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