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Merge pull request #553 from OpenEtherCATsociety/mheden/slaveinfo 

slaveinfo: improve SDO printout
This commit is contained in:
ArthurKetels 2021-09-28 21:19:56 +02:00 committed by GitHub
parent 354466a534 447fd0ae2a
commit 6f04be13c9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
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 printMAP = FALSE;
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)
{
case ECT_BOOLEAN:
sprintf(hstr, "BOOLEAN");
sprintf(str, "BOOLEAN");
break;
case ECT_INTEGER8:
sprintf(hstr, "INTEGER8");
sprintf(str, "INTEGER8");
break;
case ECT_INTEGER16:
sprintf(hstr, "INTEGER16");
sprintf(str, "INTEGER16");
break;
case ECT_INTEGER32:
sprintf(hstr, "INTEGER32");
sprintf(str, "INTEGER32");
break;
case ECT_INTEGER24:
sprintf(hstr, "INTEGER24");
sprintf(str, "INTEGER24");
break;
case ECT_INTEGER64:
sprintf(hstr, "INTEGER64");
sprintf(str, "INTEGER64");
break;
case ECT_UNSIGNED8:
sprintf(hstr, "UNSIGNED8");
sprintf(str, "UNSIGNED8");
break;
case ECT_UNSIGNED16:
sprintf(hstr, "UNSIGNED16");
sprintf(str, "UNSIGNED16");
break;
case ECT_UNSIGNED32:
sprintf(hstr, "UNSIGNED32");
sprintf(str, "UNSIGNED32");
break;
case ECT_UNSIGNED24:
sprintf(hstr, "UNSIGNED24");
sprintf(str, "UNSIGNED24");
break;
case ECT_UNSIGNED64:
sprintf(hstr, "UNSIGNED64");
sprintf(str, "UNSIGNED64");
break;
case ECT_REAL32:
sprintf(hstr, "REAL32");
sprintf(str, "REAL32");
break;
case ECT_REAL64:
sprintf(hstr, "REAL64");
sprintf(str, "REAL64");
break;
case ECT_BIT1:
sprintf(hstr, "BIT1");
sprintf(str, "BIT1");
break;
case ECT_BIT2:
sprintf(hstr, "BIT2");
sprintf(str, "BIT2");
break;
case ECT_BIT3:
sprintf(hstr, "BIT3");
sprintf(str, "BIT3");
break;
case ECT_BIT4:
sprintf(hstr, "BIT4");
sprintf(str, "BIT4");
break;
case ECT_BIT5:
sprintf(hstr, "BIT5");
sprintf(str, "BIT5");
break;
case ECT_BIT6:
sprintf(hstr, "BIT6");
sprintf(str, "BIT6");
break;
case ECT_BIT7:
sprintf(hstr, "BIT7");
sprintf(str, "BIT7");
break;
case ECT_BIT8:
sprintf(hstr, "BIT8");
sprintf(str, "BIT8");
break;
case ECT_VISIBLE_STRING:
sprintf(hstr, "VISIBLE_STRING");
sprintf(str, "VISIBLE_STR(%d)", bitlen);
break;
case ECT_OCTET_STRING:
sprintf(hstr, "OCTET_STRING");
sprintf(str, "OCTET_STR(%d)", bitlen);
break;
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)
@ -127,54 +176,55 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
}
else
{
static char str[64] = { 0 };
switch(dtype)
{
case ECT_BOOLEAN:
u8 = (uint8*) &usdo[0];
if (*u8) sprintf(hstr, "TRUE");
else sprintf(hstr, "FALSE");
if (*u8) sprintf(str, "TRUE");
else sprintf(str, "FALSE");
break;
case ECT_INTEGER8:
i8 = (int8*) &usdo[0];
sprintf(hstr, "0x%2.2x %d", *i8, *i8);
sprintf(str, "0x%2.2x / %d", *i8, *i8);
break;
case ECT_INTEGER16:
i16 = (int16*) &usdo[0];
sprintf(hstr, "0x%4.4x %d", *i16, *i16);
sprintf(str, "0x%4.4x / %d", *i16, *i16);
break;
case ECT_INTEGER32:
