beremiz

Adding support for uploading default value for unused entries in output pdos from slaves before starting master

2012-03-11, laurent
3a218f6bd805
Parents 6f78c4ac22f9
Children d676082c1d2f
Adding support for uploading default value for unused entries in output pdos from slaves before starting master
2 files changed, 38 insertions(+), 6 deletions(-)
  • +34 -5
    etherlab/etherlab.py
  • +4 -1
    etherlab/plc_etherlab.c
    • --- a/etherlab/etherlab.py Sun Mar 11 19:32:44 2012 +0100
    +++ b/etherlab/etherlab.py Sun Mar 11 21:53:35 2012 +0100
    @@ -636,15 +636,32 @@
    }
    """
    +SLAVE_OUTPUT_PDO_DEFAULT_VALUE = """
    + {
    + uint8_t value[%(data_size)d];
    + if (ecrt_master_sdo_upload(master, %(slave)d, 0x%(index).4x, 0x%(subindex).2x, (uint8_t *)value, %(data_size)d, &result_size, &abort_code)) {
    + fprintf(stderr, "Failed to get default value for output PDO in slave %(device_type)s at alias %(alias)d and position %(position)d.\\nError: %%d\\n", abort_code);
    + return -1;
    + }
    + for (i = 0; i < result_size; i++) {
    + %(real_var)s = (%(real_var)s << 8) + value[i];
    + }
    + }
    +"""
    +
    def ConfigureVariable(entry_infos, str_completion):
    entry_infos["data_type"] = DATATYPECONVERSION.get(entry_infos["var_type"], None)
    if entry_infos["data_type"] is None:
    raise ValueError, _("Type of location \"%s\" not yet supported!") % entry_infos["var_name"]
    -
    - entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
    - str_completion["located_variables_declaration"].extend(
    - ["IEC_%(var_type)s %(real_var)s;" % entry_infos,
    - "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
    +
    + if entry_infos.has_key("real_var"):
    + str_completion["located_variables_declaration"].append(
    + "IEC_%(var_type)s %(real_var)s;" % entry_infos)
    + else:
    + entry_infos["real_var"] = "beremiz" + entry_infos["var_name"]
    + str_completion["located_variables_declaration"].extend(
    + ["IEC_%(var_type)s %(real_var)s;" % entry_infos,
    + "IEC_%(var_type)s *%(var_name)s = &%(real_var)s;" % entry_infos])
    str_completion["used_pdo_entry_offset_variables_declaration"].append(
    "unsigned int slave%(slave)d_%(index).4x_%(subindex).2x;" % entry_infos)
    @@ -725,6 +742,7 @@
    "pdos_configuration_declaration": "",
    "slaves_declaration": "",
    "slaves_configuration": "",
    + "slaves_output_pdos_default_values_extraction": "",
    "slaves_initialization": "",
    "retrieve_variables": [],
    "publish_variables": [],
    @@ -846,6 +864,17 @@
    raise ValueError, _("Wrong direction for location \"%s\"!") % entry_infos["var_name"]
    ConfigureVariable(entry_infos, str_completion)
    +
    + elif pdo_type == "Outputs" and entry.getDataType() is not None:
    + entry_infos["dir"] = "Q"
    + entry_infos["data_size"] = max(1, entry_infos["bitlen"] / 8)
    + entry_infos["var_type"] = entry.getDataType().getcontent()
    + entry_infos["real_var"] = "slave%(slave)d_%(index).4x_%(subindex).2x_default" % entry_infos
    +
    + ConfigureVariable(entry_infos, str_completion)
    +
    + str_completion["slaves_output_pdos_default_values_extraction"] += \
    + SLAVE_OUTPUT_PDO_DEFAULT_VALUE % entry_infos
    if pdo_needed:
    for excluded in pdo.getExclude():
    --- a/etherlab/plc_etherlab.c Sun Mar 11 19:32:44 2012 +0100
    +++ b/etherlab/plc_etherlab.c Sun Mar 11 21:53:35 2012 +0100
    @@ -52,7 +52,8 @@
    int __init_%(location)s(int argc,char **argv)
    {
    uint32_t abort_code;
    - int rtstatus;
    + size_t result_size;
    + int i, rtstatus;
    MstrAttach.masterindex = %(master_number)d;
    @@ -76,6 +77,8 @@
    %(slaves_initialization)s
    +%(slaves_output_pdos_default_values_extraction)s
    +
    sprintf(&rt_dev_file[0],"%%s%%u",EC_RTDM_DEV_FILE_NAME,0);
    rt_fd = rt_dev_open( &rt_dev_file[0], 0);
    if (rt_fd < 0) {