/** Enumerate and init all slaves.
*
* @param[in] context = context struct
* @param[in] usetable = TRUE when using configtable to init slaves, FALSE otherwise
* @return Workcounter of slave discover datagram = number of slaves found
*/
int ecx_config_init(ecx_contextt *context, uint8 usetable)
{
uint16 w, slave, ADPh, configadr, ssigen;
uint16 topology, estat;
int16 topoc, slavec, aliasadr;
uint8 b,h;
uint8 zbuf[64];
uint8 SMc;
uint32 eedat;
int wkc, cindex, nSM, lp;
EC_PRINT("ec_config_init %d\n",usetable);
*(context->slavecount) = 0;
/* clean ec_slave array */
memset(context->slavelist, 0x00, sizeof(ec_slavet) * context->maxslave);
memset(&zbuf, 0x00, sizeof(zbuf));
memset(context->grouplist, 0x00, sizeof(ec_groupt) * context->maxgroup);
/* clear slave eeprom cache */
ecx_siigetbyte(context, 0, EC_MAXEEPBUF);
for(lp = 0; lp < context->maxgroup; lp++)
{
context->grouplist[lp].logstartaddr = lp << 16; /* default start address per group entry */
}
/* make special pre-init register writes to enable MAC[1] local administered bit *
* setting for old netX100 slaves */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
/* netX100 should now be happy */
wkc = ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
printf("wkc = %d\n",wkc);
w = 0x0000;
wkc = ecx_BRD(context->port, 0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
if (wkc > 0)
{
*(context->slavecount) = wkc;
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLPORT, sizeof(b), &b, EC_TIMEOUTRET3); /* deact loop manual */
w = htoes(0x0004);
ecx_BWR(context->port, 0x0000, ECT_REG_IRQMASK, sizeof(w), &w, EC_TIMEOUTRET3); /* set IRQ mask */
ecx_BWR(context->port, 0x0000, ECT_REG_RXERR, 8, &zbuf, EC_TIMEOUTRET3); /* reset CRC counters */
ecx_BWR(context->port, 0x0000, ECT_REG_FMMU0, 16 * 3, &zbuf, EC_TIMEOUTRET3); /* reset FMMU's */
ecx_BWR(context->port, 0x0000, ECT_REG_SM0, 8 * 4, &zbuf, EC_TIMEOUTRET3); /* reset SyncM */
ecx_BWR(context->port, 0x0000, ECT_REG_DCSYSTIME, 4, &zbuf, EC_TIMEOUTRET3); /* reset system time+ofs */
w = htoes(0x1000);
ecx_BWR(context->port, 0x0000, ECT_REG_DCSPEEDCNT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC speedstart */
w = htoes(0x0c00);
ecx_BWR(context->port, 0x0000, ECT_REG_DCTIMEFILT, sizeof(w), &w, EC_TIMEOUTRET3); /* DC filt expr */
b = 0x00;
ecx_BWR(context->port, 0x0000, ECT_REG_DLALIAS, sizeof(b), &b, EC_TIMEOUTRET3); /* Ignore Alias register */
b = EC_STATE_INIT | EC_STATE_ACK;
ecx_BWR(context->port, 0x0000, ECT_REG_ALCTL, sizeof(b), &b, EC_TIMEOUTRET3); /* Reset all slaves to Init */
b = 2;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3); /* force Eeprom from PDI */
b = 0;
ecx_BWR(context->port, 0x0000, ECT_REG_EEPCFG, sizeof(b), &b , EC_TIMEOUTRET3); /* set Eeprom to master */
for (slave = 1; slave <= *(context->slavecount); slave++)
{
ADPh = (uint16)(1 - slave);
context->slavelist[slave].Itype =
etohs(ecx_APRDw(context->port, ADPh, ECT_REG_PDICTL, EC_TIMEOUTRET3)); /* read interface type of slave */
/* a node offset is used to improve readibility of network frames */
/* this has no impact on the number of addressable slaves (auto wrap around) */
ecx_APWRw(context->port, ADPh, ECT_REG_STADR, htoes(slave + EC_NODEOFFSET) , EC_TIMEOUTRET3); /* set node address of slave */
if (slave == 1)
{
b = 1; /* kill non ecat frames for first slave */
}
else
{
b = 0; /* pass all frames for following slaves */
}
ecx_APWRw(context->port, ADPh, ECT_REG_DLCTL, htoes(b), EC_TIMEOUTRET3); /* set non ecat frame behaviour */
configadr = etohs(ecx_APRDw(context->port, ADPh, ECT_REG_STADR, EC_TIMEOUTRET3));
