366 lines
13 KiB
C
366 lines
13 KiB
C
/*
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* Licensed under the GNU General Public License version 2 with exceptions. See
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* LICENSE file in the project root for full license information
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*/
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/** \file
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* \brief
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* Module to convert EtherCAT errors to readable messages.
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*
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* SDO abort messages and AL status codes are used to relay slave errors to
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* the user application. This module converts the binary codes to readable text.
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* For the defined error codes see the EtherCAT protocol documentation.
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*/
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#include <stdio.h>
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#include "oshw.h"
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#include "ethercattype.h"
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#include "ethercatmain.h"
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#define EC_MAXERRORNAME 127
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/** SDO error list type definition */
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typedef struct
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{
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/** Error code returned from SDO */
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uint32 errorcode;
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/** Readable error description */
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char errordescription[EC_MAXERRORNAME + 1];
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} ec_sdoerrorlist_t;
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/** AL status code list type definition */
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typedef struct
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{
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/** AL status code */
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uint16 ALstatuscode;
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/** Readable description */
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char ALstatuscodedescription[EC_MAXERRORNAME + 1];
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} ec_ALstatuscodelist_t;
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/** SoE error list type definition */
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typedef struct
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{
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/** SoE error code */
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uint16 errorcode;
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/** Readable description */
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char errordescription[EC_MAXERRORNAME + 1];
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} ec_soeerrorlist_t;
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/** MBX error list type definition */
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typedef struct
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{
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/** MBX error code */
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uint16 errorcode;
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/** Readable description */
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char errordescription[EC_MAXERRORNAME + 1];
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} ec_mbxerrorlist_t;
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char estring[EC_MAXERRORNAME];
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/** SDO error list definition */
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const ec_sdoerrorlist_t ec_sdoerrorlist[] = {
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{0x00000000, "No error" },
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{0x05030000, "Toggle bit not changed" },
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{0x05040000, "SDO protocol timeout" },
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{0x05040001, "Client/Server command specifier not valid or unknown" },
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{0x05040005, "Out of memory" },
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{0x06010000, "Unsupported access to an object" },
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{0x06010001, "Attempt to read to a write only object" },
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{0x06010002, "Attempt to write to a read only object" },
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{0x06010003, "Subindex can not be written, SI0 must be 0 for write access" },
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{0x06010004, "SDO Complete access not supported for variable length objects" },
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{0x06010005, "Object length exceeds mailbox size" },
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{0x06010006, "Object mapped to RxPDO, SDO download blocked" },
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{0x06020000, "The object does not exist in the object directory" },
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{0x06040041, "The object can not be mapped into the PDO" },
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{0x06040042, "The number and length of the objects to be mapped would exceed the PDO length" },
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{0x06040043, "General parameter incompatibility reason" },
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{0x06040047, "General internal incompatibility in the device" },
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{0x06060000, "Access failed due to a hardware error" },
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{0x06070010, "Data type does not match, length of service parameter does not match" },
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{0x06070012, "Data type does not match, length of service parameter too high" },
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{0x06070013, "Data type does not match, length of service parameter too low" },
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{0x06090011, "Subindex does not exist" },
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{0x06090030, "Value range of parameter exceeded (only for write access)" },
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{0x06090031, "Value of parameter written too high" },
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{0x06090032, "Value of parameter written too low" },
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{0x06090036, "Maximum value is less than minimum value" },
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{0x08000000, "General error" },
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{0x08000020, "Data cannot be transferred or stored to the application" },
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{0x08000021, "Data cannot be transferred or stored to the application because of local control" },
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{0x08000022, "Data cannot be transferred or stored to the application because of the present device state" },
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{0x08000023, "Object dictionary dynamic generation fails or no object dictionary is present" },
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{0xffffffff, "Unknown" }
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};
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/** AL status code list definition */
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const ec_ALstatuscodelist_t ec_ALstatuscodelist[] = {
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{0x0000 , "No error" },
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{0x0001 , "Unspecified error" },
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{0x0002 , "No memory" },
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{0x0011 , "Invalid requested state change" },
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{0x0012 , "Unknown requested state" },
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{0x0013 , "Bootstrap not supported" },
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{0x0014 , "No valid firmware" },
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{0x0015 , "Invalid mailbox configuration" },
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{0x0016 , "Invalid mailbox configuration" },
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{0x0017 , "Invalid sync manager configuration" },
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{0x0018 , "No valid inputs available" },
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{0x0019 , "No valid outputs" },
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{0x001A , "Synchronization error" },
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{0x001B , "Sync manager watchdog" },
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{0x001C , "Invalid sync Manager types" },
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{0x001D , "Invalid output configuration" },
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{0x001E , "Invalid input configuration" },
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{0x001F , "Invalid watchdog configuration" },
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{0x0020 , "Slave needs cold start" },
