) == EC_STATE_BOOT) { printf("Slave %d state to BOOT.\n", slave); if (input_bin(filename, &filesize)) { printf("File read OK, %d bytes.\n",filesize); printf("FoE write...."); j = ec_FOEwrite(slave, filename, 0, filesize , &filebuffer, EC_TIMEOUTSTATE); printf("result %d.\n",j); printf("Request init state for slave %d\n", slave); ec_slave[slave].state = EC_STATE_INIT; ec_writestate(slave); } else printf("File not read OK.\n"); } } else { printf("No slaves found!\n"); } printf("End firmware update example, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
void eboxtest(char *ifname) { int cnt, i; printf("Starting E/BOX test\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_init(FALSE) > 0 ) { printf("%d slaves found and configured.\n",ec_slavecount); // check if first slave is an E/BOX if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0)) { // reprogram PDO mapping to set slave in stream mode // this can only be done in pre-OP state os=sizeof(ob2); ob2 = 0x1601; ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM); os=sizeof(ob2); ob2 = 0x1a01; ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM); } ec_config_map(&IOmap); ec_configdc(); /* wait for all slaves to reach SAFE_OP state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); /* configure DC options for every DC capable slave found in the list */ printf("DC capable : %d\n",ec_configdc()); /* check configuration */ if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0) ) { printf("E/BOX found.\n"); /* connect struct pointers to slave I/O pointers */ in_EBOX = (in_EBOX_streamt*) ec_slave[1].inputs; out_EBOX = (out_EBOX_streamt*) ec_slave[1].outputs; /* read indevidual slave state and store in ec_slave[] */ ec_readstate(); for(cnt = 1; cnt <= ec_slavecount ; cnt++) { printf("Slave:%d Name:%s Output size:%3dbits Input size:%3dbits State:%2d delay:%d.%d\n", cnt, ec_slave[cnt].name, ec_slave[cnt].Obits, ec_slave[cnt].Ibits, ec_slave[cnt].state, (int)ec_slave[cnt].pdelay, ec_slave[cnt].hasdc); } printf("Request operational state for all slaves\n"); /* send one processdata cycle to init SM in slaves */ ec_send_processdata(); ec_receive_processdata(EC_TIMEOUTRET); ec_slave[0].state = EC_STATE_OPERATIONAL; /* request OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach OP state */ ec_statecheck(0, EC_STATE_OPERATIONAL, EC_TIMEOUTSTATE); if (ec_slave[0].state == EC_STATE_OPERATIONAL ) { printf("Operational state reached for all slaves.\n"); ain[0] = 0; ain[1] = 0; ainc = 0; dorun = 1; usleep(100000); // wait for linux to sync on DC ec_dcsync0(1, TRUE, SYNC0TIME, 0); // SYNC0 on slave 1 /* acyclic loop 20ms */ for(i = 1; i <= 200; i++) { /* read DC difference register for slave 2 */ // ec_FPRD(ec_slave[1].configadr, ECT_REG_DCSYSDIFF, sizeof(DCdiff), &DCdiff, EC_TIMEOUTRET); // if(DCdiff<0) { DCdiff = - (int32)((uint32)DCdiff & 0x7ffffff); } printf("PD cycle %5d DCtime %12lld Cnt:%3d Data: %6d %6d %6d %6d %6d %6d %6d %6d \n", cyclecount, ec_DCtime, in_EBOX->counter, in_EBOX->stream[0], in_EBOX->stream[1], in_EBOX->stream[2], in_EBOX->stream[3], in_EBOX->stream[4], in_EBOX->stream[5], in_EBOX->stream[98], in_EBOX->stream[99]); usleep(20000); } dorun = 0; // printf("\nCnt %d : Ain0 = %f Ain2 = %f\n", ainc, ain[0] / ainc, ain[1] / ainc); } else { printf("Not all slaves reached operational state.\n"); } } else { printf("E/BOX not found in slave configuration.\n"); } ec_dcsync0(1, FALSE, 8000, 0); // SYNC0 off printf("Request safe operational state for all slaves\n"); ec_slave[0].state = EC_STATE_SAFE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach state */ ec_statecheck(0, EC_STATE_SAFE_OP, EC_TIMEOUTSTATE); ec_slave[0].state = EC_STATE_PRE_OP; /* request SAFE_OP state for all slaves */ ec_writestate(0); /* wait for all slaves to reach state */ ec_statecheck(0, EC_STATE_PRE_OP, EC_TIMEOUTSTATE); if (( ec_slavecount >= 1 ) && (strcmp(ec_slave[1].name,"E/BOX") == 0)) { // restore PDO to standard mode // this can only be done is pre-op state os=sizeof(ob2); ob2 = 0x1600; ec_SDOwrite(1,0x1c12,01,FALSE,os,&ob2,EC_TIMEOUTRXM); os=sizeof(ob2); ob2 = 0x1a00; ec_SDOwrite(1,0x1c13,01,FALSE,os,&ob2,EC_TIMEOUTRXM); } printf("Streampos %d\n", streampos); output_cvs("stream.txt", streampos); } else { printf("No slaves found!\n"); } printf("End E/BOX, close socket\n"); /* stop SOEM, close socket */ ec_close(); } else { printf("No socket connection on %s\nExcecute as root\n",ifname); } }
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); } }
ConnManager::~ConnManager() { ec_slave[0].state = EC_STATE_INIT; ec_writestate(0); ec_close(); }