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slaveinfo: improve SDO printout

This commit is contained in:
Mikael Heden 2021-09-08 15:36:33 +02:00
parent 4b81d4099d
commit 447fd0ae2a
1 changed files with 133 additions and 55 deletions
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188
test/linux/slaveinfo/slaveinfo.c
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@ -23,85 +23,134 @@ ec_OElistt OElist;
boolean printSDO = FALSE; boolean printSDO = FALSE;
boolean printMAP = FALSE; boolean printMAP = FALSE;
char usdo[128]; char usdo[128];
char hstr[1024];
char* dtype2string(uint16 dtype)
#define OTYPE_VAR 0x0007
#define OTYPE_ARRAY 0x0008
#define OTYPE_RECORD 0x0009
#define ATYPE_Rpre 0x01
#define ATYPE_Rsafe 0x02
#define ATYPE_Rop 0x04
#define ATYPE_Wpre 0x08
#define ATYPE_Wsafe 0x10
#define ATYPE_Wop 0x20
char* dtype2string(uint16 dtype, uint16 bitlen)
{ {
static char str[32] = { 0 };
switch(dtype) switch(dtype)
{ {
case ECT_BOOLEAN: case ECT_BOOLEAN:
sprintf(hstr, "BOOLEAN"); sprintf(str, "BOOLEAN");
break; break;
case ECT_INTEGER8: case ECT_INTEGER8:
sprintf(hstr, "INTEGER8"); sprintf(str, "INTEGER8");
break; break;
case ECT_INTEGER16: case ECT_INTEGER16:
sprintf(hstr, "INTEGER16"); sprintf(str, "INTEGER16");
break; break;
case ECT_INTEGER32: case ECT_INTEGER32:
sprintf(hstr, "INTEGER32"); sprintf(str, "INTEGER32");
break; break;
case ECT_INTEGER24: case ECT_INTEGER24:
sprintf(hstr, "INTEGER24"); sprintf(str, "INTEGER24");
break; break;
case ECT_INTEGER64: case ECT_INTEGER64:
sprintf(hstr, "INTEGER64"); sprintf(str, "INTEGER64");
break; break;
case ECT_UNSIGNED8: case ECT_UNSIGNED8:
sprintf(hstr, "UNSIGNED8"); sprintf(str, "UNSIGNED8");
break; break;
case ECT_UNSIGNED16: case ECT_UNSIGNED16:
sprintf(hstr, "UNSIGNED16"); sprintf(str, "UNSIGNED16");
break; break;
case ECT_UNSIGNED32: case ECT_UNSIGNED32:
sprintf(hstr, "UNSIGNED32"); sprintf(str, "UNSIGNED32");
break; break;
case ECT_UNSIGNED24: case ECT_UNSIGNED24:
sprintf(hstr, "UNSIGNED24"); sprintf(str, "UNSIGNED24");
break; break;
case ECT_UNSIGNED64: case ECT_UNSIGNED64:
sprintf(hstr, "UNSIGNED64"); sprintf(str, "UNSIGNED64");
break; break;
case ECT_REAL32: case ECT_REAL32:
sprintf(hstr, "REAL32"); sprintf(str, "REAL32");
break; break;
case ECT_REAL64: case ECT_REAL64:
sprintf(hstr, "REAL64"); sprintf(str, "REAL64");
break; break;
case ECT_BIT1: case ECT_BIT1:
sprintf(hstr, "BIT1"); sprintf(str, "BIT1");
break; break;
case ECT_BIT2: case ECT_BIT2:
sprintf(hstr, "BIT2"); sprintf(str, "BIT2");
break; break;
case ECT_BIT3: case ECT_BIT3:
sprintf(hstr, "BIT3"); sprintf(str, "BIT3");
break; break;
case ECT_BIT4: case ECT_BIT4:
sprintf(hstr, "BIT4"); sprintf(str, "BIT4");
break; break;
case ECT_BIT5: case ECT_BIT5:
sprintf(hstr, "BIT5"); sprintf(str, "BIT5");
break; break;
case ECT_BIT6: case ECT_BIT6:
sprintf(hstr, "BIT6"); sprintf(str, "BIT6");
break; break;
case ECT_BIT7: case ECT_BIT7:
sprintf(hstr, "BIT7"); sprintf(str, "BIT7");
break; break;
case ECT_BIT8: case ECT_BIT8:
sprintf(hstr, "BIT8"); sprintf(str, "BIT8");
break; break;
case ECT_VISIBLE_STRING: case ECT_VISIBLE_STRING:
sprintf(hstr, "VISIBLE_STRING"); sprintf(str, "VISIBLE_STR(%d)", bitlen);
break; break;
case ECT_OCTET_STRING: case ECT_OCTET_STRING:
sprintf(hstr, "OCTET_STRING"); sprintf(str, "OCTET_STR(%d)", bitlen);
break; break;
default: default:
sprintf(hstr, "Type 0x%4.4X", dtype); sprintf(str, "dt:0x%4.4X (%d)", dtype, bitlen);
} }
return hstr; return str;
}
char* otype2string(uint16 otype)
{
static char str[32] = { 0 };
