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SOEM/test/linux/aliastool.c

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/** \file
* \brief EEprom tool for Simple Open EtherCAT master
*
* Usage : eepromtool ifname slave OPTION fname|alias
* ifname is NIC interface, f.e. eth0
* slave = slave number in EtherCAT order 1..n
* -r read EEPROM, output binary format
* -ri read EEPROM, output Intel Hex format
* -w write EEPROM, input binary format
* -wi write EEPROM, input Intel Hex format
* -i display EEPROM information
* -walias write slave alias in EEPROM
*
* (c)Arthur Ketels 2010-2012
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <sys/time.h>
#include <unistd.h>
#include <time.h>
#include "ethercat.h"
#define MAXBUF 32768
#define STDBUF 2048
#define MINBUF 128
#define MODE_NONE 0
#define MODE_READBIN 1
#define MODE_READINTEL 2
#define MODE_WRITEBIN 3
#define MODE_WRITEINTEL 4
#define MODE_WRITEALIAS 5
#define MODE_INFO 6
#define MAXSLENGTH 256
uint8 ebuf[MAXBUF];
uint8 ob;
uint16 ow;
int os;
int slave;
int alias;
struct timeval tstart,tend, tdif;
int wkc;
int mode;
char sline[MAXSLENGTH];
#define IHEXLENGTH 0x20
int input_bin(char *fname, int *length)
{
FILE *fp;
int cc = 0, c;
fp = fopen(fname, "rb");
if(fp == NULL)
return 0;
while (((c = fgetc(fp)) != EOF) && (cc < MAXBUF))
ebuf[cc++] = (uint8)c;
*length = cc;
fclose(fp);
return 1;
}
int input_intelhex(char *fname, int *start, int *length)
{
FILE *fp;
int c, sc, retval = 1;
int ll, ladr, lt, sn, i, lval;
int hstart, hlength, sum;
fp = fopen(fname, "r");
if(fp == NULL)
return 0;
hstart = MAXBUF;
hlength = 0;
sum = 0;
do
{
memset(sline, 0x00, MAXSLENGTH);
sc = 0;
while (((c = fgetc(fp)) != EOF) && (c != 0x0A) && (sc < (MAXSLENGTH -1)))
sline[sc++] = (uint8)c;
if ((c != EOF) && ((sc < 11) || (sline[0] != ':')))
{
c = EOF;
retval = 0;
printf("Invalid Intel Hex format.\n");
}
if (c != EOF)
{
sn = sscanf(sline , ":%2x%4x%2x", &ll, &ladr, &lt);
if ((sn == 3) && ((ladr + ll) <= MAXBUF) && (lt == 0))
{
sum = ll + (ladr >> 8) + (ladr & 0xff) + lt;
if(ladr < hstart) hstart = ladr;
for(i = 0; i < ll ; i++)
{
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
ebuf[ladr + i] = (uint8)lval;
sum += (uint8)lval;
}
if(((ladr + ll) - hstart) > hlength)
hlength = (ladr + ll) - hstart;
sum = (0x100 - sum) & 0xff;
sn = sscanf(&sline[9 + (i << 1)], "%2x", &lval);
if (!sn || ((sum - lval) != 0))
{
c = EOF;
retval = 0;
printf("Invalid checksum.\n");
}
}
}
}
while (c != EOF);
if (retval)
{
*length = hlength;
*start = hstart;
}
fclose(fp);
return retval;
}
int output_bin(char *fname, int length)
{
FILE *fp;
int cc;
fp = fopen(fname, "wb");
if(fp == NULL)
return 0;
for (cc = 0 ; cc < length ; cc++)
fputc( ebuf[cc], fp);
fclose(fp);
return 1;
}
int output_intelhex(char *fname, int length)
{
FILE *fp;
int cc = 0, ll, sum, i;
fp = fopen(fname, "w");
if(fp == NULL)
return 0;
while (cc < length)
{
ll = length - cc;
if (ll > IHEXLENGTH) ll = IHEXLENGTH;
sum = ll + (cc >> 8) + (cc & 0xff);
fprintf(fp, ":%2.2X%4.4X00", ll, cc);
for (i = 0; i < ll; i++)
{
fprintf(fp, "%2.2X", ebuf[cc + i]);
sum += ebuf[cc + i];
}