context->slavelist[slave].configadr = configadr;
ecx_FPRD(context->port, configadr, ECT_REG_ALIAS, sizeof(aliasadr), &aliasadr, EC_TIMEOUTRET3);
context->slavelist[slave].aliasadr = etohs(aliasadr);
ecx_FPRD(context->port, configadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET3);
estat = etohs(estat);
if (estat & EC_ESTAT_R64) /* check if slave can read 8 byte chunks */
{
context->slavelist[slave].eep_8byte = 1;
}
ecx_readeeprom1(context, slave, ECT_SII_MANUF); /* Manuf */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_man =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* Manuf */
ecx_readeeprom1(context, slave, ECT_SII_ID); /* ID */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_id =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* ID */
ecx_readeeprom1(context, slave, ECT_SII_REV); /* revision */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
context->slavelist[slave].eep_rev =
etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* revision */
ecx_readeeprom1(context, slave, ECT_SII_RXMBXADR); /* write mailbox address + mailboxsize */
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* write mailbox address and mailboxsize */
context->slavelist[slave].mbx_wo = (uint16)LO_WORD(eedat);
context->slavelist[slave].mbx_l = (uint16)HI_WORD(eedat);
if (context->slavelist[slave].mbx_l > 0)
{
ecx_readeeprom1(context, slave, ECT_SII_TXMBXADR); /* read mailbox offset */
}
}
for (slave = 1; slave <= *(context->slavecount); slave++)
{
if (context->slavelist[slave].mbx_l > 0)
{
eedat = etohl(ecx_readeeprom2(context, slave, EC_TIMEOUTEEP)); /* read mailbox offset */
context->slavelist[slave].mbx_ro = (uint16)LO_WORD(eedat); /* read mailbox offset */
context->slavelist[slave].mbx_rl = (uint16)HI_WORD(eedat); /*read mailbox length */
if (context->slavelist[slave].mbx_rl == 0)
{
context->slavelist[slave].mbx_rl = context->slavelist[slave].mbx_l;
}
}
configadr = context->slavelist[slave].configadr;
if ((etohs(ecx_FPRDw(context->port, configadr, ECT_REG_ESCSUP, EC_TIMEOUTRET3)) & 0x04) > 0) /* Support DC? */
{
context->slavelist[slave].hasdc = TRUE;
}
else
{
context->slavelist[slave].hasdc = FALSE;
}
topology = etohs(ecx_FPRDw(context->port, configadr, ECT_REG_DLSTAT, EC_TIMEOUTRET3)); /* extract topology from DL status */
h = 0;
b = 0;
if ((topology & 0x0300) == 0x0200) /* port0 open and communication established */
{
h++;
b |= 0x01;
}
if ((topology & 0x0c00) == 0x0800) /* port1 open and communication established */
{
h++;
b |= 0x02;
}
if ((topology & 0x3000) == 0x2000) /* port2 open and communication established */
{
h++;
b |= 0x04;
}
if ((topology & 0xc000) == 0x8000) /* port3 open and communication established */
{
h++;
b |= 0x08;
}
/* ptype = Physical type*/
context->slavelist[slave].ptype =
LO_BYTE(etohs(ecx_FPRDw(context->port, configadr, ECT_REG_PORTDES, EC_TIMEOUTRET3)));
context->slavelist[slave].topology = h;
context->slavelist[slave].activeports = b;
/* 0=no links, not possible */
/* 1=1 link , end of line */
/* 2=2 links , one before and one after */
/* 3=3 links , split point */
/* 4=4 links , cross point */
/* search for parent */
context->slavelist[slave].parent = 0; /* parent is master */
if (slave > 1)
{
topoc = 0;
slavec = slave - 1;
do
{
topology = context->slavelist[slavec].topology;
if (topology == 1)
{
topoc--; /* endpoint found */
}
if (topology == 3)
{
topoc++; /* split found */
}
if (topology == 4)
{
topoc += 2; /* cross found */
}
if (((topoc >= 0) && (topology > 1)) ||
(slavec == 1)) /* parent found */
