From 2879b3a1c79ffe3a23bd97699b7003c226d49a8f Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Mon, 11 Jan 2021 09:06:12 +0000
Subject: [PATCH] improve interpretation of EEPROM data
---
ethercat.py | 38 ++++++++++++++++++++++++++++++++++++--
1 file changed, 36 insertions(+), 2 deletions(-)
diff --git a/ethercat.py b/ethercat.py
index c90ae22..802b9bc 100644
--- a/ethercat.py
+++ b/ethercat.py
@@ -227,8 +227,42 @@ class Terminal:
self.eeprom = await self.read_eeprom()
await self.write(0x800, data=0x80) # empty out sync manager
await self.write(0x800, data=self.eeprom[41])
- self.mbx_out_off, self.mbx_out_sz, self.mbx_in_off, self.mbx_in_sz = \
- unpack("<HH4xHH", self.eeprom[41][:12])
+ self.mbx_out_off = self.mbx_out_sz = None
+ self.mbx_in_off = self.mbx_in_sz = None
+ self.pdo_out_off = self.pdo_out_sz = None
+ self.pdo_in_off = self.pdo_in_sz = None
+ for i in range(0, len(self.eeprom[41]), 8):
+ offset, size, mode = unpack("<HHB", self.eeprom[41][i:i+5])
+ mode &= 0xf
+ if mode == 0:
+ self.pdo_in_off = offset
+ self.pdo_in_sz = size
+ elif mode == 2:
+ self.mbx_in_off = offset
+ self.mbx_in_sz = size
+ elif mode == 4:
+ self.pdo_out_off = offset
+ self.pdo_out_sz = size
+ elif mode == 6:
+ self.mbx_out_off = offset
+ self.mbx_out_sz = size
+
+ def parse_pdos(self):
+ def parse_pdo(s):
+ i = 0
+ while i < len(s):
+ idx, e, sm, u1, u2, u3 = unpack("<HBBBBH", s[i:i+8])
+ print(f"idx {idx:x} sm {sm} {u1:x} {u2:x} {u3:x}")
+ i += 8
+ for er in range(e):
+ bitsize, = unpack("<5xB2x", s[i:i+8])
+ print(" bs", bitsize, s[i:i+8])
+ i += 8
+
+ if 50 in self.eeprom:
+ parse_pdo(self.eeprom[50])
+ if 51 in self.eeprom:
+ parse_pdo(self.eeprom[51])
async def set_state(self, state):
await self.ec.roundtrip(ECCmd.FPWR, self.position, 0x0120, "H", state)
--
GitLab