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{0x0021 , "Slave needs INIT" },
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{0x0022 , "Slave needs PREOP" },
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{0x0023 , "Slave needs SAFEOP" },
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{0x0024 , "Invalid input mapping" },
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{0x0025 , "Invalid output mapping" },
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{0x0026 , "Inconsistent settings" },
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{0x0027 , "Freerun not supported" },
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{0x0028 , "Synchronisation not supported" },
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{0x0029 , "Freerun needs 3buffer mode" },
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{0x002A , "Background watchdog" },
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{0x002B , "No valid Inputs and Outputs" },
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{0x002C , "Fatal sync error" },
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{0x002D , "No sync error" }, // was "Invalid Output FMMU Configuration"
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{0x002E , "Invalid input FMMU configuration" },
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{0x0030 , "Invalid DC SYNC configuration" },
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{0x0031 , "Invalid DC latch configuration" },
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{0x0032 , "PLL error" },
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{0x0033 , "DC sync IO error" },
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{0x0034 , "DC sync timeout error" },
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{0x0035 , "DC invalid sync cycle time" },
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{0x0036 , "DC invalid sync0 cycle time" },
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{0x0037 , "DC invalid sync1 cycle time" },
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{0x0041 , "MBX_AOE" },
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{0x0042 , "MBX_EOE" },
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{0x0043 , "MBX_COE" },
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{0x0044 , "MBX_FOE" },
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{0x0045 , "MBX_SOE" },
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{0x004F , "MBX_VOE" },
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{0x0050 , "EEPROM no access" },
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{0x0051 , "EEPROM error" },
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{0x0060 , "Slave restarted locally" },
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{0x0061 , "Device identification value updated" },
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{0x00f0 , "Application controller available" },
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{0xffff , "Unknown" }
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};
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/** SoE error list definition */
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const ec_soeerrorlist_t ec_soeerrorlist[] = {
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{0x0000, "No error" },
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{0x1001, "No IDN" },
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{0x1009, "Invalid access to element 1" },
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{0x2001, "No Name" },
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{0x2002, "Name transmission too short" },
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{0x2003, "Name transmission too long" },
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{0x2004, "Name cannot be changed (read only)" },
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{0x2005, "Name is write-protected at this time" },
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{0x3002, "Attribute transmission too short" },
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{0x3003, "Attribute transmission too long" },
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{0x3004, "Attribute cannot be changed (read only)" },
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{0x3005, "Attribute is write-protected at this time" },
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{0x4001, "No units" },
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{0x4002, "Unit transmission too short" },
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{0x4003, "Unit transmission too long" },
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{0x4004, "Unit cannot be changed (read only)" },
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{0x4005, "Unit is write-protected at this time" },
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{0x5001, "No minimum input value" },
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{0x5002, "Minimum input value transmission too short" },
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{0x5003, "Minimum input value transmission too long" },
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{0x5004, "Minimum input value cannot be changed (read only)" },
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{0x5005, "Minimum input value is write-protected at this time" },
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{0x6001, "No maximum input value" },
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{0x6002, "Maximum input value transmission too short" },
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{0x6003, "Maximum input value transmission too long" },
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{0x6004, "Maximum input value cannot be changed (read only)" },
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{0x6005, "Maximum input value is write-protected at this time" },
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{0x7002, "Operation data transmission too short" },
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{0x7003, "Operation data transmission too long" },
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{0x7004, "Operation data cannot be changed (read only)" },
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{0x7005, "Operation data is write-protected at this time (state)" },
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{0x7006, "Operation data is smaller than the minimum input value" },
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{0x7007, "Operation data is smaller than the maximum input value" },
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{0x7008, "Invalid operation data:Configured IDN will not be supported" },
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{0x7009, "Operation data write protected by a password" },
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{0x700A, "Operation data is write protected, it is configured cyclically" },
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{0x700B, "Invalid indirect addressing: (e.g., data container, list handling)" },
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{0x700C, "Operation data is write protected, due to other settings" },
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{0x700D, "Reserved" },
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{0x7010, "Procedure command already active" },
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{0x7011, "Procedure command not interruptible" },
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{0x7012, "Procedure command at this time not executable (state)" },
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{0x7013, "Procedure command not executable (invalid or false parameters)" },
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{0x7014, "No data state" },
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{0x8001, "No default value" },
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{0x8002, "Default value transmission too long" },
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{0x8004, "Default value cannot be changed, read only" },
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{0x800A, "Invalid drive number" },
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{0x800A, "General error" },
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{0x800A, "No element addressed" },
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{0xffff, "Unknown" }
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};
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/** MBX error list definition */
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const ec_mbxerrorlist_t ec_mbxerrorlist[] = {
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{0x0000, "No error" },
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{0x0001, "Syntax of 6 octet Mailbox Header is wrong" },
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{0x0002, "The mailbox protocol is not supported" },
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{0x0003, "Channel Field contains wrong value"},
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{0x0004, "The service is no supported"},
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{0x0005, "Invalid mailbox header"},
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{0x0006, "Length of received mailbox data is too short"},
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{0x0007, "No more memory in slave"},
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{0x0008, "The length of data is inconsistent"},
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{0xffff, "Unknown"}
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};
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/** Look up text string that belongs to SDO error code.