{
context->slavelist[slave].parent = slavec;
slavec = 1;
}
slavec--;
}
while (slavec > 0);
}
w = ecx_statecheck(context, slave, EC_STATE_INIT, EC_TIMEOUTSTATE); //* check state change Init */
/* set default mailbox configuration if slave has mailbox */
if (context->slavelist[slave].mbx_l>0)
{
context->slavelist[slave].SMtype[0] = 1;
context->slavelist[slave].SMtype[1] = 2;
context->slavelist[slave].SMtype[2] = 3;
context->slavelist[slave].SMtype[3] = 4;
context->slavelist[slave].SM[0].StartAddr = htoes(context->slavelist[slave].mbx_wo);
context->slavelist[slave].SM[0].SMlength = htoes(context->slavelist[slave].mbx_l);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SM[1].StartAddr = htoes(context->slavelist[slave].mbx_ro);
context->slavelist[slave].SM[1].SMlength = htoes(context->slavelist[slave].mbx_rl);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].mbx_proto =
ecx_readeeprom(context, slave, ECT_SII_MBXPROTO, EC_TIMEOUTEEP);
}
cindex = 0;
#ifdef EC_VER1
/* use configuration table ? */
if (usetable)
{
cindex = ec_findconfig( context->slavelist[slave].eep_man, context->slavelist[slave].eep_id );
context->slavelist[slave].configindex= cindex;
}
/* slave found in configuration table ? */
if (cindex)
{
context->slavelist[slave].Dtype = ec_configlist[cindex].Dtype;
strcpy(context->slavelist[slave].name ,ec_configlist[cindex].name);
context->slavelist[slave].Ibits = ec_configlist[cindex].Ibits;
context->slavelist[slave].Obits = ec_configlist[cindex].Obits;
if (context->slavelist[slave].Obits)
{
context->slavelist[slave].FMMU0func = 1;
}
if (context->slavelist[slave].Ibits)
{
context->slavelist[slave].FMMU1func = 2;
}
context->slavelist[slave].FMMU[0].FMMUactive = ec_configlist[cindex].FM0ac;
context->slavelist[slave].FMMU[1].FMMUactive = ec_configlist[cindex].FM1ac;
context->slavelist[slave].SM[2].StartAddr = htoes(ec_configlist[cindex].SM2a);
context->slavelist[slave].SM[2].SMflags = htoel(ec_configlist[cindex].SM2f);
/* simple (no mailbox) output slave found ? */
if (context->slavelist[slave].Obits && !context->slavelist[slave].SM[2].StartAddr)
{
context->slavelist[slave].SM[0].StartAddr = htoes(0x0f00);
context->slavelist[slave].SM[0].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTDOSM0);
context->slavelist[slave].FMMU[0].FMMUactive = 1;
context->slavelist[slave].FMMU[0].FMMUtype = 2;
context->slavelist[slave].SMtype[0] = 3;
}
/* complex output slave */
else
{
context->slavelist[slave].SM[2].SMlength = htoes((context->slavelist[slave].Obits + 7) / 8);
context->slavelist[slave].SMtype[2] = 3;
}
context->slavelist[slave].SM[3].StartAddr = htoes(ec_configlist[cindex].SM3a);
context->slavelist[slave].SM[3].SMflags = htoel(ec_configlist[cindex].SM3f);
/* simple (no mailbox) input slave found ? */
if (context->slavelist[slave].Ibits && !context->slavelist[slave].SM[3].StartAddr)
{
context->slavelist[slave].SM[1].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[1].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
context->slavelist[slave].SM[1].SMflags = htoel(0x00000000);
context->slavelist[slave].FMMU[1].FMMUactive = 1;
context->slavelist[slave].FMMU[1].FMMUtype = 1;
context->slavelist[slave].SMtype[1] = 4;
}
/* complex input slave */
else
{
context->slavelist[slave].SM[3].SMlength = htoes((context->slavelist[slave].Ibits + 7) / 8);
context->slavelist[slave].SMtype[3] = 4;
}
}
/* slave not in configuration table, find out via SII */
else
#endif
{
ssigen = ecx_siifind(context, slave, ECT_SII_GENERAL);
/* SII general section */
if (ssigen)
{