fprintf(fp, "%2.2X\n", (0x100 - sum) & 0xff);
cc += ll;
}
fprintf(fp, ":00000001FF\n");
fclose(fp);
return 1;
}
int eeprom_read(int slave, int start, int length)
{
int i, wkc, ainc = 4;
uint16 estat, aiadr;
uint32 b4;
uint64 b8;
uint8 eepctl;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
eepctl = 2;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
eepctl = 0;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
estat = 0x0000;
aiadr = 1 - slave;
wkc=ec_APRD(aiadr, ECT_REG_EEPSTAT, sizeof(estat), &estat, EC_TIMEOUTRET); /* read eeprom status */
estat = etohs(estat);
if (estat & EC_ESTAT_R64)
{
ainc = 8;
for (i = start ; i < (start + length) ; i+=ainc)
{
b8 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
ebuf[i] = b8;
ebuf[i+1] = b8 >> 8;
ebuf[i+2] = b8 >> 16;
ebuf[i+3] = b8 >> 24;
ebuf[i+4] = b8 >> 32;
ebuf[i+5] = b8 >> 40;
ebuf[i+6] = b8 >> 48;
ebuf[i+7] = b8 >> 56;
}
}
else
{
for (i = start ; i < (start + length) ; i+=ainc)
{
b4 = ec_readeepromAP(aiadr, i >> 1 , EC_TIMEOUTEEP);
ebuf[i] = b4;
ebuf[i+1] = b4 >> 8;
ebuf[i+2] = b4 >> 16;
ebuf[i+3] = b4 >> 24;
}
}
return 1;
}
return 0;
}
int eeprom_write(int slave, int start, int length)
{
int i, wkc, dc = 0;
uint16 aiadr, *wbuf;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && ((start + length) <= MAXBUF))
{
aiadr = 1 - slave;
eepctl = 2;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
eepctl = 0;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
aiadr = 1 - slave;
wbuf = (uint16 *)&ebuf[0];
for (i = start ; i < (start + length) ; i+=2)
{
ret = ec_writeeepromAP(aiadr, i >> 1 , *(wbuf + (i >> 1)), EC_TIMEOUTEEP);
if (++dc >= 100)
{
dc = 0;
printf(".");
fflush(stdout);
}
}
return 1;
}
return 0;
}
int eeprom_writealias(int slave, int alias)
{
int i, wkc, dc = 0;
uint16 aiadr, *wbuf;
uint8 eepctl;
int ret;
if((ec_slavecount >= slave) && (slave > 0) && (alias <= 0xffff))
{
aiadr = 1 - slave;
eepctl = 2;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* force Eeprom from PDI */
eepctl = 0;
wkc = ec_APWR(aiadr, ECT_REG_EEPCFG, sizeof(eepctl), &eepctl , EC_TIMEOUTRET); /* set Eeprom to master */
ret = ec_writeeepromAP(aiadr, 0x04 , alias, EC_TIMEOUTEEP);
return ret;
}
return 0;
}
void eepromtool(char *ifname, int slave, int mode, char *fname)
{
int w, rc = 0, estart, esize;
uint16 *wbuf;
/* initialise SOEM, bind socket to ifname */
if (ec_init(ifname))
{
printf("ec_init on %s succeeded.\n",ifname);
w = 0x0000;
wkc = ec_BRD(0x0000, ECT_REG_TYPE, sizeof(w), &w, EC_TIMEOUTSAFE); /* detect number of slaves */
if (wkc > 0)
{
ec_slavecount = wkc;
printf("%d slaves found.\n",ec_slavecount);
if((ec_slavecount >= slave) && (slave > 0))
{
if ((mode == MODE_INFO) || (mode == MODE_READBIN) || (mode == MODE_READINTEL))
{
rc = gettimeofday(&tstart, NULL);
eeprom_read(slave, 0x0000, MINBUF); // read first 128 bytes
wbuf = (uint16 *)&ebuf[0];
printf("Slave %d data\n", slave);
printf(" PDI Control : %4.4X\n",*(wbuf + 0x00));
printf(" PDI Config : %4.4X\n",*(wbuf + 0x01));
printf(" Config Alias : %4.4X\n",*(wbuf + 0x04));
printf(" Checksum : %4.4X\n",*(wbuf + 0x07));
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