switch(otype)
{
case OTYPE_VAR:
sprintf(str, "VAR");
break;
case OTYPE_ARRAY:
sprintf(str, "ARRAY");
break;
case OTYPE_RECORD:
sprintf(str, "RECORD");
break;
default:
sprintf(str, "ot:0x%4.4X", otype);
}
return str;
}
char* access2string(uint16 access)
{
static char str[32] = { 0 };
sprintf(str, "%s%s%s%s%s%s",
((access & ATYPE_Rpre) != 0 ? "R" : "_"),
((access & ATYPE_Wpre) != 0 ? "W" : "_"),
((access & ATYPE_Rsafe) != 0 ? "R" : "_"),
((access & ATYPE_Wsafe) != 0 ? "W" : "_"),
((access & ATYPE_Rop) != 0 ? "R" : "_"),
((access & ATYPE_Wop) != 0 ? "W" : "_"));
return str;
} }
char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype) char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
@ -127,54 +176,55 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
} }
else else
{ {
static char str[64] = { 0 };
switch(dtype) switch(dtype)
{ {
case ECT_BOOLEAN: case ECT_BOOLEAN:
u8 = (uint8*) &usdo[0]; u8 = (uint8*) &usdo[0];
if (*u8) sprintf(hstr, "TRUE"); if (*u8) sprintf(str, "TRUE");
else sprintf(hstr, "FALSE"); else sprintf(str, "FALSE");
break; break;
case ECT_INTEGER8: case ECT_INTEGER8:
i8 = (int8*) &usdo[0]; i8 = (int8*) &usdo[0];
sprintf(hstr, "0x%2.2x %d", *i8, *i8); sprintf(str, "0x%2.2x / %d", *i8, *i8);
break; break;
case ECT_INTEGER16: case ECT_INTEGER16:
i16 = (int16*) &usdo[0]; i16 = (int16*) &usdo[0];
sprintf(hstr, "0x%4.4x %d", *i16, *i16); sprintf(str, "0x%4.4x / %d", *i16, *i16);
break; break;
case ECT_INTEGER32: case ECT_INTEGER32:
case ECT_INTEGER24: case ECT_INTEGER24:
i32 = (int32*) &usdo[0]; i32 = (int32*) &usdo[0];
sprintf(hstr, "0x%8.8x %d", *i32, *i32); sprintf(str, "0x%8.8x / %d", *i32, *i32);
break; break;
case ECT_INTEGER64: case ECT_INTEGER64:
i64 = (int64*) &usdo[0]; i64 = (int64*) &usdo[0];
sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64); sprintf(str, "0x%16.16"PRIx64" / %"PRId64, *i64, *i64);
break; break;
case ECT_UNSIGNED8: case ECT_UNSIGNED8:
u8 = (uint8*) &usdo[0]; u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%2.2x %u", *u8, *u8); sprintf(str, "0x%2.2x / %u", *u8, *u8);
break; break;
case ECT_UNSIGNED16: case ECT_UNSIGNED16:
u16 = (uint16*) &usdo[0]; u16 = (uint16*) &usdo[0];
sprintf(hstr, "0x%4.4x %u", *u16, *u16); sprintf(str, "0x%4.4x / %u", *u16, *u16);
break; break;
case ECT_UNSIGNED32: case ECT_UNSIGNED32:
case ECT_UNSIGNED24: case ECT_UNSIGNED24:
u32 = (uint32*) &usdo[0]; u32 = (uint32*) &usdo[0];
sprintf(hstr, "0x%8.8x %u", *u32, *u32); sprintf(str, "0x%8.8x / %u", *u32, *u32);
break; break;
case ECT_UNSIGNED64: case ECT_UNSIGNED64:
u64 = (uint64*) &usdo[0]; u64 = (uint64*) &usdo[0];
sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64); sprintf(str, "0x%16.16"PRIx64" / %"PRIu64, *u64, *u64);
break; break;
case ECT_REAL32: case ECT_REAL32:
sr = (float*) &usdo[0]; sr = (float*) &usdo[0];
sprintf(hstr, "%f", *sr); sprintf(str, "%f", *sr);
break; break;
case ECT_REAL64: case ECT_REAL64:
dr = (double*) &usdo[0]; dr = (double*) &usdo[0];
sprintf(hstr, "%f", *dr); sprintf(str, "%f", *dr);
break; break;
case ECT_BIT1: case ECT_BIT1:
case ECT_BIT2: case ECT_BIT2:
@ -185,23 +235,25 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_BIT7: case ECT_BIT7:
case ECT_BIT8: case ECT_BIT8:
u8 = (uint8*) &usdo[0]; u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%x", *u8); sprintf(str, "0x%x / %u", *u8, *u8);
break; break;
case ECT_VISIBLE_STRING: case ECT_VISIBLE_STRING:
strcpy(hstr, usdo); strcpy(str, "\"");
strcat(str, usdo);
strcat(str, "\"");
break; break;