case ECT_INTEGER24:
i32 = (int32*) &usdo[0];
sprintf(hstr, "0x%8.8x %d", *i32, *i32);
sprintf(str, "0x%8.8x / %d", *i32, *i32);
break;
case ECT_INTEGER64:
i64 = (int64*) &usdo[0];
sprintf(hstr, "0x%16.16"PRIx64" %"PRId64, *i64, *i64);
sprintf(str, "0x%16.16"PRIx64" / %"PRId64, *i64, *i64);
break;
case ECT_UNSIGNED8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%2.2x %u", *u8, *u8);
sprintf(str, "0x%2.2x / %u", *u8, *u8);
break;
case ECT_UNSIGNED16:
u16 = (uint16*) &usdo[0];
sprintf(hstr, "0x%4.4x %u", *u16, *u16);
sprintf(str, "0x%4.4x / %u", *u16, *u16);
break;
case ECT_UNSIGNED32:
case ECT_UNSIGNED24:
u32 = (uint32*) &usdo[0];
sprintf(hstr, "0x%8.8x %u", *u32, *u32);
sprintf(str, "0x%8.8x / %u", *u32, *u32);
break;
case ECT_UNSIGNED64:
u64 = (uint64*) &usdo[0];
sprintf(hstr, "0x%16.16"PRIx64" %"PRIu64, *u64, *u64);
sprintf(str, "0x%16.16"PRIx64" / %"PRIu64, *u64, *u64);
break;
case ECT_REAL32:
sr = (float*) &usdo[0];
sprintf(hstr, "%f", *sr);
sprintf(str, "%f", *sr);
break;
case ECT_REAL64:
dr = (double*) &usdo[0];
sprintf(hstr, "%f", *dr);
sprintf(str, "%f", *dr);
break;
case ECT_BIT1:
case ECT_BIT2:
@ -185,23 +235,25 @@ char* SDO2string(uint16 slave, uint16 index, uint8 subidx, uint16 dtype)
case ECT_BIT7:
case ECT_BIT8:
u8 = (uint8*) &usdo[0];
sprintf(hstr, "0x%x", *u8);
sprintf(str, "0x%x / %u", *u8, *u8);
break;
case ECT_VISIBLE_STRING:
strcpy(hstr, usdo);
strcpy(str, "\"");
strcat(str, usdo);
strcat(str, "\"");
break;
case ECT_OCTET_STRING:
hstr[0] = 0x00;
str[0] = 0x00;
for (i = 0 ; i < l ; i++)
{
sprintf(es, "0x%2.2x ", usdo[i]);
strcat( hstr, es);
strcat( str, es);
}
break;
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);
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
printf("\n");
@ -422,7 +474,7 @@ int si_siiPDO(uint16 slave, uint8 t, int mapoffset, int bitoffset)
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(" %-12s %s\n", dtype2string(obj_datatype), str_name);
printf(" %-12s %s\n", dtype2string(obj_datatype, bitlen), str_name);
}
bitoffset += bitlen;
totalsize += bitlen;
@ -478,23 +530,49 @@ void si_sdo(int cnt)
printf(" CoE Object Description found, %d entries.\n",ODlist.Entries);
for( i = 0 ; i < ODlist.Entries ; i++)
{
uint8_t max_sub;
char name[128] = { 0 };
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]);
while(EcatError) printf(" - %s\n", ec_elist2string());
snprintf(name, sizeof(name) - 1, "\"%s\"", 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));
ec_readOE(i, &ODlist, &OElist);
while(EcatError) printf("%s", ec_elist2string());
for( j = 0 ; j < ODlist.MaxSub[i]+1 ; j++)
while(EcatError) printf("- %s\n", ec_elist2string());
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))
{
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]);
snprintf(name, sizeof(name) - 1, "\"%s\"", 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))
{
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");
}
}
}