printf(" Mailbox Protocol : %4.4X\n",*(wbuf + 0x1C));
esize = (*(wbuf + 0x3E) + 1) * 128;
if (esize > MAXBUF) esize = MAXBUF;
printf(" Size : %4.4X = %d bytes\n",*(wbuf + 0x3E), esize);
printf(" Version : %4.4X\n",*(wbuf + 0x3F));
}
if ((mode == MODE_READBIN) || (mode == MODE_READINTEL))
{
if (esize > MINBUF)
eeprom_read(slave, MINBUF, esize - MINBUF); // read reminder
rc = gettimeofday(&tend, NULL);
timersub(&tend, &tstart, &tdif);
if (mode == MODE_READINTEL) output_intelhex(fname, esize);
if (mode == MODE_READBIN) output_bin(fname, esize);
printf("\nTotal EEPROM read time :%ldms\n", (tdif.tv_usec+(tdif.tv_sec*1000000L)) / 1000);
}
if ((mode == MODE_WRITEBIN) || (mode == MODE_WRITEINTEL))
{
estart = 0;
if (mode == MODE_WRITEINTEL) rc = input_intelhex(fname, &estart, &esize);
if (mode == MODE_WRITEBIN) rc = input_bin(fname, &esize);
if (rc > 0)
{
wbuf = (uint16 *)&ebuf[0];
printf("Slave %d\n", slave);
printf(" Vendor ID : %8.8X\n",*(uint32 *)(wbuf + 0x08));
printf(" Product Code : %8.8X\n",*(uint32 *)(wbuf + 0x0A));
printf(" Revision Number : %8.8X\n",*(uint32 *)(wbuf + 0x0C));
printf(" Serial Number : %8.8X\n",*(uint32 *)(wbuf + 0x0E));
printf("Busy");
fflush(stdout);
rc = gettimeofday(&tstart, NULL);
eeprom_write(slave, estart, esize);
rc = gettimeofday(&tend, NULL);
timersub(&tend, &tstart, &tdif);
printf("\nTotal EEPROM write time :%ldms\n", (tdif.tv_usec+(tdif.tv_sec*1000000L)) / 1000);
}
else
printf("Error reading file, abort.\n");
}
if (mode == MODE_WRITEALIAS)
{
if(eeprom_writealias(slave, alias))
printf("Alias %4.4X written successfully to slave %d\n");
else
printf("Alias not written\n");
}
}
else
printf("Slave number outside range.\n");
}
else
printf("No slaves found!\n");
printf("End, close socket\n");
/* stop SOEM, close socket */
ec_close();
}
else
printf("No socket connection on %s\nExcecute as root\n",ifname);
}
int main(int argc, char *argv[])
{
printf("SOEM (Simple Open EtherCAT Master)\nEEPROM tool\n");
mode = MODE_NONE;
if (argc > 3)
{
slave = atoi(argv[2]);
if ((strncmp(argv[3], "-i", sizeof("-i")) == 0)) mode = MODE_INFO;
if (argc > 4)
{
if ((strncmp(argv[3], "-r", sizeof("-r")) == 0)) mode = MODE_READBIN;
if ((strncmp(argv[3], "-ri", sizeof("-ri")) == 0)) mode = MODE_READINTEL;
if ((strncmp(argv[3], "-w", sizeof("-w")) == 0)) mode = MODE_WRITEBIN;
if ((strncmp(argv[3], "-wi", sizeof("-wi")) == 0)) mode = MODE_WRITEINTEL;
if ((strncmp(argv[3], "-walias", sizeof("-walias")) == 0))
{
mode = MODE_WRITEALIAS;
alias = atoi(argv[4]);
}
}
/* start tool */
eepromtool(argv[1],slave,mode,argv[4]);
}
else
{
printf("Usage: eepromtool ifname slave OPTION fname|alias\n");
printf("ifname = eth0 for example\n");
printf("slave = slave number in EtherCAT order 1..n\n");
printf(" -i display EEPROM information\n");
printf(" -walias write slave alias\n");
printf(" -r read EEPROM, output binary format\n");
printf(" -ri read EEPROM, output Intel Hex format\n");
printf(" -w write EEPROM, input binary format\n");
printf(" -wi write EEPROM, input Intel Hex format\n");
}
printf("End program\n");
return (0);
}
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