context->slavelist[slave].CoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x07);
context->slavelist[slave].FoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x08);
context->slavelist[slave].EoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x09);
context->slavelist[slave].SoEdetails = ecx_siigetbyte(context, slave, ssigen + 0x0a);
if((ecx_siigetbyte(context, slave, ssigen + 0x0d) & 0x02) > 0)
{
context->slavelist[slave].blockLRW = 1;
context->slavelist[0].blockLRW++;
}
context->slavelist[slave].Ebuscurrent = ecx_siigetbyte(context, slave, ssigen + 0x0e);
context->slavelist[slave].Ebuscurrent += ecx_siigetbyte(context, slave, ssigen + 0x0f) << 8;
context->slavelist[0].Ebuscurrent += context->slavelist[slave].Ebuscurrent;
}
/* SII strings section */
if (ecx_siifind(context, slave, ECT_SII_STRING) > 0)
{
ecx_siistring(context, context->slavelist[slave].name, slave, 1);
}
/* no name for slave found, use constructed name */
else
{
sprintf(context->slavelist[slave].name, "? M:%8.8x I:%8.8x",
(unsigned int)context->slavelist[slave].eep_man,
(unsigned int)context->slavelist[slave].eep_id);
}
/* SII SM section */
nSM = ecx_siiSM(context, slave, context->eepSM);
if (nSM>0)
{
context->slavelist[slave].SM[0].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[0].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[0].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc = 1;
while ((SMc < EC_MAXSM) && ecx_siiSMnext(context, slave, context->eepSM, SMc))
{
context->slavelist[slave].SM[SMc].StartAddr = htoes(context->eepSM->PhStart);
context->slavelist[slave].SM[SMc].SMlength = htoes(context->eepSM->Plength);
context->slavelist[slave].SM[SMc].SMflags =
htoel((context->eepSM->Creg) + (context->eepSM->Activate << 16));
SMc++;
}
}
/* SII FMMU section */
if (ecx_siiFMMU(context, slave, context->eepFMMU))
{
if (context->eepFMMU->FMMU0 !=0xff)
{
context->slavelist[slave].FMMU0func = context->eepFMMU->FMMU0;
}
if (context->eepFMMU->FMMU1 !=0xff)
{
context->slavelist[slave].FMMU1func = context->eepFMMU->FMMU1;
}
if (context->eepFMMU->FMMU2 !=0xff)
{
context->slavelist[slave].FMMU2func = context->eepFMMU->FMMU2;
}
if (context->eepFMMU->FMMU3 !=0xff)
{
context->slavelist[slave].FMMU3func = context->eepFMMU->FMMU3;
}
}
}
if (context->slavelist[slave].mbx_l > 0)
{
if (context->slavelist[slave].SM[0].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox in configuration, try default.\n", slave);
context->slavelist[slave].SM[0].StartAddr = htoes(0x1000);
context->slavelist[slave].SM[0].SMlength = htoes(0x0080);
context->slavelist[slave].SM[0].SMflags = htoel(EC_DEFAULTMBXSM0);
context->slavelist[slave].SMtype[0] = 1;
}
if (context->slavelist[slave].SM[1].StartAddr == 0x0000) /* should never happen */
{
EC_PRINT("Slave %d has no proper mailbox out configuration, try default.\n", slave);
context->slavelist[slave].SM[1].StartAddr = htoes(0x1080);
context->slavelist[slave].SM[1].SMlength = htoes(0x0080);
context->slavelist[slave].SM[1].SMflags = htoel(EC_DEFAULTMBXSM1);
context->slavelist[slave].SMtype[1] = 2;
}
/* program SM0 mailbox in and SM1 mailbox out for slave */
/* writing both SM in one datagram will solve timing issue in old NETX */
ecx_FPWR(context->port, configadr, ECT_REG_SM0, sizeof(ec_smt) * 2,
&(context->slavelist[slave].SM[0]), EC_TIMEOUTRET3);
}
/* request pre_op for slave */
ecx_FPWRw(context->port, configadr, ECT_REG_ALCTL, htoes(EC_STATE_PRE_OP | EC_STATE_ACK) , EC_TIMEOUTRET3); /* set preop status */
}
}
return wkc;
}
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);
}
}