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*
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* @param[in] sdoerrorcode = SDO error code as defined in EtherCAT protocol
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* @return readable string
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*/
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const char* ec_sdoerror2string( uint32 sdoerrorcode)
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{
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int i = 0;
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while ( (ec_sdoerrorlist[i].errorcode != 0xffffffffUL) &&
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(ec_sdoerrorlist[i].errorcode != sdoerrorcode) )
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{
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i++;
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}
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return ec_sdoerrorlist[i].errordescription;
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}
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/** Look up text string that belongs to AL status code.
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*
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* @param[in] ALstatuscode = AL status code as defined in EtherCAT protocol
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* @return readable string
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*/
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char* ec_ALstatuscode2string( uint16 ALstatuscode)
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{
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int i = 0;
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while ( (ec_ALstatuscodelist[i].ALstatuscode != 0xffff) &&
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(ec_ALstatuscodelist[i].ALstatuscode != ALstatuscode) )
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{
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i++;
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}
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return (char *) ec_ALstatuscodelist[i].ALstatuscodedescription;
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}
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/** Look up text string that belongs to SoE error code.
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*
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* @param[in] errorcode = SoE error code as defined in EtherCAT protocol
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* @return readable string
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*/
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char* ec_soeerror2string( uint16 errorcode)
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{
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int i = 0;
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while ( (ec_soeerrorlist[i].errorcode != 0xffff) &&
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(ec_soeerrorlist[i].errorcode != errorcode) )
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{
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i++;
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}
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return (char *) ec_soeerrorlist[i].errordescription;
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}
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/** Look up text string that belongs to MBX error code.
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*
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* @param[in] errorcode = MBX error code as defined in EtherCAT protocol
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* @return readable string
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*/
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char* ec_mbxerror2string( uint16 errorcode)
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{
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int i = 0;
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while ( (ec_mbxerrorlist[i].errorcode != 0xffff) &&
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(ec_mbxerrorlist[i].errorcode != errorcode) )
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{
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i++;
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}
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return (char *) ec_mbxerrorlist[i].errordescription;
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}
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/** Look up error in ec_errorlist and convert to text string.
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*
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* @param[in] context = context struct
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* @return readable string
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*/
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char* ecx_elist2string(ecx_contextt *context)
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{
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ec_errort Ec;
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char timestr[20];
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if (ecx_poperror(context, &Ec))
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{
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sprintf(timestr, "Time:%12.3f", Ec.Time.sec + (Ec.Time.usec / 1000000.0) );
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switch (Ec.Etype)
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{
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case EC_ERR_TYPE_SDO_ERROR:
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{
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sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
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timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
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break;
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}
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case EC_ERR_TYPE_EMERGENCY:
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{
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sprintf(estring, "%s EMERGENCY slave:%d error:%4.4x\n",
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timestr, Ec.Slave, Ec.ErrorCode);
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break;
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}
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case EC_ERR_TYPE_PACKET_ERROR:
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{
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sprintf(estring, "%s PACKET slave:%d index:%4.4x.%2.2x error:%d\n",
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timestr, Ec.Slave, Ec.Index, Ec.SubIdx, Ec.ErrorCode);
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break;
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}
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case EC_ERR_TYPE_SDOINFO_ERROR:
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{
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sprintf(estring, "%s SDO slave:%d index:%4.4x.%2.2x error:%8.8x %s\n",
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timestr, Ec.Slave, Ec.Index, Ec.SubIdx, (unsigned)Ec.AbortCode, ec_sdoerror2string(Ec.AbortCode));
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break;
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}
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case EC_ERR_TYPE_SOE_ERROR:
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{
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sprintf(estring, "%s SoE slave:%d IDN:%4.4x error:%4.4x %s\n",
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timestr, Ec.Slave, Ec.Index, (unsigned)Ec.AbortCode, ec_soeerror2string(Ec.ErrorCode));
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break;
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}
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case EC_ERR_TYPE_MBX_ERROR:
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{
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sprintf(estring, "%s MBX slave:%d error:%4.4x %s\n",
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timestr, Ec.Slave, Ec.ErrorCode, ec_mbxerror2string(Ec.ErrorCode));
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break;
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}
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default:
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{
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sprintf(estring, "%s error:%8.8x\n",
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timestr, (unsigned)Ec.AbortCode);
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break;
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}
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}
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return (char*) estring;
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}
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else
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{
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return "";
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}
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}
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#ifdef EC_VER1
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char* ec_elist2string(void)
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{
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return ecx_elist2string(&ecx_context);
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}
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#endif
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