case ECT_OCTET_STRING: case ECT_OCTET_STRING:
hstr[0] = 0x00; str[0] = 0x00;
for (i = 0 ; i < l ; i++) for (i = 0 ; i < l ; i++)
{ {
sprintf(es, "0x%2.2x ", usdo[i]); sprintf(es, "0x%2.2x ", usdo[i]);
strcat( hstr, es); strcat( str, es);
} }
break; break;
default: default:
sprintf(hstr, "Unknown type"); sprintf(str, "Unknown type");
} }
return hstr; return str;
} }
} }
@ -264,7 +316,7 @@ int si_PDOassign(uint16 slave, uint16 PDOassign, int mapoffset, int bitoffset)
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen); printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
if((wkc > 0) && OElist.Entries) if((wkc > 0) && OElist.Entries)
{ {
printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx]), OElist.Name[obj_subidx]); printf(" %-12s %s\n", dtype2string(OElist.DataType[obj_subidx], bitlen), OElist.Name[obj_subidx]);
} }
else else
printf("\n"); printf("\n");
@ -422,7 +474,7 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
ec_siistring(str_name, slave, obj_name); ec_siistring(str_name, slave, obj_name);
printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen); printf(" [0x%4.4X.%1d] 0x%4.4X:0x%2.2X 0x%2.2X", abs_offset, abs_bit, obj_idx, obj_subidx, bitlen);
printf(" %-12s %s\n", dtype2string(obj_datatype), str_name); printf(" %-12s %s\n", dtype2string(obj_datatype, bitlen), str_name);
} }
bitoffset += bitlen; bitoffset += bitlen;
totalsize += bitlen; totalsize += bitlen;
@ -478,23 +530,49 @@ void si_sdo(int cnt)
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries); printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
for( i = 0 ; i < ODlist.Entries ; i++) for( i = 0 ; i < ODlist.Entries ; i++)
{ {
uint8_t max_sub;
char name[128] = { 0 };
ec_readODdescription(i, &ODlist); ec_readODdescription(i, &ODlist);
while(EcatError) printf("%s", ec_elist2string()); while(EcatError) printf(" - %s\n", ec_elist2string());
printf(" Index: %4.4x Datatype: %4.4x Objectcode: %2.2x Name: %s\n", snprintf(name, sizeof(name) - 1, "\"%s\"", ODlist.Name[i]);
ODlist.Index[i], ODlist.DataType[i], ODlist.ObjectCode[i], ODlist.Name[i]); if (ODlist.ObjectCode[i] == OTYPE_VAR)
{
printf("0x%04x %-40s [%s]\n", ODlist.Index[i], name,
otype2string(ODlist.ObjectCode[i]));
}
else
{
printf("0x%04x %-40s [%s maxsub(0x%02x / %d)]\n",
ODlist.Index[i], name, otype2string(ODlist.ObjectCode[i]),
ODlist.MaxSub[i], ODlist.MaxSub[i]);
}
memset(&OElist, 0, sizeof(OElist)); memset(&OElist, 0, sizeof(OElist));
ec_readOE(i, &ODlist, &OElist); ec_readOE(i, &ODlist, &OElist);
while(EcatError) printf("%s", ec_elist2string()); while(EcatError) printf("- %s\n", ec_elist2string());
for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
if(ODlist.ObjectCode[i] != OTYPE_VAR)
{
int l = sizeof(max_sub);
ec_SDOread(cnt, ODlist.Index[i], 0, FALSE, &l, &max_sub, EC_TIMEOUTRXM);
}
else {
max_sub = ODlist.MaxSub[i];
}
for( j = 0 ; j < max_sub+1 ; j++)
{ {
if ((OElist.DataType[j] > 0) && (OElist.BitLength[j] > 0)) 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", snprintf(name, sizeof(name) - 1, "\"%s\"", OElist.Name[j]);
j, OElist.DataType[j], OElist.BitLength[j], OElist.ObjAccess[j], OElist.Name[j]); printf(" 0x%02x %-40s [%-16s %6s] ", j, name,
dtype2string(OElist.DataType[j], OElist.BitLength[j]),
access2string(OElist.ObjAccess[j]));
if ((OElist.ObjAccess[j] & 0x0007)) if ((OElist.ObjAccess[j] & 0x0007))
{ {
printf(" Value :%s\n", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j])); printf("%s", SDO2string(cnt, ODlist.Index[i], j, OElist.DataType[j]));
} }
printf("\n");
} }
} }
} }